ANFIS application for calculating inverse kinematics of programmable universal machine for assembly (PUMA) robot

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ANFIS application for calculating inverse kinematics of programmable universal machine for assembly (PUMA) robot

(Conference Paper)

, ,

Mechanical Engineering, Diponegoro University, Indonesia

Abstract

This paper focused on the robot arm's kinematics problem or the connection between angle in each joint and the end-effector's position.f Forward kinematics problem will be deduced using D-H (Denavit- Hartenberg) parameter method. The inverse kinematics problem will be solved using ANFIS (Adaptive Neuro-Fuzzy Inference System) instead of calculating the solution. ANFIS is a feature in MATLAB using ANFIS toolbox. PUMA 560 robot arm virtual model is used in this paper. Three ANFIS training conditions are made to test the influence of training conditions with the result's performance. The difference between end effector's position that using ANFIS and from calculation in forward kinematics will be calculated to test the end effector's position error. By making ANFIS solutions with three different MFs (Membership Functions), influence of MF number are known. With more MF will decrease the position's error. The most MF in this paper is 10 MFs resulting position error by 27.974mm. © 2014 IEEE.

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Prominence percentile: 76.984

Author keywords

ANFIS Arm robot forward kinematics inverse kinematics PUMA 560

Indexed keywords

Engineering controlled terms:

End eﬀectors Errors Fuzzy inference Fuzzy neural networks Fuzzy systems Inverse kinematics MATLAB Membership functions Robotic arms

Engineering uncontrolled terms

ANFIS ANFIS (adaptive neuro fuzzy inference system) Forward kinematics Forward kinematics problem PUMA 560 Puma 560 robot arms Training conditions

Universal machines

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2014 1st International Conference on Information Technology, Computer, and Electrical Engineering: Green Technology and Its Applications for a Better Future, ICITACEE 2014 - Proceedings

23 March 2015, Article number 7065710, Pages 35-40

2014 1st International Conference on Information Technology, Computer, and Electrical Engineering, ICITACEE 2014; ICT Building of Diponegoro UniversitySemarang; Indonesia; 8 November 2014 through 9 November 2014; Category numberCFP1489Z-PRT; Code 111714

Hendarto, H.A.  Munadi  Setiawan, J.D. 

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Fuzzy inference | Soft computing | Adaptive neuro-fuzzy

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References (10)

Engineering main heading:

Inverse problems

Programmable Universal Machine for Assembly

(1984) Unimate PUMA Series 500 Industrial Robot Unimation

Craig, J.J.

(1955) Introduction to Robotics Mechanics and Control Second Edition, pp. 88-93. .

(2010) Orner Deperlioglua U;man Ergiinb Ve Giir Emre Giiraksmc "Design of ANFIS Controller for DC-DC Step-Down Converter, pp. 17-29.

Afyon Kocatepe University Afyonkarahisar Turkey

Kurnaz, S., Cetin, O., Kaynak, O.

(2010) Expert Systems with Applications, 37 (2), pp. 1229-1234. . doi: 10.1016/j.eswa.2009.06.009

Al-Saedi, M.I., Wu, H., Handroos, H.

ANFIS and Fuzzy Tuning of PID controller for trajectory tracking of a ﬂexible hydraulically driven parallel robot machine

Journal of Automation and Control Engineering, 1 (2), pp. 70-77. . June 2013

Kansal, V., Kaur, A.

(2013) Application of ANFIS for Water Flow Rate Control in A Rawmill of Cement Manufacturing Process, 3, pp. 459-463.

University College of Engineering, Punjabi University, Patiala, Punjab-147002, India

ISBN: 978-147996431-4

Source Type: Conference Proceeding Original language: English

DOI: 10.1109/ICITACEE.2014.7065710 Document Type: Conference Paper

Volume Editors: Facta M.,Isnanto R.R.,Riyadi M.A.,Eridani D.

Publisher: Institute of Electrical and Electronics Engineers Inc.

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Neuro-fuzzy based approach for inverse kinematics solution of industrial robot manipulators

Cited 54 times http://www.journal.univagora.ro/download/pdf/133.pdf

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2014 1 st International Conference on Information Technology, Computer and Electrical Engineering

Editor:

Mochammad Facta R. Rizal Isnanto

Munawar Agus Riyadi Dania Eridani

(ICITACEE)

(9)

Proceedings

2014 1st International Conference on Information Technology, Computer and Electrical Engineering

(ICITACEE)

Copyright and Reprint Permission: Abstracting is permitted with credit to the source.

