Papers by N. J . Ramadhan
n Proceedings of the 5th International Conference on Applied Science and Technology on Engineering Science (iCAST-ES 2022), Dec 31, 2022
The COVID-19 pandemic is spreading in almost all parts of the world. This situation requires the ... more The COVID-19 pandemic is spreading in almost all parts of the world. This situation requires the community to comply with the efforts that have been made in various activities, including activities in hospitals. One of these activities is the provision of nutrition to patients. Problems that are often found in the infusion process include air bubbles in the hose, delays in changing the infusion flask, clogged liquid, excessive volume, and the flowrate entering the body is not appropriate. The method used to build this tool is waterfall. Testing this tool uses hardware consisting of ESP32 and Arduino nano as controllers, optocoupler sensors as droplet detectors, bubble sensors as air bubble detectors, nextion and nodered as interfaces with users, servo motors as hose presses, and buzzers as alarm indications. The findings show that droplet detection has an accuracy rate of 100%, flowrate calculation has an accuracy of 94.52%, volume calculation has an accuracy of 95.53%, hazard detection such as bubbles, exhausted liquid, clogged liquid, excess volume, and incorrect flowrate has an accuracy of 100%, PID controller has parameters Kp = 0,057499, Ki = 0,099194, Kd = 0,0047985, the control and monitoring process using nextion and nodered runs well.
AIP Conference Proceedings
This paper introduced PoleBot that is an omnidirectional mobile robot for educational purposes an... more This paper introduced PoleBot that is an omnidirectional mobile robot for educational purposes and developed for industrial application purposes. It is designed for multipurpose tasks and missions, it can be combined with other equipment for many applications: Storage management, food & beverage, pharmacy, laundry, waste and etc. Using omnidirectional configuration has the capability to move in an effective, efficient way the task, mission faster, easier, reduce operation time and optimize productivity. This paper explains the development of PoleBot control using an open-source platform namely Robot Operating System (ROS) and applies to the simulation using Gazebo, RViz, or RQT Gui as planning.
International Conference on Applied Science and Technology on Engineering Science, 2022
The COVID-19 pandemic is spreading in almost all parts of the world. This situation requires the ... more The COVID-19 pandemic is spreading in almost all parts of the world. This situation requires the community to comply with the efforts that have been made in various activities, including activities in hospitals. One of these activities is the provision of nutrition to patients. Problems that are often found in the infusion process include air bubbles in the hose, delays in changing the infusion flask, clogged liquid, excessive volume, and the flowrate entering the body is not appropriate. The method used to build this tool is waterfall. Testing this tool uses hardware consisting of ESP32 and Arduino nano as controllers, optocoupler sensors as droplet detectors, bubble sensors as air bubble detectors, nextion and nodered as interfaces with users, servo motors as hose presses, and buzzers as alarm indications. The findings show that droplet detection has an accuracy rate of 100%, flowrate calculation has an accuracy of 94.52%, volume calculation has an accuracy of 95.53%, hazard detection such as bubbles, exhausted liquid, clogged liquid, excess volume, and incorrect flowrate has an accuracy of 100%, PID controller has parameters Kp = 0,057499, Ki = 0,099194, Kd = 0,0047985, the control and monitoring process using nextion and nodered runs well.
MoRSE, 2021
In Industry 4.0 era, advanced manufacturing industries developed to be more flexible, adaptive, a... more In Industry 4.0 era, advanced manufacturing industries developed to be more flexible, adaptive, and collaborative. Application of AMR (Autonomous Mobile Robot) in manufacturing industries become more popular for intelligent and flexible logistic tasks. AMR can move automatically to finish many kind of transfer scenario. In 1986, Simultaneous localization and mapping (SLAM) was developed for constructing or updating a map of an unknown environment while simultaneously keeping track of a robot. Then in 2017 SLAM algorithm was updated for enable the implementation using monocular camera sensor. This research is aim to design a robot environment mapping system using monocular camera and ORB-SLAM-2 algorithm. This research design a system so that mobile robots performs a mapping of its environment and sends the data to computer server to be visualized. This system succeeded perform its job properly, based on the experimental results, The system successfully generate the environment map then visualize the map generated by robot on a computer server. The map produced by this system represent the real object with 1:5.81 scale.
ISMEE, 2021
Many industries are required to increase output and productivity. Manipulator Robot is chosen as ... more Many industries are required to increase output and productivity. Manipulator Robot is chosen as a solution, especially for pick and place applications. An intelligent system is needed to reduce uncertainty and decision-making for some varying object or workpieces. In this paper, the UR5e manipulator robot can automatically detect the object using computer vision through the camera as a sensor and OpenCV computer program. Geometrical transformations and statistical approaches transform picture data into position and orientation data for robot control. The system detects the center point coordinates and the orientation angle of the detected object. The coordinates obtained by the camera perception are transformed into robot perception. At the same time, the value of the orientation degree is converted into a quaternion form which becomes the rotational movement parameter for the end effector of the robot. Position and orientation data are sent to the robot controller from the ROS framework computer program via ethernet. The robotic arm can move towards the object, and the end effector can rotate accordingly. The experimental results prove successful recognition of object position and orientation. The system has an accuracy in detecting object positions at x-axis direction = 99.0%, at y-axis direction = 98.05%, and the system orientation accuracy is 99.11%.
