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A New Classification Technique in Mobile Robot Navigation Nurmaini, Siti; Tutuko, Bambang
TELKOMNIKA Telecommunication, Computing, Electronics and Control Vol 9, No 3: December 2011
Publisher : Universitas Ahmad Dahlan

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Abstract

This paper presents a novel pattern recognition algorithm that use weightless neural network (WNNs) technique.This technique plays a role of situation classifier to judge the situation around the mobile robot environment and makes control decision in mobile robot navigation. The WNNs technique is choosen due to significant advantages over conventional neural network, such as they can be easily implemented in hardware using standard RAM, faster in training phase and work with small resources. Using a simple classification algorithm, the similar data will be grouped with each other and it will be possible to attach similar data classes to specific local areas in the mobile robot environment. This strategy is demonstrated in simple mobile robot powered by low cost microcontrollers with 512 bytes of RAM and low cost sensors. Experimental result shows, when number of neuron increases the average environmental recognition ratehas risen from 87.6% to 98.5%.The WNNs technique allows the mobile robot to recognize many and different environmental patterns and avoid obstacles in real time. Moreover, by using proposed WNNstechnique mobile robot has successfully reached the goal in dynamic environment compare to fuzzy logic technique and logic function, capable of dealing with uncertainty in sensor reading, achieving good performance in performing control actions with 0.56% error rate in mobile robot speed.
ANALISA KEMAMPUAN TENAGA KERJA KONSTRUKSI DENGAN DAN TANPA MEMILIKI SERTIFIKAT KEAHLIAN KERJA (SKA) DI KOTA SEMARANG Rizky, Anandhita; Ivall, Mochammad; Pudjihardjo, Hari Setijo; Tutuko, Bambang
Teknika Vol 13, No 1 (2018): Maret
Publisher : Universitas Semarang

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (164.918 KB) | DOI: 10.26623/teknika.v13i1.1866

Abstract

Masih banyak dijumpai tenaga kerja konstruksi yang belum memiliki Sertifikat Keahlian, seperti yang disyaratkan dalam Undang ? Undang Jasa Konstruksi. Penelitian ini bertujuan untuk mengetahui kemampuan tenaga kerja konstruksi yang memiliki dan tanpa memiliki Sertifikat Keahlian Kerja di kota Semarang. Sampel yang diteliti adalah tenaga kerja konstruksi di kota Semarang. Metode yang digunakan dalam pengumpulan data ada 2 yaitu data primer dan data sekunder. Dari data primer digunakan penyebaran kuesioner yang terstruktur terdiri dari 35 pertanyaan yang diajukan, yang berkaitan dengan kemampuan tenaga kerja konstuksi yang memiliki dan tanpa memiliki Sertifikat Keahlian Kerja di kota Semarang. Pertanyaan dalam kuesioner dibuat dengan menggunakan skala likert dari pertanyaan yang diberikan kepada responden, yaitu dari angka 1 hingga 4 dimana angka 1 menunjukan pernyataan di dalam kuesioner tidak diterapkan bagi proyek yang dikerjakan oleh responden dan angka 4 atau semakin tinggi nilainya pernyataan di dalam kuesioner semakin tinggi tingkat penerapan penggunaan Sertifikat Keahlian Kerja bagi tenaga kerja konstruksi di kota Semarang. Dari hasil penelitian menunjukan tenaga kerja yang bersertikat lebih banyak menerapkan kemampuannya dalam bidang konstruksi dibandingkan dengan tenaga kerja yang tidak memiliki Sertifikat Keahlian Kerja.
KAJIAN ASPEK TEKNIS KAPASITAS TAMPUNG SISTEM DRAINASE PERUMAHAN TLOGOSARI KOTA SEMARANG Tutuko, Bambang; Budiningrum, Diah Setyati
Teknika Vol 13, No 1 (2018): Maret
Publisher : Universitas Semarang

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (208.903 KB) | DOI: 10.26623/teknika.v13i1.1865

Abstract

Perumahan Tlogosari Kota Semarang  selalu banjir setiap musim hujan, oleh karenanya perlu dikaji kembali system drainase di wilayah ini.. Kriteria terpenting dalam sistem drainase adalah aspek teknis, selain aspek non teknis dan lingkungan. Tujuan penelitian adalah menilai kinerja sistem drainase dengan menghitung kapasitas tampung eksisting saluran drainase dan menilai kinerja sistem drainase yang berkelanjutan berdasarkan persepsi masyarakat di Perumahan Tlogosari Semarang. Metodenya dengan membandingkan kapasitas tampung eksisting saluran drainase dengan debit banjir rencana. Hasil yang diperoleh adalah kapasitas tampung Sungai Tlogosari lebih kecil dari debit rencananya. Namun dengan adanya tinggi jagaan, dimana kapasitas tampung menjadi lebih besar dari debit rencananya, seharusnya Sungai Tlogosari tidak meluap saat musim hujan. Meluapnya Sungai Tlogosari adalah karena banyaknya sampah dan tebalnya sedimen serta belum dinormalisasinya Kali Tenggang sebagai saluran primernya yang menyebabkan Tlogosari selalu banjir jika musim hujan. Pada saluran sekundersebagian kapasitas tampung nya lebih kecil dari debit rencananya. Rekomendasinya adalah dimensi saluran-saluran sekunder perlu diperbesar. Maka kinerja sistem drainase di Perumahan Tlogosari berdasarkan kapasitas tampung eksistingnya adalah cukup pada saluran sekunder dan buruk pada saluran tersiernya. 
Intelligent Mobile Olfaction of Swarm Robots Nurmaini, Siti; Tutuko, Bambang; Rahman Thoharsin, Aulia
IAES International Journal of Robotics and Automation (IJRA) Vol 2, No 4: December 2013
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (511.068 KB) | DOI: 10.11591/ijra.v2i4.pp189-198