Libraries are permitted to photocopy beyond the limit of U.S. copyright law for private use of patrons those articles in this volume that carry a code at the bottom of the first page, provided the per-copy fee indicated in the code is paid through Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923. For reprint or republication permission, email to IEEE Copyrights Manager at pubs

Publisher:

Department of Electrical Engineering Diponegoro University

ISBN: 978-1-4799-6431-4 (PRINT, Part Number: CFP1489Z-PRT) ISBN: 978-1-4799-6430-7 (CD-ROM Part Number: CFP1489Z-CDR)

ISBN: 978-1-4799-6432-1 (XPLORE COMPLIANT, Part Number: CFP1489Z-ART)

Additional copies may be ordered to:

Department of Electrical Engineering Diponegoro University,

JI. Prof. H. Soedarto, S.H., Tembalang Semarang, Indonesia 50275

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20141st International Conference on Information Technology, Computer and Electrical Engineering (ICITACEE)

Keynote Speech :

Keynote Title :

KEYNOTE SPEAKER 1

Prof. Hiroshi Ochi (Kyushu Institute of Technology, JAPAN )

Multi-User MIMO Wireless System -From Theory to Chip Design Speaker's Biography:

Hiroshi Ochi is a professor in Computer Science and Electronics of Kyushu Institute of Technology in Fukuoka, Japan.Dr. Ochi is a cofounder of Que-Wave.He received Ph.D. from Tokyo Metropolitan University in 1990.He has been engaged in researches and developments of digital communication systems and signal processing areas at an academic environment since 1986.He brings over 17 years of experience and knowledge of electronics engineering to Que-Wave.One of the reasons he founded

QW is he has felt to need more useful and high-performance devices than ever.

And then, he decided to focus on producing useful tools and services from an engineer's point of views.

(11)

Keynote Speech :

Keynote Title :

KEYNOTE SPEAKER 2

Prof. Dr. Trio Adiono (Institut Teknologi Bandung)

Challenges and Opportunities in Designing Internet of Things Speaker's Biography:

Trio Adiono is faculty member of the School of Electrical Engineering and Informatics of Institut Teknologi Bandung (ITB) and the head of IC Design Laboratory of Microelectronics Center ITB. He obtained his Ph.D.

degree in VLSI Design from Tokyo Institute of Technology (Titech), Japan. From 2002 to 2004 he was a research fellow of the Japan Society for the Promotion of Science (JSPS) in Titech. In 2005, he was a visiting scholar at MESA+, Twente University, Netherlands. He has developed several microchips for video processing,

smart card, NFC, and WiMax Baseband Chip. He received the "Second Japan Intellectual Property (IP) Award" in 2000 from Nikkei BP for his research on "Low Bitrate Video Communication LSI Design".

(12)

Keynote Speech :

Keynote Title :

KEYNOTE SPEAKER 3

Adi Rahman Adiwoso (Pasifik Sate lit Nusantara)

Role of Telecommunication Satellite in Indonesia Name : Adi Rahman Adiwoso

Place / Date of Birth : Yogyakarta, 26 July 1953 Status : Married With 2 Children

Education :

BSc in Aeronautical and Astronautical Engineering, Purdue University, 1974

MSc in Aeronautical and Astronautical Engineering, California Institute of Technology, 1976

Work Experience :

1974 - 1982 Hughes Aircraft Company 1982 - 1987 Rasikomp Nusantara

1987 - 1990 PT Rajasa Hazanah Perkasa as Managing Director 1987 - 199 1 Board member and COO of Orion Satellite Asia Pacific in Washington DC

199 1 - Current President Director of PT Pasifik Satelit Nusantara 1993 - 1995 Marketing Director of PT Satelit Palapa Indonesia 1994 - Current Chairman and CEO of ACeS

1999 - 2008 Chairman of Indonesian Institute of Corporate Governance 2005 - 2006 Expert Staff for BRR

2007 - 20 12 Member of Board of Commissioner of PT Garuda Indonesia 2008 - 20 12 Member of Board of Commissioner of PT Dirgantara Indonesia (Persero)

2008 - 20 1 1 Member of Board of Commissioner of PT Perusahaan Pengelola Aset

2009 - 20 10 Member of Board of Commissioner of PT Merpati Nusantara Other :

Graduate with Honors from Purdue University Howard Hughes Fellowship

Nominated in 1997 as The Best Satellite Executive of The Year, Washington DC Nominated in 200 1 as The Best Satellite Executive of The Year, Washington DC Awarded in 2005 as The Best Satellite Executive of The Year in the Asia-Pacific

(13)

20141 st International Conference on Information Technology, Computer and Electrical Engineering (ICITACEE)

ICIT ACEE COMMITTEE

General Chair Co- Chair

: Wahyul Amien Syafei : R. Rizal Isnanto

ORGANIZING COMMITTEE:

Adian Fatchur Rochim Sukiswo

Mochammad Facta Ajub Ajulian Zahra Aris Triwiyatno Eko Didik Widianto Sumardi

Achmad Hidayatno Yuli Christyono

Munawar Agus Riyadi Dania Eridani

Darjat

STEERING COMMITTEE :

Muhammad Nuh (Indonesian Minitry of National Education) Trio Adiono (IEEE Solid State Circuit Indonesian Chapter) Wahyul Amien Syafei (Diponegoro University)