AIP Conference Proceedings, 2023
This paper introduced PoleBot that is an omnidirectional mobile robot for educational purposes an... more This paper introduced PoleBot that is an omnidirectional mobile robot for educational purposes and developed for industrial application purposes. It is designed for multipurpose tasks and missions, it can be combined with other equipment for many applications: Storage management, food & beverage, pharmacy, laundry, waste and etc. Using omnidirectional configuration has the capability to move in an effective, efficient way the task, mission faster, easier, reduce operation time and optimize productivity. This paper explains the development of PoleBot control using an open-source platform namely Robot Operating System (ROS) and applies to the simulation using Gazebo, RViz, or RQT Gui as planning.
SINERGI, 2023
Robot technology has recently been applied to many applications to help human activities. Mobile ... more Robot technology has recently been applied to many applications to help human activities. Mobile Robot is one of the most flexible robot technology. This research uses a mobile robot designed using an omnidirectional wheel for the movement mechanism. Coordination and control of multi-robots can be assigned to perform any task from a different kind of field. Therefore, this paper aims to develop a multirobot system to form a formation to do the task. The multi-robot system consists of three units Mobile Robot. The formation system will be built based on a coordinate point determined by a consensus point. The leader-follower topology is used to determine the orientation of the robot. ROS (Robot Operating System) is used as middleware to create a multi-robot system. The Open Base package in Gazebo Simulator is also used to simulate the movement of the multi-robot. From three test scenarios, this research results show that all the robots can do and follow the tasks simulated in the Gazebo with an average accuracy of 88.14%. Furthermore, no feedback from the robot to the Gazebo Simulator affects the robot's accuracy average below 90%.
Journal of Mechatronics, Electrical Power, and Vehicular Technology, 2022
Most arm robot has an inefficient operating time because it requires operator to input destinatio... more Most arm robot has an inefficient operating time because it requires operator to input destination coordinates. Besides, main problem of arm robot is object’s vulnerability when it is manipulated by the robot. This research goals is to develop an arm robot control system which has ability to automatically detect object using image processing in order to reduce operating time. It is also able to control gripping force for eliminating damage to objects caused by robot gripper. This research is implemented in LabVIEW 2011 software to control arm robot model which can represent industrial scale robot. The software is designed with informative visualization to help user learn and understand robotic control concept deeply. The system can automatically detect object position based on pattern recognition method which has four steps: pre-processing process to initialize picture taken by camera, segmentation process for separating object from the background, classification process to determin...
Journal of Mechatronics, Electrical Power, and Vehicular Technology
This paper presents a control system algorithm for a five-axis parallel mechanism system (PMS) CN... more This paper presents a control system algorithm for a five-axis parallel mechanism system (PMS) CNC milling machine based on a 6-DOF Stewart platform parallel manipulator with a universal-prismatic-spherical (UPS) configuration. The control system reads the G-Code commands as standard CNC machine language, then extract data points and interpolates them to generate the robot trajectory patterns as motion references. Then, the control system uses the modified inverse kinematic equation to determine the length of each link to move the end effector to track the trajectory patterns from the previous G-code extraction process. The inverse kinematic equation is modified especially for the five-axis PMS CNC milling machine by including machine-offset and tools-offset parameters so it will be easier for the control system to implement the kinematic equation. As expected, the system simulation results successfully followed the G-Code program moving commands. The average error of the length con...
IAES International Journal of Robotics and Automation (IJRA), 2023
Since March 2020, coronavirus disease (COVID-19) has become a major global concern. Even in an em... more Since March 2020, coronavirus disease (COVID-19) has become a major global concern. Even in an emergency, medical personnel should avoid contact with COVID-19 patients. Mobile manipulators are a non-contact alternative to medical personnel for performing healthcare tasks such as distributing supplies to COVID-19-quarantined patients. In this study, patients use an Android application to order mobile manipulator robots, which include the Collaborative Manipulator Robot UR5e and the autonomous mobile robot MiR200 (abbreviated and referred to as CURe-Mi). The HTTP protocol is used for communication between the Android application and the robot. The experiment was conducted in a small room with several tables and bottles used to simulate hospital rooms and medications. The delivery testing results show that all four items were delivered successfully. The results of the manipulator robot and mobile robot movement accuracy tests show that the average error is 0.213 and 4.51 cm, respectively. The Android application performance test demonstrates that the application successfully sends commands to the mobile manipulator robot within its maximum range of 1,800 cm. The CURe-Mi mobile manipulator robot has successfully assisted medical personnel in handling several contactless COVID-19 patients serving missions.
Teaching Documents by N. J . Ramadhan
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Papers by N. J . Ramadhan
Teaching Documents by N. J . Ramadhan