Total = (100%)

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LEMBAR

HASIL PENILAIAN SEJAWAT SEBIDANG ATAU PEER REVIEW KARYA ILMIAH : PROSIDING

Judul Karya Ilmiah : Development of Controller For Internet of Things Based Anti Pollution Smart Toll Gate System

Jumlah Penulis : 4 orang (Wahyul Amien Syafei, Afiq, R., Wahyudi,, Hidayatno, A.) Status Pengusul : Penulis Utama

Identitas Prosiding : a. Judul Prosiding : The 7^thInternational Conference on Information Technology, Computer, and Electrical

Engineering (ICITACEE) 2020

b. ISBN/ISSN : 978-1-7281-7226-2

c. Thn Terbit, Tempat Pelaks. : September 2020, Semarang d. Penerbit/Organiser : IEEE Xplore Digital Library

e. Alamat Repository/Web : https://ieeexplore.ieee.org/document/9239163 Alamat Artikel : https://doc-

pak.undip.ac.id/7979/1/Prosiding_ICITACEE202 0.pdf

f. Terindeks di (jika ada) : Scopus

Kategori Publikasi Makalah : √ Prosiding Forum Ilmiah Internasional (beri pada kategori yang tepat) Prosiding Forum Ilmiah Nasional Hasil Penilaian Peer Review :

Komponen Yang Dinilai

Nilai Reviewer

Nilai Rata- Reviewer I Reviewer II rata

a. Kelengkapan unsur isi prosiding (10%) 2,50 2,50 2,50

b. Ruang lingkup dan kedalaman pembahasan (30%) 6,50 7,00 6,75

c. Kecukupan dan kemutahiran data/informasi dan metodologi (30%)

7,00 7,00 7,00

d. Kelengkapan unsur dan kualitas terbitan/prosiding(30%) 7,00 7,00 7,00

Total = (100%) ^23,00 ^23,50 ^23,25

Nilai Pengusul = (60% x 23,25) = 13,95

Semarang, Reviewer 2

Dr. Wahyudi, S.T., M.T.

NIP. 196906121994031001

Unit Kerja: Teknik Elektro Fakultas Teknik Universitas Diponegoro

Reviewer 1

Dr. Iwan Setiawan, ST., MT.

NIP. 197309262000121001

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LEMBAR

b. ISBN/ISSN : 978-1-7281-7226-2

Nilai Maksimal Prosiding Nilai Akhir Yang Diperoleh Internasional

Nasional

a. Kelengkapan unsur isi prosiding (10%) 2,50 2,50

b. Ruang lingkup dan kedalaman pembahasan (30%)

7,50 6,50

7,50 7,00

d. Kelengkapan unsur dan kualitas terbitan/prosiding(30%)

7,50 7,00

Total = (100%) 25,00 23,00

Nilai Pengusul = (60% x 23,00) = 13,80 Catatan Penilaian Paper oleh Reviewer :

1. Kesesuaian dan kelengkapan unsur isi paper: Isi paper sudah memenuhi kaidah karya ilmiah, berisi judul, abstrak, pendahuluan, desain, pembahasan hasil, kesimpulan dan referensi. (Nilai 2,5).

2. Ruang lingkup dan kedalaman pembahasan: Pembahasan perancangan dalam paper ini cukup lengkap dan terstruktur dg baik. Foto purwarupa yg dirancang dan hasil pengujian dijelaskan dengan baik. (Nilai 6,5).

3. Kecukupan dan kemutakhiran data/informasi dan metodologi: Purwarupa on board unit (OBU) yg ditempatkan di mobil dan reader yang ditempatkan di gerbang tol berfungsi baik. Perangkat ini juga menggunakan teknologi IOT. Hasil pengujian menunjukkan OBU secara efektif mendeteksi kendaraan dan melakukan auto debit sekaligus mengirim pesan sebagai pengganti kertas. (Nilai 7).

4. Kelengkapan unsur dan kualitas terbitan: Prosiding dikelola dengan baik dan tersusun rapi. Kualitas terbitan terbilang bagus dan sudah terindeks Scopus. Lolos cek plagiasi. Paper sesuai rumpun ilmu pengusul. (Nilai 7).

Dr. Iwan Setiawan, ST., MT.

NIP. 197309262000121001

25

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LEMBAR

b. ISBN/ISSN : 978-1-7281-7226-2

Nilai Maksimal Prosiding Nilai Akhir Yang Diperoleh Internasional

Nasional

a. Kelengkapan unsur isi prosiding (10%) 2,50 2,50

b. Ruang lingkup dan kedalaman pembahasan (30%)

7,50 7,00

d. Kelengkapan unsur dan kualitas terbitan/prosiding(30%)

7,50 7,00

Total = (100%) 25,00 23,50

Nilai Pengusul = (60% x 23,50) = 14,10 Catatan Penilaian Paper oleh Reviewer :

1. Kesesuaian dan kelengkapan unsur isi paper: Isi paper lengkap dan sesuai kaidah karya ilmiah, berisi judul, abstrak, pendahuluan, state of the art penelitian, perancangan, pengujian, analisa, kesimpulan dan referensi. (Nilai 2,5).

2. Ruang lingkup dan kedalaman pembahasan: Pembahasan perancangan dalam paper ini relatif komprehensif dan sistematis. Dilengkapi dengan screenshot simulasi dan foto real perangkat keras yg dirancang. (Nilai 7).

3. Kecukupan dan kemutakhiran data/informasi dan metodologi: Purwarupa controller berbasis IOT yang dikembangkan efektif dalam mendeteksi kendaraan tanpa harus berhenti sehingga dapat mengurangi polusi di sekitar gerbang tol. (Nilai 7).