Hiroshi Ochi (Kyushu Institute of Technology, Japan) Hiroshi Furukawa (Kyushu University, Japan)

Kuncoro Wastuwibowo, Ir. MSc. (IEEE Indonesian Section) Onil Nazra Persada (France)

Mauridhi Heri Purnomo (Sepuluh November Institute of Technology) Razali Ismail (University Teknologi Malaysia, Malaysia)

Taufik (California Polytechnic State, USA)

(14)

20141 st International Conference on Information Technology, Com puter and Electrical Engineering (ICITACEE)

TECHNICAL PROGRAM COMMITTEE:

Masayuki Kurosaki (Kyushu Institute of Technology) Eko Handoyo (Utrecht University, Netherland) R. Rizal Isnanto (Diponegoro University, Indonesia) Mochammad Facta (Diponegoro University, Indonesia) Munawar Agus Riyadi (Diponegoro University, Indonesia) Aris Triwiyatno (Diponegoro University, Indonesia)

Sidiq Syamsul H (State Polytechnics of Semarang, Indonesia) Trio Adiono (Bandung Institute of Technology, Indonesia) Adhi Susanto (Gadjah Mada University, Indonesia)

Paulus Insap Santosa (Gadjah Mada University, Indonesia) Ismail Sa'ad (University Technology Malaysia)

Azli Yahya (University Technology Malaysia)

Hendra Setiawan (Indonesian Islamic University, Indonesia) Siamet Riyadi (Soegijapranoto Catholic University, Indonesia) Supari (Semarang University, Indonesia)

Onil Nazra Persada (CEA, France)

M. Hadin (Sultan Agung Islamic University, Indonesia) Teguh Prakoso (Diponegoro University, Indonesia) Sri Ratna Sulistiyanti (Lampung University, Indonesia) Ratna Wardani (Yogyakarta State University, Indonesia) Suryani Alifah (Sultan Agung Islamic University, Indonesia)

Florentinus Budi Setiawan (Soegijapranoto Catholic University, Indonesia) Rahmat Budiarto (AI Baha University, Saudi Arabia)

Abdul Kadir (Gajah Mada University, Indonesia) Junaidi (Universiti Teknologi Malaysia)

Muhammad Aziz Muslim (Brawijaya University, Indonesia)

Muhammad Amjad (The Islamic University of Bahawalpur, Pakistan) Bahniman Ghosh (Indian Institute of Technology Kanpur, India)

Arwin Datumaya Wahyudi Sumari (Indonesia Fortress University, Indonesia) Oky Dwi Nurhayati (Diponegoro University, Indonesia)

Hermawan (Diponegoro University, Indonesia) Jaka Windarta (Diponegoro University, Indonesia)

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20141 st International Conference on Information Technology, Com puter and Electrical Engineering (ICITACEE) TECHNICAL PROGRAM COMMITTEE:

Dian Retno Sawitri (Dian Nuswantoro University, Indonesia) Jatmiko Endro Suseno (Diponegoro University, Indonesia) Kusworo Adi (Diponegoro University, Indonesia)

Vincent Gunawan Kadarisman (Diponegoro University, Indonesia) Ngurah Made Dharmaputra (Semarang State University, Indonesia) M. Fadhil (Ahmad Dahlan University, Indonesia)

Joga Dharma Setiawan (Diponegoro University, Indonesia) Munadi (Diponegoro University, Indonesia)

Anton Yudhana (Ahmad Dahlan University, Indonesia) Sunardi (Ahmad Dahlan University, Indonesia)

Auzani Jiddin (Technical University Malaka, Malaysia) M. Khairuddin (Yogyakarta State University, Indonesia) Shahrin Md. Ayob (University Technology Malaysia) M. Rodhi (University Technology Malaysia)

Deris Stiawan (Sriwijaya University, Indonesia) Muchlas (Ahmad Dahlan University, Indonesia) Subiyanto (Semarang State University, Indonesia) Reza Firsandaya Malik (Sriwijaya University, Indonesia) Rossi Passarella (Sriwijaya University, Indonesia)

Arief Marwanto (Sultan Agung Islamic University, Indonesia) Much. Imam MIS (Sultan Agung Islamic University, Indonesia) Ismail Musirin (University Technology Mara, Malaysia)

Mohd. Hewan Sulaiman (Univeristi Malaysia Perlis)

Saifulnizam Abd. Khalid (University Technology Malaysia) Nor Rul Hasma Abdullah (Universiti Malaysia Pahang)

Muhammad Murtadha Othman (University Technology Mara, Malaysia) Hosein Farzanehfard (Isfahan University of Technology, Iran)

Harish C. Dubey (Friedrich Alexander University, Germany) Nand Kishor (Indian Institute of Technology Bombay, India)

(16)