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This work presents intelligent mobile olfaction design and experimental results of intelligent swarm robots to detection a gas/odour source in an indoor environment by using multi agent based on hybrid algorithm. We examine the problem for deciding when, how and where the gas/odour sensor should be activated. Simple form of cooperation between Interval Type-2 Fuzzy Logic and Particle Swarm Optimization (IT2FL-PSO) algorithm is implemented in the olfaction strategies. The real experiments performed on smaller five mobile robots equipped with dynamic gas/odour sensor TGS2600 and three infra-red sensors. The results show that single robot-based olfaction system with 5 behaviors capable for searching source of a simulated chemical leak in unknown environment and flooking behavior can be done by 3 robots to find the source of gas/odour.
THE IMPLEMENTATION OF SALAM-CONTRACT FOR AGRICULTURE FINANCING THROUGH ISLAMIC-CORPORATE SOCIAL RESPONSIBILITY (CASE STUDY OF PADDY FARMERS IN TUBAN REGENCY INDONESIA) Hudaifah, Ahmad; Tutuko, Bambang; Tjiptohadi, Sawarjuwono
Al-Iqtishad: Jurnal Ilmu Ekonomi Syariah Vol 11, No 2 (2019)
Publisher : Faculty of Shariah and Law

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (262.882 KB) | DOI: 10.15408/aiq.v11i2.10933

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This research is aimed at discovering a stable financial schemingformula or model that would be compatible with the natural characteristics ofa paddy farming cycle in Tuban. The qualitative research employs the use of anactive participatory community through the means of a focus group discussion, anin-depth interview and face to face interviews with respective stakeholders andkey informants. The Salam contract, which is highly beneficial is a prospectivefinancial scheme that terminates the long business chain found in most businessesin Indonesia. The Corporate Social Responsibility which is managed through theSyariah approach (I-CSR) from a company, can become the solution to bridgethe gap found in the implementation of funds for a Salam contract. The Salamcontract applicability is dependent on the Islamic farmer cooperatives (BMT), aunit of joint venture organization serving as the key players in the execution ofthe function of a paddy warehouse-trading agent and direct financing to farmers.Strong support also comes from the zakat, inf?q, and shodaqoh institution (LAZ)whose role is educating and encouraging the paddy farmers? skills and competency,especially to enable them access end-user markets using the aid of informationtechnology. Penelitian ini betujuan untu menemukan formula skema pembiayaanpertanian yang stabil sesuai dengan karakteristik alamiah pertanian padidi Kabupaten Tuban. Metode penelitian kualitatif dipergunakan dalammenyelesaikan penelitian ini dengan partisipasi aktif komunitas melaluimedia diskusi kelompok, wawancara mendalam tatap muka dan observasikepada informan kunci dan pihak yang terlibat secara langsung dalam tata-niaga pertanian padi di Kabupaten Tuban. Kontrak salam adalah skemapembiayaan yang sangat menguntungkan bagi petani dan pada aplikasinyamampu mengambil peran pembiayaan distributor dalam tata niaga pertanianpadi. Islamic Corporate Social Responsibility (I-CSR) yang dikelola berdasarkanprinsip ekonomi Syariah dari perusahan yang beroperasi di wilayah Tuban bisamenjadi solusi dana yang dikembangkan untuk pembiayaan pertanian yangdihindari oleh perbankan karena siklus bisnis yang berbeda. Keberlangsungan kontrak salam pertanian untuk komoditas padi akan bergantung pada koperasipetani yang terdiri dari koperasi simpan pinjam Syariah (BMT), gudang padi,penggilingan padi dan unit perdagangan yang kesemuanya disebut sebagai KUB(Kelompok Usaha Bersama). Dukungan yang kuat juga berasal dari Lembagazakat, inf?q dan shodaqoh, yang memiliki peran untuk melakukan pelatihankeahlian petani dan membantu memenuhi kebutuhan dasar petani yang menjadianggota dalam KUB.
PELATIHAN PENGENALAN APLIKASI ROBOTIKA PADA SISWA SMP NEGERI 1 PALEMBANG Tutuko, Bambang; Firdaus, Firdaus; Zarkasi, Ahmad
Annual Research Seminar (ARS) Vol 4, No 2 (2018): Special Issue : Pengabdian Kepada Masyarakat
Publisher : Annual Research Seminar (ARS)