4. Kelengkapan unsur dan kualitas terbitan: Prosiding lengkap, terstruktur, dan memiliki kualitas terbitan yang baik. Terindeks di Scopus sejak 2014. Tidak ada unsur plagiasi dan artikel merupakan bidang ilmu pengusul. (Nilai 7).

Dr. Wahyudi, S.T., M.T.

NIP. 196906121994031001

25

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th International Conference on Information Technology, Computer, and Electrical Engineering, ICITACEE - Proceedings • Pages - • September • Article number • th International Conference on Information Technology, Computer, and Electrical Engineering, ICITACEE , Semarang, September - September ,

Development of Controller for Internet of Things Based Anti Pollution Smart Toll Gate System

Syafei W.A., A q R. , Wahyudi , Hidayatno A.

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Diponegoro University, Department of Electrical Engineering, Semarang, Indonesia

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Abstract

The transaction system applied onto the current toll gate system is less effective in overcoming the queue of vehicles, especially during public holidays or long holidays. Although it is already based on contactless technology, but toll road users still need to juxtapose the e- Toll card manually for four seconds. This is in time causing the queue and density in several toll gates. To alleviate this problem, the toll provider cooperates with bank to issue the e- toll system On Board Unit. This device can

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THE 7™ INTERNATIONAL CONFERENCE

ON INFORMATION TECHNOLOGY, COMPUTER, AND ELECTRICAL ENGINEERING

PROCEEDINGS

ELECTRICAL ENGINEERING & INFORMATION

TECHNOLOGY RESEARCH TOWARD

ECO-FRIENDLY TECHNOLOGY

AND HUMANITY

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9/17/21, 10:19 AM ICITACEE 2020 – The 7th International Conference on Information Technology, Computer, And Electrical Engineering ( ICITACE…

https://icitacee.undip.ac.id/2020/ 3/11

All accepted papers in ICITACEE 2020 will be published in the conference proceedings and will be submitted for publication in IEEE Xplore with these following catalog numbers:

Submit Paper (https://edas.info/N27319) Know More (http://icitacee.undip.ac.id/2020/topics-scopes/)

Who’s Speaking?

ASSOC. PROF. DR. R. RIZAL ISNANTO

(HTTPS://ICITACEE.UNDIP.AC.ID/2020/SPEAKER/RIZAL- ISNANTO/)

Universitas Diponegoro

PROF. DR. ZAINAL SALAM

(HTTPS://ICITACEE.UNDIP.AC.ID/2020/SPEAKER/ZAINALSALA

Universiti Teknologi Malaysia

(https://icitacee.undip.ac.id/2020)

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9/17/21, 10:19 AM ICITACEE 2020 – The 7th International Conference on Information Technology, Computer, And Electrical Engineering ( ICITACE…

https://icitacee.undip.ac.id/2020/ 4/11

ASSOC. PROF. DR. S. ALBERT ALEXANDER

(HTTPS://ICITACEE.UNDIP.AC.ID/2020/SPEAKER/ABDULWAHAB/)

Kongu Engineering College, India

Conference Schedules

Thursday, 24 September 2020

# SESSION SPEAKER(S) TIME VENUE

1 REGISTRATION

07.30 AM – 08:00 AM

BALLROOM

2 OPENING CEREMONY

08:00 AM – 08:45 AM

BALLROOM

3 COFFEE BREAK

08.45 AM – 09:00 AM

BALLROOM

4 PLENARY SESSION : 1 PROF. DR. ZAINAL SALAM

(HTTPS://ICITACEE.UNDIP.AC.ID/2020/SPEAKER/ZAINALSALAM/)

09.00 AM – 10:00 AM

BALLROOM

(https://icitacee.undip.ac.id/2020)

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Conference Committee

General Chair : Iwan Setiawan (Universitas Diponegoro) Co-Chair : R Rizal Isnanto (Universitas Diponegoro) Secretary : M. Arfan

Organizing Committee:

Munawar Agus Riyadi Adian Fatchur Rochim Achmad Hidayatno Ajub Ajulian Zahra Hadha Afrisal

Yosua Alvin Sutrisno Eko Handoyo

Denis

Steering Committee:

Hermawan (Diponegoro University) Wisnu Jatmiko (IEEE Indonesia Section)

Mauridhi Hery Purnomo (Institut Teknologi Sepuluh November)

Taufik (Electrical Engineering Department Cal Poly State University, USA) Zainal Salam (Universiti Teknologi Malaysia)

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Program

A. Circuit & Control (Thursday: September 24, 2020. 13.00 – 17.20) Chair: Munawar A Riyadi

Finger Robotic Control Use M5Stack Board and MQTT Protocol Based Puput Dani Prasetyo Adi

Presenter bio: Iam Lecturer at electrical engineering department unmer - malang pp. 1-6

Liquid Flow Control Design Based on PID-Fuzzy Controller with anti-Windup Compensator

Sofian Yahya, Adnan Rafi Al Tahtawi, Kartono Wijayanto, KW and Bani Faizah

pp. 7-12

Quasi Input to State Stability of a Quaternion-Based Attitude Control System with an Augmented Dynamical System

Harry Septanto and Djoko Suprijanto

pp. 13-18

Design of Gain-Scheduled Fuzzy PID Controller for AFR Control System of SI-Based Motorcycle Engine Model

Joshua Harbangan Dharmarakel Panjaitan, Andra Kurniahadi, Aris Triwiyatno and Iwan Setiawan

pp. 19-24

A Hammerstein-Wiener Mean Value Engine Model for Small Automatic Motorcycle Engine

Andra Kurniahadi, Joshua Harbangan Dharmarakel Panjaitan, Aris Triwiyatno and Iwan Setiawan

pp. 25-30

Design of Camber Angle Control on MacPherson Strut Zener Sukra Lie and Ian Prayoga

pp. 31-35

EMG Signal Processing from the Myo Armband Sensor for the Prosthetic Hand Control System Input Using RMS and ANFIS