TABLE OF CONTENTS

Cover

Greetings and Thanks from the General Chair

Foreword from Head of Department of Ele ctrical Engineering

Foreword from Dean, Faculty of Engineering

Organizing Committee Steering Committee

Technical Program Committee Keynote Speaker's Biography Conference Program

1-1 1-2 1-3

CCI CC2

CC3

CC4

CC5

CC6 CC7

KEYNOTE SPEAKERS

Multi-User MIMO Wireless System -From Theory to Chip Design Prof Hiroshi Ochi

Challenges and Opportunities in Designing Internet of Things Prof Dr. Trio Adiono

Role of Telecommunication Satellite in Indonesia Adi Rahman Adiwoso

CIRCUITS AND SYSTEMS

Enhancement of DRAMs Performance using Resonant Tunneling Diode Buffer Ahmed Luifi Elgreatiy, Ahmed Ahmed Shaaban, EI-SayedM EI-Rabaie

Real-time SoC Architecture and Implementation of Variable Speech PDF based Noise Cancellation System

Aditya Ferry Ardyanto, Idham Hajizh, Septian Gilang Permana Putra, Trio Adiono

Application of Supervised Learning in Grain Dryer Technology Recirculation Type Cooperated with Wireless Sensor Network

Sidiq Syamsul Hidayat, Totok Prasetyo, Amin Suhafjono, Kurnianingsih, Muhammad Anif

Design of Real-Time Gas Monitoring System Based-on Wireless Sensor Networks for Merapi Volcano

B. Supriyo, S.s. Hidayat, A. Suharjono, M Ani/, Sorja Koesuma

ANFIS Application for Calculating Inverse Kinematics of Programmable Universal Machine for Assembly (PUMA) Robot

Hugo Adeodatus Hendarto, Munadi, Joga Dharma Setiawan MRC NN Controller for Arm Robot Manipulator

M Khairudin, Nur Kholis

Development of Micro controller-based Stereoscopic Camera Rig Positioning System

Julian Ilham, Wan-Young Chung

1 11 13

16 21

26

30

35

41

46

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CC8

CC9 CCIO CC11 CC12

CC13

CC14 CC15 CC16

CC17

CC18

CC19

CC20

IPI IP2 IP3

Design of A Digital PI Controller for Room Temperature on Wireless Sensor and Actuator Network (WSAN) System

Bambang Sugiarto, Elan Djaelani

Display and Interface of wireless EMG measurements Kevin Eka Pramudita,

^F.

Budi Setiawan, Siswanto

Accuracy Enhancement of Pickett Tunnelling Barrier Memristor Model Ahmad A. Daoud, Ahmed A. Shaaban, SherifM Abuelenin

Data Fusion and Switching Function For UA V Ouadrotor Navigation System Muhammad Faris, AdhaImam Cahyadi, Hanung Adi Nugroho

Data logger Management Software Design for Maintenance and Utility in Remote

Devi Munandar, Djohar Syamsi

Investigation of Electrical Properties of NanofibrePolyaniline Synthesize as Material for Sensor

Ngurah Ayu Ketut Umiati, Siti Nurrahmi, Kuwat Triyana, Kamsul Abraha Reconfigurable Floating Point Adder

Vipin Gemini

HOVER POSITION CONTROL WITH FUZZY LOGIC

Nia Maharani Raharja , Iswanto, Muhammad Faris, Adha Imam Cahyadi.

METHODOLOGY OF FUZZY LOGIC WITH MAMDANI FUZZI MODELS APPLIED TO THE MICROCONTROLLER

Indra Sakti

Fall Detection System Using Accelerometer and Gyroscope Based on Smartphone

Arkham Zahri Rakhman, Lukito Edi Nugroho, Widyawan, Kurnianingsih Design and Implementation of Sensor Fusion for Inertia Measurement on Flying Robot Case Study: Hexacopter

Huda Ubaya, Afdhal Akrom

Triple Band Bandpass Filter With Cascade Tri Section Stepped Impedance Resonator

Gunawan Wibisono, Tierta Syafraditya

Temperature Response Analysis Based on Pulse Width Irradiation of 2.45 GHz Microwave Hyperthermia

Imam Santoso, Thomas Sri Widodo, Adhi Susanto, Maesacfjie TJokronagoro

IMAGE PROCESSING AND MULTIMEDIA

Visual Object Tracking using Particle Clustering Harindra Wisnu Pradhana

Selective Encryption of video MPEG use RSA Algorithm Prati Hutari Gani, MamanAbdurohman

Analytical Hierarchy Process for Land Suitability Analysis Rahmat Sholeh, Fahrul Agus, and Heliza Rahmania Hatta

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IP4

IPS

IP6

IP7

IP8

IP9 IPlO IPll

IP12 IP13

Icn ICT2 ICT3 ICT4 ICT5

Training Support for Pouring Task in Casting Process using Stereoscopic Video See-through Display - Presentation of Molten Metal Flow Simulation Based on Captured Task Motion

Kazuyo Iwamoto, Hitoshi Tokunaga, Toshimitsu Okane

Feature Extraction and Classification of Heart Sound based on Autoregressive Power Spectral Density

Laurentius Kuncoro Probo Saputra, Hanung Adi Nugroho, Meirista Wulandari Smart-Meter based on current transient signal signature and constructive backpropagation method

Mat Syai 'in,

^MF.