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Abstract

Pelaksanaan pengabdian kepada masyarakat ni menjelaskan tentang hasil pelatihan perakitan robot Halang Rintang (avoider) sebagai media pengenalan bidang robotika bagi siswa sekolah menengah pertama Negeri 1 Palembang. Pelatihan ini diikuti oleh 20 orang siswa dari utusan sekolah menengah pertama Negeri 1 Palembang. Pelatihan ini akan dititikberatkan pada bagaiamana mensetting perangkat dan membuat program aplikasi robot beroda dan sensor infra merah sebagai pendeteksi. Infra merah akan diatur jaraknya sesuai dengan materi yang diajarkan. Keluran sensor akan menjadi penggerak untuk sistem aktuator. Motor akan digerakkan sesuai dengan data referensi sensor, yang telah diprogram dalam mikrokontroler. Robot halang rintang menggunakan board arduino uno, dengan mikrokontroler Atmega32 sebagai pengendali keseluruhan sistem. Hasil yang diperoleh sesuai dengan yang diharapkan, dengan tingkat pemahaman siswa setelah post test diatas 80%
A Deep Learning Approach to Integrate Medical Big Data for Improving Health Services in Indonesia Tutuko, Bambang; Nurmaini, Siti; Rachmatullah, Muhammad Naufal; Darmawahyuni, Annisa; Firdaus, Firdaus
Computer Engineering and Applications Journal Vol 9 No 1 (2020)
Publisher : Universitas Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (426.189 KB) | DOI: 10.18495/comengapp.v9i1.328

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Medical Informatics to support health services in Indonesia is proposed in this paper. The focuses of paper to the analysis of Big Data for health care purposes with the aim of improving and developing clinical decision support systems (CDSS) or assessing medical data both for quality assurance and accessibility of health services. Electronic health records (EHR) are very rich in medical data sourced from patient. All the data can be aggregated to produce information, which includes medical history details such as, diagnostic tests, medicines and treatment plans, immunization records, allergies, radiological images, multivariate sensors device, laboratories, and test results. All the information will provide a valuable understanding of disease management system. In Indonesia country, with many rural areas with limited doctor it is an important case to investigate. Data mining about large-scale individuals and populations through EHRs can be combined with mobile networks and social media to inform about health and public policy. To support this research, many researchers have been applied the Deep Learning (DL) approach in data-mining problems related to health informatics. However, in practice, the use of DL is still questionable due to achieve optimal performance, relatively large data and resources are needed, given there are other learning algorithms that are relatively fast but produce close performance with fewer resources and parameterization, and have a better interpretability. In this paper, the advantage of Deep Learning to design medical informatics is described, due to such an approach is needed to make a good CDSS of health services.
Gas Leak Localization Using Mobile Sensor Networks Tutuko, Bambang; Nurmaini, Siti; Triadi, Agus
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 2: EECSI 2015
Publisher : IAES Indonesia Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eecsi.2.558

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A swarm robotics localization strategy based on deliberates fuzzy and swarm behavior is proposed in this paper. Localization is the process of determining the positions of robots or targets in whole swarms environment. To localize the target in real environment, experiment is conducted utilize three identical robots with different color as mobile sensor node. Fuzzy logic and swarm behavior are keeping the swarm robots position and direction with a certain distance to the target position.
Pattern Recognition Approach for Formation Control for Swarm Robotics Using Fuzzy-Kohonen Networks Nurmaini, Siti; Tutuko, Bambang; Aditya, PP, Aditya, PP
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 2: EECSI 2015
Publisher : IAES Indonesia Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eecsi.2.586

Abstract

Recent advances in robotics have started making it feasible to deploy large numbers of inexpensive robots for tasks such as surveillance and search. However, coordination of multiple robots to accomplish such tasks remains a challenging problem. This paper describes new algorithm Fuzzy-Kohonen Networks (FKN) to achieve real-time reactive formation control for swarm robots.
Fuzzy Logic-Ant Colony Optimization for Explorer-Follower Robot with Global Optimal Path Planning Tutuko, Bambang; Nurmaini, Siti; Ogi, Ganesha
Computer Engineering and Applications Journal Vol 7 No 1 (2018)
Publisher : Universitas Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1097.948 KB) | DOI: 10.18495/comengapp.v7i1.241

Abstract

Path planning is an essential task for the mobile robot navigation. However, such a task is difficult to solve, due to the optimal path needs to be rerouted in real-time when a new obstacle appears. It produces a sub-optimal path and the robot can be trapped in local minima. To overcome the problem the Ant Colony Optimization (ACO) is combined with Fuzzy Logic Approach to make a globally optimal path. The Fuzzy-ACO algorithm is selected because the fuzzy logic has good performance in imprecision and uncertain environment and the ACO produce simple optimization with an ability to find the globally optimal path. Moreover, many optimization algorithms addressed only at the simulation level. In this research, the real experiment is conducted with the low-cost Explorer-Follower robot. The results show that the proposed algorithm, enables them to successfully identify the shortest path without collision and stack in “local minima”.