Moh. Arozi, Mochammad Ariyanto, Asa Kristianto, Munadi Munadi and Joga Dharma Setiawan

pp. 36-40

Trajectory Planning with Obstacle Avoidance of 3 DoF Robotic Arm for Test Tube Handling System

Hadha Afrisal, Budi Setiyono, Muhammad Fahmi Yusuf, Rose Mutiara Suin and Olimjon Toirov

pp. 41-46

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Design of Air-Fuel Ratio Control Using Gain-Scheduled Fuzzy-PID for Small Scooter Engine

Aris Triwiyatno, Budi Setiyono, Joshua Harbangan Dharmarakel Panjaitan, Andra Kurniahadi and Iwan Setiawan

pp. 47-51

Development of Dynamic Model of Autonomous Sailboat for Simulation and Control Joga Dharma Setiawan, Deddy Chrismianto, Mochammad Ariyanto, Candra Wahyu Sportyawan, Robby Dwianto Widyantara and Sabri Alimi

pp. 52-57

B. Information & Communications Technology 1 (Thursday : September 24, 2020. 13.00 - 17.20)

Chair: Aghus Sofwan

Development of Mobile Skin Cancer Detection Using Faster R-CNN and MobileNet V2 Model

Cahyo Adhi Hartanto and Adi Wibowo

Presenter bio: I received my B.S degree from Diponegoro University, M.S. degrees from Universitas Indonesia, Indonesia, in 2005 and 2011,and Ph.D. degrees from Nagoya University in 2016. My research interests include molecular robotics, DNA computing, signal processing and machine learning.

pp. 58-63

Automated Item Generation: Model and Development Technique Septian Eko Prasetyo, Teguh Bharata Adji and Indriana Hidayah

pp. 64-69

Functional Suitability Measurement Based on ISO/IEC 25010 for e-Commerce Website Luthfi Atikah, Novrindah Alvi Hasanah and Siti Rochimah

pp. 70-75

A New Model of Poverty Index Prediction Using Triple Exponential Smoothing Method Kristoko Dwi Hartomo, Sri Yulianto Joko Prasetyo and Asni Valentina

pp. 76-79

How Agile Software Development Affect Software Reusability (Study Case: New Student Admissions Portal)

Akbar Noto Ponco Bimantoro, Ivanda Zevi Amalia and Siti Rochimah

pp. 80-84

Size-based Feature Extraction on Blood Cells Calculation Process Using k-Means Clustering

Isya Sulistyo, R Rizal Isnanto and Munawar Riyadi

pp. 85-89

Sentiment Analysis of Indonesians Response to Influencer in Social Media Syafi Muhammad Tauhid and Yova Ruldeviyani

Presenter bio: My name is Syafi Muhammad T, I am a Master Student in Universitas Indonesia. Currently, I am at my second semester and this is my first paper submission!

pp. 90-95

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xxiv

Hyper-Parameter Tuning Based on Random Search for DenseNet Optimization Ari Nugroho

pp. 96-99

Herbal Leaf Pattern Analysis Using Principal Component Analysis (PCA) and Canberra Distance

Vidia Susilo.

pp. 100-104

A Decision Support System for Undergraduate Students Admissions Using Educational Data Mining

Gunawan Dewantoro and Nathanael Ardisa

pp. 105-109

New Hybrid Algorithm Implementation on Spread Wireless Sensor to Determine the Point of Fire in the Building

Irawan Dwi Wahyono

pp. 110-114

Understanding Indonesian Citizen's Continuance Intention to Use Mobile-based Smart City: A Perspective of Modified Expectation Confirmation Model (M-ECM)

Aang Kisnu Darmawan, Dr, Daniel Siahaan, Tony Dwi Susanto, Hoiriyah Hoiriyah, Busro Umam and Bakir Bakir

Presenter bio: I am a lecturer and researcher on Departement of Information Systems at Madura Islamic University. my research concern on fields e-government, smart city, technology accepatance, technology adoption, human computer interaction/user experience pp. 115-120

Design of Multisensor Data Acquisition System (Oxygen, Hydrogen, Temperature, and Pressure) Through Android-Based Website

Darjat Darjat

pp. 121-125

C. Information & Communications Technology 1 (Thursday : September 24, 2020. 13.00 - 17.20)

Chair: Agung Prasetijo

Development of Indonesian Language Speech Recognition Algorithm Model in Knowledge Database

Emny Yossy, Syaeful Karim and Dannys Rachmantyo

Presenter bio: I am Emny, a lecturer at Universitas Bina Nusantara, School of Computer Science major in software engineering.

pp. 126-129

Applicant Mapping of Predicting Seriousness in Choosing Private University Using Self Organizing Map (SOM) Algorithm

Bambang Hadi Kunaryo

pp. 130-134

Application of Message Queuing Telemetry Transport (MQTT) Protocol in the Internet

of Things to Monitor Mushroom Cultivation

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xxv

Fauzan Masykur, Angga Prasetyo, Adi Fajaryanto Cobantoro, Mohammad Bhanu Setyawan and Ida Widaningrum

pp. 135-139

Classification of Big Five Personality Behavior Tendencies Based on Study Field with Twitter Analysis Using Support Vector Machine

Denis Eka Cahyani

pp. 140-145

Predicting Future Potential Flight Routes via Inductive Graph Representation Learning Arie Wahyu Wijayanto and Farid Ridho

pp. 146-151

Performance Analysis of Neo4j and MySQL Databases for Public Policies Decision Making