Adiatmoko, Isa Rachman, L. Subiyanto, Koko Hutoro, Ontoseno Penangsang, Adi Soeprijanto

AUTOMA TIC DOORSTOP SAFETY SYSTEM BASED ON IMAGE PROCESSING WITH WEBCAM AND SCANNER

Stanley Suryono Wibisono, Florentinus Budi Setiawan

Palmprint Identification for User Verification based on Line Detection and Local Standard Deviation

Bagas Sakamulia Prakoso, Ivanna

^K.

Timotius, Iwan Setyawan

Cerebellar Model Articulation Controller (CMAC) for Sequential Images Coding Muhamad Iradat Achmad, Hanung Adinugroho, Adhi Susanto

A Comparative Study on Signature Recognition

Ignatia Dhian Estu Karisma Ratri, Hanung Adi Nugroho, Teguh Bharata Adji Study of Environmental Condition Using Wavelet Decomposition Based on Infrared Image

S. R. Sulistiyanti,

^M

Komarudin, L. Hakim, A. Yudamson

Very High Throughput WLAN System for Ultra HD 4K Video Streaming Wahyul Amien Syafei, Masayuki Kurosaki, and Hiroshi Ochi

Iris Recognition Analysis Using Biorthogonal Wavelets Tranform for Feature Extraction

R. RizalIsnanto

INFORMATION AND COMPUTER TECHNOLOGIES

The Development of 3D Educational Game to Maximize Children's Memory Dania Eridani, Paulus Insap Santosa

The Influence of Knowledge Management to Succesful Collaborative Design Yani Rahmawati, Christiono Utomo

Knowledge and Protocol on Collaborative Design Selection Christiono Utomo, Yani Rahmawati

Mobile-Based Learning Design with Android Development Tools Oky Dwi Nurhayati, Kurniawan Teguh M

A mobile diabetes educational system for Fasting Type 2 Diabetes in Saudi Arabia

Mohammed Alotaibi

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ICT6

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ICTlO

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ICTl4

ICTl5 ICTl6

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ICT20

Aggressive Web Application Honeypot for Exposing Attacker's Identity Supeno Djanali, FX Arunanto, Baskoro Adi Pratomo, Abdurrazak Baihaqi, Hudan Studiawan, Ary Mazharuddin Shiddiqi

Adjustment Levels for Intelligent Tutoring System using Modified Items Response Theory

Ika Widiastuti, Nurul Zainal Fanani

Smile Recognition System based on Lip Corners Identification Eduard Royce, Iwan Setyawan, Ivanna

^K.

Timotius

An Integrated Framework for Measuring Information System Success Considering the Impact of Culture in Indonesia

Siti Mardiana

Pre-Processing Optimization on Sound Detector Application AudiTion (Android Based Supporting Media for the Deaf)

Gian Gautama, Imanuel Widjaja, Michael Aditya Sutiono, JovanAnggara, Hugeng

EVALUATION OF DISTRIBUTION NETWORK RELIABILITY INDEX USING LOOP RESTORATION SCHEME

Daniar Fahmi, Abdillah

^{F. I,}

IGN Satriyadi Hemanda, Dimas Anton Asfani Efficient Message Security Based Hyper Elliptic Curve Cryptosystem (HECC) for Mobile Instant Messenger

Putra Wanda, Selo, Bimo Sunafri Hantono

Application of Web-Based Information System in Production Process of Batik Industry Design Division

Indah Soesanti

Managing and Retrieval of Cultural Heritage Muhimedia Collection Using Ontology

Albaar Rubhasy, A.A.

^G.

Yudhi Paramartha, Indra Budi, Zainal A. Hasibuan Individual Decision Model for Urban Regional Land Planning

Agus Fahrul, Sumaryono, Subagyo Lambang, Ruchaemi Afif

Enhancing Online Expert System Consultation Service with Short Message Service Interface

Istiadi, Emma Budi Sulistiarini , Guntur Dharma Putra

Mobile Nutrition Recommendation System For 0-2 Year Infant Ratih Nur Esti Anggraini, Siti Rochimah, Kessya Din Dalmi

Comparison of Distance and Dissimilarity Measures for Clustering Data with Mix Attribute Types

Hermawan Prasetyo, Ayu Purwarianti

Determining E-commerce Adoption Level by SMEs in Indonesia Based on Customer-Oriented Benefits

Evi Triandini, Daniel Siahaan, Arif Djunaidy

Providing Information Sources Domain for Information Seeking Agent From Organizing Know ledge

Istiadi, Lukito Edi Nugroho, Paulus Insap Santosa

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ICT21

ICT22 ICT23 ICT24

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PSI

PS2

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PS8

Decision Support System For Stock Trading Using Decision Tree Technical Analysis Indicators and Its Sensitivity Profitability Analysis

F.X

Satriyo D. Nugroho, Teguh Bharata Adji, Silmi Fauziati

Design Web Service Academic Information System Based Muhiplatform Meta Lara Pandini, Zainal Arifin and Dyna Marisa Khairina

Effects of V ANET's Attributes on Network Performance Agung B. Prasetijo, Sami S. Alwakeel and HeshamA. Altwaijry

Visualization of Condition Irrigation Building and Canal Using Web GIS Application

Falahah, Defrin KarisiaAyuningtias

Comparison of three back-propagation architectures for interactive animal names utterance learning

Ajub Ajulian Zahra Macrina andAchmad Hidayatno

WORK IN PROGRESS - OPEN EDUCATION METRIC (OEM) :

DEVELOPING WEB-BASED METRIC TO MEASURE OPEN EDUCATION SERVICES QUALITY

Priyogi B. , Nan Cenka B. A. , ParamarthaA.A.

^{G. Y.}

&Rubhasy A.

POWER SYSTEMS

Design and Implementation of Solar Power as Battery Charger Using Incremental Conductance Current Control Method based on dsPIC30F4012 Ahmad Musa, Leonardus

^H.

Pratomo, Felix

^Y.

Setiono

An Adaptive Neuro Fuzzy Inference System for Fauh Detection in Transformers by Analyzing Dissolved Gases

Ms. Alamuru Vani, Dr. Pessapaty Sree Rama Chandra Murthy

Optimal Power Flow based upon Genetic Algorithm deploying Optimum Mutation and Elitism

M

Usman Aslam, Muhammad Usman Cheema, Muhammad Sa mran , Muhammad Bilal Cheema

Design Analysis and Optimization of Ground Grid Mesh of Extra High Vohage Substation Using an Intelligent Software

M

Usman Aslam, Muhammad Usman Cheema, Muhammad Sa mran , Muhammad Bilal Cheema

Design and Simulation of Neural Network Predictive Controller Pitch-Angle Permanent Magnetic Synchrounous Generator Wind Turbine Variable Pitch System

Suyanto, Soedibyo, Aji Akbar Firdaus

Inverse Clarke Transformation based Control Method of a Three-Phase Inverter for PV -Grid Systems

Slamet Riyadi

Control of a Single Phase Boost Inverter with the Combination of Proportional Integrator and Hysteresis Controller

Felix Yustian Setiono

A Simple Three-phase Three-wire Vohage Disturbance Compensator Hanny

^H.

Tumbelaka

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Analysis of Protection Failure Effect and Relay Coordination on Reliability Index

1.

G.N Satriyadi Hernanda, Evril

^N.

Kartinisari, Dimas Anton Asfani, Daniar Fahmi

Extreme Learning Machine Approach to Estimate Hourly Solar Radiation On Horizontal Surface (PV) in Surabaya - East Java

Imam Abadi, Adi Soeprijanto, Ali Musyafa '

Maximum Power Point Tracking Control for Stand-Alone Photovoltaic System using Fuzzy Sliding Mode Control Maximum Power Point Tracking Control for Stand-Alone Photovoltaic System using Fuzzy Sliding Mode Control

Antonius Rajagukguk, Mochamad Ashari, Dedet Candra Riawan The Influence of Meteorological Parameters under Tropical Condition on Electricity Demand Characteristic: Indonesia Case Study

Yusri SyamAkil, Syafaruddin, Tajuddin Waris, A. A. Halik Lateko

Optimal Distribution Network Reconfiguration with Penetration of Distributed Energy Resources

Ramadoni Syahputra, Imam Robandi, Mochamad Ashari

Maximum Power Point Tracking Photovoltaic Using Root Finding Modified Bisection Algorithm

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Prasetiyono Hari Mukti, Eko Setijadi, Nancy Ardelina

Design and Analysis of Dualband J-Pole Antenna with Variation in "T" Shape for Transceiver Radio Communication at VHF and UHF Band

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Savitri Galih, Marc Hoffmann, Thomas Kaiser Development of the First Indonesian S-Band Radar

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5/5/2020 ANFIS application for calculating inverse kinematics of programmable universal machine for assembly (PUMA) robot - IEEE Conference P…

https://ieeexplore.ieee.org/document/7065710/authors#authors 1/3

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3Author(s) Hugo Adeodatus Hendarto ; Munadi ; Joga Dharma Setiawan View All Authors

ANFIS application for calculating inverse kinematics of

programmable universal machine for assembly (PUMA) robot

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Abstract: This paper focused on the robot arm's kinematics problem or the connection between angle in each joint and the end-effector's position.f Forward kinematics problem will b... View more

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This paper focused on the robot arm's kinematics problem or the connection between angle in each joint and the end-effector's position.f Forward kinematics problem will be deduced using D-H (Denavit- Hartenberg) parameter method. The inverse kinematics problem will be solved using ANFIS (Adaptive Neuro-Fuzzy Inference System) instead of calculating the solution. ANFIS is a feature in MATLAB using ANFIS toolbox. PUMA 560 robot arm virtual model is used in this paper. Three ANFIS training conditions are made to test the influence of training conditions with the result's performance. The difference between end effector's position that using ANFIS and from calculation in forward kinematics will be calculated to test the end effector's position error. By making ANFIS solutions with three different MFs (Membership Functions), influence of MF number are known. With more MF will decrease the position's error. The most MF in this paper is 10 MFs resulting position error by 27.974mm.