Rahmatian Jayanty Sholichah

pp. 152-157

A New Experiment of the Capacitive Sensors for Identification of Signal Fluctuations Melinda Melinda, Yunidar Yunidar, Muhammad Irhamsyah and Agus Santoso Tamsir

Presenter bio: Teaching staff member at electrical engineering of Syiah Kuala university Banda Aceh pp. 158-163

Computational Analysis of Different Design Hip Joint Prostheses Using Finite Element Method

Rilo Berdin Taqriban, Rifky Ismail, Jamari J. and A Bayuseno

pp. 164-168

Matching Images on the Face of A Buddha Statue Using the Scale Invariant Feature Transform (SIFT) Method

Linda Marlinda, Supriadi Rustad, Ruri Basuki, Budiman Fikri and Muhamad Fatchan, Ftn

pp. 169-172

Text-Driven Talking Head Using Dynamic Viseme and DFFD for SIBI Sultan Muzahidin and Erdefi Rakun

pp. 173-178

Extended Planning Poker: A Proposed Model

Pantjawati Sudarmaningtyas and Rozlina Mohamed

pp. 179-184

Assessment on Image Quality Changes as a Result of Implementing Median Filtering, Wiener Filtering, Histogram Equalization, and Hybrid Methods on Noisy Images R Rizal Isnanto, Yudi Windarto and Mutiara Victorina Mangkuratmaja

Presenter bio: Associate Professor Dr. R. Rizal Isnanto Lecturer in Computer Engineering Department, Diponegoro University, Semarang, Indonesia.

pp. 185-190

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Profile Analysis of Landmark Visitors Based on Global Positioning System Data Collection

Yosua Alvin Adi Soetrisno, Aghus Sofwan and Sumardi Sumardi.

pp. 191-195

D. Power System (Thursday : September 24, 2020. 13.00 - 17.20) Chair: Susatyo Handoko

Impact of Arrester Models in Placement Determination at 150 kV Srondol Substation Setyo Adi Nugroho, Mochammad Facta and Abdul Syakur

pp. 196-200

Interline Wind Power Plant and SVC in Electrical Power System Langlang Gumilar

pp. 201-206

Analysis of the Effect of Installing Capacitor Bank in the Photovoltaic on - Grid 122 kWp for Power Factor Correction

Pangestuningtyas Diah Larasati, Hermawan Hermawan and Susatyo Handoko

pp. 207-212

Study of Power Transformer Noise Prediction Wahyudi Pramono

pp. 213-218

Combination Detuned Reactor and C-Type Filter for Electrical Power System Under Harmonic Condition

Langlang Gumilar

pp. 219-223

Analysis of Electrical Energy Consumption for Lighting System in Polyclinic, Radiology, and Patient Rooms of Hospital Building

Catur Nofianto, Mochammad Facta, Hermawan Hermawan and Omar Abouzeid

Presenter bio: I work at Kariadi Hospital as an Electrical Planner. I studied at Diponegoro University in Semarang by majoring in Electrical Engineering.

pp. 224-229

Calculation of Photovoltaic Reliability for Assessing Loss of Load Probability Yani Kamisa Putri and Adrianti Adrianti

pp. 230-235

Experimental Analysis Design of Solar Panel Energy Monitoring Prototype

Lin Prasetyani, Mada Jimmy Arifianto, Djoko Subagio, Wiliam Sarfat and April Yanto

pp. 236-240

Sinusoidal Current Control Strategies for Single Phase Grid-Connected Renewable Power Generation Systems

Iwan Setiawan, Mochammad Facta, Hermawan Hermawan, Trias Andromeda, Mauridhi Hery Purnomo and Taufik Taufik

pp. 241-246

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xxvii

Electric Load Management on Solar Power Plant System

Bambang Winardi, Enda Wista Sinuraya, Agung Nugroho and Susatyo Handoko

pp. 247-251

An Automatic Tuning Scaling Factor of PID-Fuzzy Controller for Frequency Regulation of an Off-Grid Renewable Power System

Ferdian Ronilaya, Salma Ilmawati, Widamuri Anistia, Mohammad Hidayat, Ika Noer Syamsiana and A. Aripriharta

pp. 252-257

E. Telecommunications, Biomedical Engineering & Green Application (Thursday : September 24, 2020. 13.00 - 17.20)

Chair: Teguh Prakoso

Innovation Architecture Smart Car Parking System with Wireless Sensor Networks Erick Fernando and Harco Leslie Hendric Spits Warnars

pp. 258-262

Wi-fi Communication Methods for Internet of Things-based Sensor Telemetry with a Visual Basic-based User Interface

Iswanto Iswanto, Is, Prisma Megantoro, Brahmantya Aji Pramudita and Hendra Ari Winarno

pp. 263-266

Design and Analysis of Optical Fiber Network for Railway Communication Lines B. Pratiknyo Adi Mahatmanto, Catur Apriono, Rosza Madina and Ali Syahputra Nasution

pp. 267-271

Nutrient Solution Acidity Control System on NFT-Based Hydroponic Plants Using Multiple Linear Regression Method

Helmy Helmy, Dian Ayu Janah, Arif Nursyahid, Thomas Agung S, Ari Sriyanto Nugroho and Muhlasah Mara

pp. 272-276

Freshness Detection of Snake Fruit Using A Combination of Gaussian Classifier and FCM

Muhammad Muslim

pp. 277-281

Development of Controller for Internet of Things Based anti Pollution Smart Toll Gate System

Wahyul Amien Syafei, Achmad Hidayatno, Raihan Afiq and Wahyudi Wahyudi

pp. 282-287

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Computational Analysis of Running Prosthesis Design Using Finite Element Method Rifky Ismail, Deni Fitriyana, Mukhamad Alfian Habibi, S. Sugiyanto and A. Bayuseno