Date of Conference: 8-8 Nov. 2014 INSPEC Accession Number: 15020622 DOI: 10.1109/ICITACEE.2014.7065710

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Date Added to IEEE Xplore: 26 March 2015

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Publisher: IEEE

Conference Location: Semarang, Indonesia

Hugo Adeodatus Hendarto

Mechanical Engineering, Diponegoro University, Indonesia Munadi

Department of Mechanical Engineering, Diponegoro University, Indonesia Joga Dharma Setiawan

Department of Mechanical Engineering, Diponegoro University, Indonesia

I. Introduction

Consumer demand of products are always increasing both in terms of quantity and quality with a good price. Automated production system will be very useful to overcome this situation. In Indonesia, there are many industries that still using non automated system. This is caused by automating the production system's cost in Indonesia are still high, or man power are still not so expensive compared with automating the system.

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Hugo Adeodatus Hendarto

Mechanical Engineering, Diponegoro University, Indonesia

Munadi

Department of Mechanical Engineering, Diponegoro University, Indonesia

Joga Dharma Setiawan

Department of Mechanical Engineering, Diponegoro University, Indonesia Contents

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5/5/2020 Enhancement of DRAMs performance using resonant tunneling diode buffer - IEEE Conference Publication

3Author(s) Ahmed Lutfi Elgreatly ; Ahmed Ahmed Shaaban ; El-Sayed M. El-Rabaie View All Authors

Enhancement of DRAMs performance using resonant tunneling diode buffer

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Abstract: DRAM industry has gained most of the interest in the memory chip industry in the last decades for its high density (due to its simple structure) and lower power consumpti... View more

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DRAM industry has gained most of the interest in the memory chip industry in the last decades for its high density (due to its simple structure) and lower power consumption.

As the density of DRAM chips increased, the bit-line parasitic capacitances increased and many problems appeared such as increased power consumption and larger read/write access times which gave great attention to improve the design of the CMOS sense amplifier used in the memory chip for its great effects on memory access time, overall memory power dissipation and chip density. In this paper, we introduce one of the most effective solutions to increase the performance of the advanced high density DRAMs by replacing the sense amplifier circuit with a specially designed logic buffer circuit based on Resonant Tunneling Diode (RTD) that can be fabricated in Nano-scale and exhibit higher operation speed with lower power consumption and higher chip density. The proposed design improves the Power Delay Product (PDP) by about 36%

compared with that in conventional RTD-CMOS sense amplifier and 15% compared with that in conventional CMOS sense amplifier. The 45nm CMOS technology is used in this paper.

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A high speed low power reading scheme in DRAMs using Resonant Tunneling Diode 2015 2nd International Conference on Information Technology, Computer, and Electrical Engineering (ICITACEE) Published: 2015

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Date of Conference: 8-8 Nov. 2014 Date Added to IEEE Xplore: 26 March 2015

ISBN Information:

INSPEC Accession Number: 15020629 DOI: 10.1109/ICITACEE.2014.7065706 Publisher: IEEE

Ahmed Lutfi Elgreatly

Dep. of Electrical Engineering, Faculty of Engineering, Port-Said University, Egypt Ahmed Ahmed Shaaban

Dep. of Electrical Engineering, Faculty of Engineering, Port-Said University, Egypt El-Sayed M. El-Rabaie

Dep. of Electronics and Communications Engineering, Faculty of Electronic Engineering, Minoufiya University, Egypt

I. Introduction

DRAM cell has a very simple structure shown in Fig. 1, which makes it easily implemented in arrays, this simple structure made DRAMs widely used in most of recent applications. It consists of a cell capacitance and an access transistor between the bit-line (BL) and the cell capacitance which is controlled by the word-line (WL). The bit-line is connected to a differential sense amplifier to sense the voltage stored in the cell capacitance and pulls the bit-line to or ground according to the value of the sensed voltage [1], [2].