Presenter bio: An assistant professor in Department of Mechanical Engineering, Diponegoro University, Indonesia. A researcher in Center for Biomechanics, Biomaterial, Biomechatronics and Biosignal Processing (CBIOM3S) Diponegoro University. I conduct a research on biomechanics, biomaterial, biomechatronics, tribology and engineering design.

pp. 288-293

Implementation and Testing of Rooftop Solar Power Plant with On-Grid System 1215 Wp Household Scale

Jaka Windarta, Denis Denis, Singgih Saptadi, Johanes S Silaen and Dimas Adi Satrio

pp. 294-299

Design and Development of Automatic Transfer Switch System, Energy Saving Emergency Panel

Nugroho Agus Darmanto and Bhaskara Wisnu Ardli Mahardika

pp. 300-303

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Development of Controller For Internet of Things Based Anti Pollution Smart Toll Gate System

Wahyul Amien Syafei Department of Electrical Engineering

Diponegoro University Semarang, Indoneisia https://orcid.org/0000-0002-6058-2693

Wahyudi

Department of Electrical Engineering Diponegoro University

Semarang, Indoneisia wahyudi @gmail.com

Raihan Afiq Lawencon International Wisma Staco 5^th Floor. Casablanca

Jakarta, Indoneisia raihan.afiq @gmail.com

Achmad Hidayatno Department of Electrical Engineering

Diponegoro University Semarang, Indoneisia achmad.hidayatno@gmail.com

Abstract—The transaction system applied onto the current toll gate system is less effective in overcoming the queue of vehicles, especially during public holidays or long holidays.

Although it is already based on contactless technology, but toll road users still need to juxtapose the e-Toll card manually for four seconds. This is in time causing the queue and density in several toll gates. To alleviate this problem, the toll provider cooperates with bank to issue the e-toll system On Board Unit.

This device can strengthen the e-Toll card signal to make reading distance farther. However, it is not popular in the community due to the price. This paper deals with the hardware and software development of controller for IoT based Anti- Pollution Smart Toll Gate system which has lower production costs. Two testing scenarios have been conducted. Ultrasonic sensor reading distance testing shows that the effective distance is approximately 300 cm. Testing the system response to vehicle speed shows that the system is able to work well with vehicle speed up to 20 km/h.

Keywords— Toll Gate, IoT, RFID, Smart System, Telegram I. INTRODUCTION

Indonesia has an area of 1.9 million km2. In order to meet the distribution of infrastructure development and distribution of broad needs, the government is intensifying toll road construction projects in several regions. The toll road that is currently being built will operate automatically so it is called Automatic Toll Gate (GTO). GTO which is a type of Electronic Toll Collection (ETC) applies contactless technology to conduct the transactions. Toll road users need to hold RFID cards (tags) for about four seconds so that the RFID reader can process the transactions.

During rush hour, early and weekends, and long holidays, the current GTO system still sometimes causes queues that hamper the speed of the vehicle because the toll gate gates only open after the transaction process is complete.

The density that occurs at the toll gate causes health problems directly or indirectly [1].

To alleviate this problem, the toll provider cooperates with bank to issue the e-toll system On Board Unit.

This device can strengthen the RFID card signal so thath the reading distance becomes farther. However, it is not popular in the community due to the price. Further, an evidence of toll road transactions in Indonesia until now is not environmentally friendly because it still uses printed paper which is usually left or discarded by toll road users.

Several studies have been conducted to improve the performance of the ETC system. Omsakthi, et al. proposed an automatic toll gate payment system based on vehicle location on the road using the Global Navigation Satellite Systems signal [2]. Bhavke et al. designed an RFID-based toll payment system with a reader using Arduino Mega [3]. Punniamoorthy, et al. designed a toll gate system using the Xilinx Spartan 3AN FPGA as the main device controlling the system [4]. Geetha et al. designed a toll gate system using Bluetooth Low Energy technology as a user RFID tag reader [5]. Devi et al. design a toll payment system using Automatic Number Plate Recognition as the core of the system using ANPR RoadWolf Infrared Video Cameras [6]. The system above though sophisticated but relatively expensive.

On another chance Devi, et al proposed payment of toll road transactions based on license plates [7]. Bhat and Pai designed an automatic control system using Arduino for the ETC system. [8]. Whereas Ramakrishna and Reddy developed the ETC system using Raspberry pi-2. [9].

This paper deals with the development of controller for IoT based anti-pollution Smart Toll Gate (STG) system. It uses an advanced and economical Arduino UNO and Raspberry pi-3 Microcontroller. This STG is a development of a system that previously used SMS notifications. [10, 11].

The developed system can identify the vehicle for both registered (having RFID) and not registered toll road user.

This system does not require the driver to stop the vehicle at the toll gate because the transaction process starts when the vehicle triggers an ultrasonic sensor put on the toll gate side.

The transaction system also equipped with smart billing system which charges the toll road users according to the type of vehicle detected by the system’s camera. It also replaces the payment receipt of toll gate transactions that are currently in the form of printed paper into digital messages through Telegram. This leads to an efficient, effective, anti-pollution, and environmentally friendly transportation sub-system.

II. CONTROLLER DESIGN OF IOTBASED STGSYSTEM Arduino UNO and Raspberry pi-3 microcontroller implementation to control the STG system consists of hardware and software design. Hardware design includes designing On Board Unit (OBU) and OBU reader. Software design is done using Arduino IDE and Node-RED.

Proc. of 2020 7th Int. Conf. on Information Tech., Computer, and Electrical Engineering (ICITACEE)

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Finger Robotic control use M5Stack board and MQTT Protocol based

Puput Dani Prasetyo Adi ^1,2 University of Merdeka Malang,

Malang, East Java, Indonesia¹ Micro Electronics Research Laboratory,

Kanazawa University, Japan² puputdani@merl.jp

Akio Kitagawa

Micro Electronics Research Laboratory Kanazawa University Kanazawa, Ishikawa - Japan

kitagawa@merl.jp

Junichi Akita ifDL Laboratory Kanazawa University Kanazawa, Ishikawa - Japan

akita@is.t.kanazawa-u.ac.jp

Abstract—In this research, remote robot hand control using (Message Queuing Telemetry Transport) MQTT Protocol and M5Stack Board. The purpose of this research is to develop remote control technology on the robotic fingers, the function of the robotic fingers is used as an actuator that works to control or perform certain jobs, for example, a robot that can press buttons automatically with remote control, or can adjust the volume, pressing the lever, catching the ball, giving symbols like counting abacus in mathematics, and other robot arm activities that can be developed remotely using internet technology. In general, the MQTT Protocol works by providing string input.

Furthermore, the position of the servo angle is represented by the values x and y or θ1 and θ2. The results of the analysis in this research consisted of blockly programming and python used to control the robot finger and activities on MQTT Brokers which consisted of publish and subscribe and how the packet data was in MQTT Broker.

Keywords—finger, robot, m5stack, MQTT, automation, mini servo

I. INTRODUCTION

Recently, the development of the Internet of Things (IoT) and its application in various fields continue to experience significant developments, in the world of industry known as the IoT-based Programmable Logic Controller (PLC), in the military world known as bomb squad robots, which are being worked on this research, furthermore, this research provides an approach to how bomb disposal robots can work. In the bomb disposal robot, the robot's hand works to pick and break the desired cable while to control the robot it needs to be seen that the robot's vision factor is using a camera, furthermore, the camera and hands are controlled through the IoT using an application and internet server. This research approaches the finger robot, the first step in building the more specific next steps. An important factor to consider when connecting to an internet network is the security factor [1] specifically for handling MQTT.

In research [2], MQTT is used on Passive Infrared (PIR) sensors connected to the M5 stack board and MQTT Broker, the approach is Smart home. MQTT is a very popular IoT protocol, but due to the large number of devices connected to MQTT Brokers, latency is undeniable, in research [3], developing MQTT with the term MQTT-ST, a protocol able to create such a distributed architecture of brokers, organized through a spanning tree. The protocol uses in-band signaling.

In references [4], discussed the basic of MQTT, IoT [13],[14],[15], and Implementation and Analysis of QUIC for MQTT., MQTT-based IoT was also developed by references [5] which were applied to hospitals, a technology-based IoT will reduce the physical needs especially in health applications

in hospitals, for example checking the condition of the patient's body or checking up, to become an IoT-based technology [5]. In addition to the hospital, the MQTT-based IoT application is used to detect motorcycle accidents [6], the sensor used is an accelerator sensor to detect the tilt, and GPS to determine the accident's position in realtime.

II. BASIC THEORY

II.1 Finger motion Mathematic approach

Finger motion illustrates The finger motion of the robot is depicted in the planar two-link manipulator shown in Figure 1. furthermore, the forward kinematics can be determined using plane geometry in equations 1 and 2 [7].

Fig 1. Inverse kinematics of a planar two-link manipulator.

Where the x and y values are represented in equations 1 and 2.

x =l1cos θ1 + l2 cos (θ1+ θ2) (1)

y =l1sin θ1 + l2 sin (θ1+ θ2) (2)

Values x and y are used to represent the values θ1and θ2. The polar coordinates in figure 1 are (r, ∅), and θ2 is determined from the value of r.

= + (3)

In detail to determine the values of θ2 and α, seen in equation 4.

2 = ± . α = cos (4)

If α ≠ 0, there is a value of θ2 corresponding to the radius, the second is called "Flip solution", which is shown by the dotted line in Figure 1b. furthermore, ∅ is used to determine θ1.

Equation 5 is a calculation at θ1 and β.

1 = atan2( , ) ± = cos (5) Proc. of 2020 7th Int. Conf. on Information Tech., Computer, and Electrical Engineering (ICITACEE)

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Trajectory Planning with Obstacle Avoidance of 3 DoF Robotic Arm for Test Tube Handling System

Hadha Afrisal ^1,2

1Department of Electrical Engineering

2CBIOM3S Universitas Diponegoro

Semarang, Indonesia hadha.afrisal@elektro.undip.ac.id

Rose Mutiara Suin

Department of Electrical Engineering Faculty of Engineering Universitas Diponegoro Semarang, Indonesia rosemutiara2506@gmail.com

Budi Setiyono

Department of Electrical Engineering Faculty of Engineering Universitas Diponegoro Semarang, Indonesia budi@lecturer.undip.ac.id

Olimjon Toirov

Department of Electrical Machines Tashkent State Technical University

Tashkent, Uzbekistan toirov.olimjon@tdtu.uz

Muhammad Fahmi Yusuf Department of Electrical Engineering

Faculty of Engineering Universitas Diponegoro Semarang, Indonesia fahmiyusuf82@gmail.com

Abstract—This paper presents a trajectory planning method with obstacle avoidance strategy of 3 DoF parallel link robotic arm to perform the task of autonomous test tube handling. For implementation in real-world environment such as in the process of material handling within healthcare setting, robotic arm frequently needs to deal with obstacles come up on its way of finishing its task. Hence to maintain a smooth actuation and a safer manipulation point-to-point from a start to a goal position, a method of trajectory planning with obstacle avoidance is required. In this paper, the method of cubic polynomials trajectory generation with distance calculation for obstacle avoidance has been performed. The result of our experiments shows that our proposed method is successfully demonstrated with a high degree of accuracy and precision in our research setup. The average position error of trajectory tracking is not more than 0.43 cm during the experiment with obstacle, and 0.35 cm during the experiment without obstacle.

Keywords—Robotic arm, parallel link, inverse kinematics, trajectory planning, obstacle avoidance

I. INTRODUCTION

Recent escalation of robotic arm utilization in variegated fields such as in healthcare and medical environments, manufacture industries, and home services has led to a more advanced development of its manipulation strategy for complying dynamic and unstructured environments [1]. In many conditions, robotic arm or arm manipulator needs to deal with obstacles randomly show up on its way to finish its tasks. Hence a technique of trajectory planning with obstacle avoidance strategy is utterly significant to be developed for implementation in a real environment.

For instance, in time of health crisis impacted by the novel coronavirus (COVID-19) like present, robotic arm can be potentially employed to provide a contactless procedure in such a way it helps diminishing virus transmission. Robotic arm can assist the healthcare system in number of ways, such as for (1) general care: primary prevention and healthcare support, (2) inpatient care: acute and emergency care support, (3) non-COVID outpatient, home, and long-term care, and (4) medical education [2]. One of the most critical process is in the application of infectious material handling system. There are number of cases that front-liner healthcare workers were infected by the virus transmitted from the sample being taken.

Therefore, for lowering the risk of infection, robotic arm can be implemented for aiding the process of infectious material handling which includes samples and waste materials

handling [3]. Trajectory planning with obstacle avoidance strategy is necessary to be utilized in those applications. The objective of trajectory planning is to control the displacement of end-effector from a start to a goal point (which is possibly via intermediate points) in a soft manner for a given time [4].

At the same time, obstacle avoidance technique is needed for a collision-free manipulation process [5]. Therefore, both techniques need to be combined to guarantee a smooth and safer manipulation of robotic arm for handling materials.

Reviewing previous research works on trajectory planning, two of the most popular approaches are trajectory generation in (1) joint or configuration space and (2) task space or cartesian space [6]. By using inverse kinematics, the end-effector position is transformed into joint angles representation, then a process of computation to find a smooth transition function from point-to-point can be done using polynomial functions (either cubic [6], quantic [7], or higher degree polynomials), or B-Spline [8]. For application of 3- DOF robotics arm, some existing research utilized Genetic Algorithm [9], Ant Colony Optimization [10] or Fuzzy Inference System [11] for solving higher degree trajectory generation in the presence of obstacle. However cubic polynomials trajectory generation has been mainly used as its simpler solver for a faster computation time. Regarding the technique for obstacle avoidance, some previous works suggested there are many methods which have been used, such as Artificial Potential Field [5], Law of Conservation of Energy (LCE) [12], Distance Calculation [13], Discrete Detection [14], Follow the Gap [15], and Signed Distance Function [16]. Each method has their own superiority among others, however in this research the method of distance calculation is used as it is suitable for utilization with distance sensor and a fixed geometry model of obstacle.

In this paper, a prototype of 3-DoF parallel link robotic arm has been developed to demonstrate the process of autonomous test tube handling system for infectious materials in a table-top environment (small scale). This prototype is the upgraded version from our previous development [17]. This prototype can be potentially utilized for assisting healthcare workers with contactless samples handling and manipulation either for analysis or short-distance delivery. In order to improve the performance of prototype to be deployed in real environment, a method of adaptable trajectory planning using cubic polynomials with obstacle avoidance using distance calculation is proposed.

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Extended Planning Poker: A Proposed Model

Pantjawati Sudarmaningtyas Information System Department

Universitas Dinamika Surabaya, Indonesia pantja@dinamika.ac.id

Rozlina Binti Mohamed Faculty of Computing Universiti Malaysia Pahang

Gambang, Malaysia rozlina@ump.edu.my Abstract— Agile is the leading type of software

development methodology and have a higher chance of success than non-agile projects. Collaborative and cooperative are characteristic of the Agile software development method. It is demonstrated by involving users actively, empower the team to make decisions, capture requirements in lightweight and visual, focus on frequent delivery of products through developing small, incremental release, and iterate. This characteristic is causing effort estimation remains the main challenge in agile software development. Planning poker is an effort estimation technique that applied extensively with the ability to empower all team developers to decide, especially in estimate effort. Still, the result is very subjective and takes a long time. This research proposes a new model to improve actual planning poker performance. A proposed model modify two parts of the planning poker is the estimation process and consensus process. Three variables added to the estimation process as well as implementing weight and score for its variables. The consensus process proposed done automatically based on five attributes that are related to the estimator.

Keywords—Planning Poker, Software Effort Estimation, Agile

I. INTRODUCTION

Agile is the leading type of software development methodology. Survey results indicated that 88% of respondents used agile for software development [1]. In manage software development, substantially Agile is quite different from the waterfall method. The main characteristic of the Agile software development method is the collaborative and cooperative approach between all stakeholders. It is demonstrated by involving users actively, empower the team to make decisions, capture requirements in lightweight and visual, focus on frequent delivery of products through developing small, incremental release, and iterate [2].

The agile projects had the chance of success 60% higher than non-agile projects [3]. Nevertheless, effort estimation remains the main challenge in agile software development projects because there were not yet commonly accepted standardized effort estimation techniques employ for agile software development. Expert opinion or expert judgment is the estimation method widely used in Agile [4].

In line with agile philosophy, planning poker is a lightweight manner and encourages the discussion among the developer team that acts as estimators; therefore Planning poker technique is frequently used for the estimation effort in Agile [5]. The development team of interdisciplinary involved in session planning poker that conducted at the beginning iteration of agile software development [6].

The planning poker is an iterative process that stops when all of the efforts of user stories has been done an estimate. Each iteration process of estimation effort in Planning poker started by a brief explanation from the user or product owner about one user story. When a story has been discussed thoroughly, so in a closed personally, each

member is doing estimates by taking cards representing the efforts of the story. All cards are shown away at the same time, and when all the estimates show the equal value, then it becomes the agreed estimate value. If not, then do justification and further discussion for the lowest or highest estimates. After discussion, each member doing closed and personally estimates and cards are revealed again. This process is repeated until consensus is accomplished [7].

Advantage of Planning poker is empowered all team developer to make a decision, especially in estimate effort.

Still, the process may take a long time when the project has a lot of user stories, causing recurs consensus in the estimation process. This study aim proposed a new model of Planning poker to improve Planning poker by overcome weakness in the process consensus. This paper organized into four parts is introduction, methodology, results and discussion, and conclusions.

II. M^ETHODOLOGY

The expected result is achieved through three phases are study literature, analysis, and development. Fig. 1 show the methodology implemented in this study.

Fig. 1. Methodology

Study literature use to find out the software effort estimation applied in agile software development, explore the attributes that involved in the effort estimation, and genuinely learn about planning poker.

The analysis phase will select the relevant articles from the result from the previous stage; after that, evaluated the related articles. Development phase containing about how to build the model proposed based on the results of steps before.

III. RESULTS AND D^ISCUSSION A. Literature Review

The literature review is conducted to find the articles of the journal or proceedings published between 2009 and 2019 written in English and have valid DOI. Result of search on seven resources shown in Table I. The three resources that high contribution in Agile software effort estimation are IEEExplore, SpringerLink, and ACM Digital library.

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ANALYSIS OF ELECTRICAL ENERGY CONSUMPTION FOR LIGHTING SYSTEM IN POLYCLINIC, RADIOLOGY, AND PATIENT ROOMS OF

HOSPITAL BUILDING

Catur Nofianto

Electrical Engineering Department Universitas Diponegoro

Semarang, Indonesia nofiantocatur@yahoo.com

Hermawan

Electrical Engineering Department Universitas Diponegoro

Semarang, Indonesia Hermawan.60@gmail.com

Mochammad Facta Electrical Engineering Department

Universitas Diponegoro Semarang, Indonesia mochfacta@gmail.com

Omar Abouzeid

National Authority for Technical and Technical Education State of Libya- Sabha omarabouzeid73@gmail.com

Abstract—Maximizing energy efficiency in hospitals and health facilities is a major challenge in the field of energy conservation. The energy audit at the Garuda Pavilion dr.Kariadi RSUP Building aims to determine the pattern of energy use and how much energy is used, so as to determine various potential energy savings that are feasible and can be carried out appropriately by not reducing comfort and health.

The method used is measuring, calculating and analyzing to get energy consumption intensity known as IKE in patient policlinic, patient room, and radiology units. For artificial lighting in the initial conditions the use of lamps amounted to 1178 pieces, after being changed according to the Lux standard of the Ministry of Health the number of lamps was 696 units and according to the Ministry of Energy and Mineral Resources standard the number of lamps was 716 units. The electrical efficiency following the Ministry of Health standard is 2833.66 kWh / month, while the efficiency following the Ministry of Energy and Mineral Resources standard is 2145.48 kWh / Month.

Keywords — IKE, Lighting, Ministry of Health standards, Ministry and Mineral Resources standards.

I. INTRODUCTION

Energy audits are carried out at public hospitals to identify the energy use of equipment and their energy consumption [1].

This energy audit was carried out at the Garuda Pavilion RSUP dr.Kariadi di Hospital.

A systematic approach to energy auditing is important for calculating the energy impact of a company's processes [2].

Maximizing energy efficiency in hospitals and health facilities is a major challenge in the field of energy conservation [3]. Hospital is one type of commercial building that uses a large amount of energy. This is caused by demands for good service to patients and visitors, including lighting systems, completeness of facilities and others, which as a whole are supporting components of the service.

The development of equipment that supports hospitals that is fast enough to trigger an increase in energy needs used. It is important that each energy planning strategy must focus on

minimizing energy waste and motivating technological innovation [4].

LED lighting fixtures are recommended to replace current fluorescent lamps so as to minimize energy consumption and avoid environmental contamination due to disposal of fluorescent tube waste [5].

Operating and using electrical and electronic equipment also affects the total amount of energy consumption in the hospital and changes in behavior are recommended to reduce energy consumption. By means of audits, high power consumption equipment is identified and lost resources can be detected [6].

An energy audit identifies where and how much energy is consumed in an existing facility, building or structure [7]. The electric system having wired networking, safety devices and the ultimate load like lights, fans, pump, projectors, audio video equipments deviate from their performance due to several reasons like aging of devices, aging of wires used, humidity etc [8]. Analysis of the main energy efficiency variables is carried out by calculation of the value of Energy Consumption Intensity (IKE) due to the presence of electrical loads. How ever, noreference recorded in Indonesia to analysis the electrical energy consumed by lighting system in the hospital to meet two lighting standard i.e. standard issued by Ministry of Health and standard released by Ministry of Energy and Mineral Resources.

When purchasing light bulbs, many consumers opt for cheap incandescent bulbs, failing to take into account their higher energy costs and lower lifespans when compared to modern compact fluorescent and LED bulbs [9]. Procedures for Commercial Building Energy Audits to create a three-tiered analysis tool including direct observations, automated monitoring and a questionnaire to qualitatively and quantitative assess the interaction between individuals behavior and building performance [10]. The analysis of this work is conducted to get the value of Energy Consumption Intensity (IKE) in accordance with the standard value of the use of electrical energy in the 2014 ASEAN building for the Garuda Pavilion RSUP dr.Kariadi as an object of study case. By Proc. of 2020 7th Int. Conf. on Information Tech., Computer, and Electrical Engineering (ICITACEE)

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