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Ahmed Lutfi Elgreatly

Dep. of Electrical Engineering, Faculty of Engineering, Port-Said University, Egypt

Ahmed Ahmed Shaaban

Dep. of Electrical Engineering, Faculty of Engineering, Port-Said University, Egypt

El-Sayed M. El-Rabaie

Dep. of Electronics and Communications Engineering, Faculty of Electronic Engineering, Minoufiya University, Egypt

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5/5/2020 Development of microcontroller-based stereoscopic camera rig positioning system - IEEE Conference Publication

2Author(s) Julian Ilham ; Wan-Young Chung View All Authors

Development of microcontroller-based stereoscopic camera rig positioning system

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Abstract Document Sections I. Introduction II. Stereoscopic

Camera System Overview III. System Design IV. Experimental

Setup and Result V. Experimental

Setup and Result

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Abstract: A camera rig operator of stereoscopic camera system mostly adjusts a pair of camera manually when trying to make a 3D video that has good image depth. However, the proces... View more

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A camera rig operator of stereoscopic camera system mostly adjusts a pair of camera manually when trying to make a 3D video that has good image depth. However, the process of this cameras positioning is cumbersome and time-consuming. In this paper, in order to solve those problems we develop a semiautomatic stereoscopic camera system; different from other works where a microcontroller, which considered low-cost and affordable, is employed to handle automation process of the system. Nevertheless, the camera rig operator is still required to carry out some manual processes such as inserting required parameters. In this system, the object distances approach is utilized;

some object distance parameters, which obtained by a laser range finder, are entered into mathematical expressions in order to obtain correct positions of two cameras..

Based on experimental results, our proposed system enhances the process of the video capture process. In other words, it reduces the time required for every single scene capture process.

Date of Conference: 8-8 Nov. 2014 INSPEC Accession Number: 15020626

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Date Added to IEEE Xplore: 26 March 2015

ISBN Information:

DOI: 10.1109/ICITACEE.2014.7065712 Publisher: IEEE

Julian Ilham

Department of Electronic Engineering, Pukyong National University, Busan, Korea

Wan-Young Chung

Department of Electronic Engineering, Pukyong National University, Busan, Korea

I. Introduction

Stereoscopic camera system is a method to create three dimensional (3D) video. This technique actually adopts human visual system where there are two identical cameras used to represent two human eyes.

Thus, the two captured videos, which are fused, can deliver depth of perception for presenting 3D illusion to human eyes. Furthermore, the two images must be aligned properly, including with correct disparity to avoid visual discomfort that could lead to eyestrain and visual fatigue to viewers. As such, to obtain the proper 3D videos, the cameras must be placed on a holder horizontally called stereoscopic camera rig. By using the camera rig, the alignment and the disparity of the cameras can be adjusted easily.

Julian Ilham

Department of Electronic Engineering, Pukyong National University, Busan, Korea Wan-Young Chung

Department of Electronic Engineering, Pukyong National University, Busan, Korea Contents

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5/5/2020 Training support for pouring task in casting process using stereoscopic video see-through display - Presentation of molten metal flow simul…

3Author(s) Kazuyo Iwamoto ; Hitoshi Tokunaga ; Toshimitsu Okane View All Authors

Training support for pouring task in casting process using

stereoscopic video see-through display - Presentation of molten metal flow simulation based on captured task motion

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Abstract Document Sections I Introduction II Pouring Task in

Casting Process III Prototype System IV Evaluation

Experiments V Conclusion

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Abstract: The work support technology using augmented reality has been researched in the field of manufacturing. It is the technology that can present appropriate instructions to a... View more

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Abstract:

The work support technology using augmented reality has been researched in the field of manufacturing. It is the technology that can present appropriate instructions to a worker. Thereby, the worker performs a task requiring an advanced skill even if she/he is not an expert. In this technology, most of work instructions are presented while the worker is working. However, there are many manufacturing tasks that is difficult to be retried when it fails. In order to deal with such tasks, a training support technology that a worker can train tasks beforehand using augmented reality is proposed. This technology can present simulated task results according to the motion of the worker. As a

simulation result, for example, the worker can see internal state of the work object. And she/he can train as many times as she/he wants. Therefore, her/his skills can be improved through trial and error. In this paper, a concept of task training support technology is introduced. To realize the concept, the pouring task in casting process is selected as a target task and the prototype system is constructed. Then, the evaluation results of pouring task training using the prototype system are reported.

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Kazuyo Iwamoto

National Institute of Advanced Industrial Science and Technology, Tsukuba-shi Japan

Hitoshi Tokunaga

Toshimitsu Okane

I Introduction

In the manufacturing field, there is a problem with shortage of experts because of aging. In order to cope with this, the work support technology has been developed[1] [2]. It is a technology that a worker can perform tasks efficiently even if she/he is not an expert by presenting the appropriate instructions corresponding to the situation at that time. In this technology, the work instructions are presented while the task is actually being executed. However, there are many manufacturing tasks that can not be retried if a worker fails, or that has a risk of large loss of cost. For such tasks, it is preferable that the task training is performed beforehand. In order to realize it, we propose the training support technology so that workers can practice in advance and their skill levels are expected to be efficiently improved. Fig. 1 shows the concept of task training support. A worker is looking at a work object through an image presented from the display device such as video see-through display.

And the worker can practice by seeing not only the computer graphics but also practical work objects, and work tools that are used in the actual tasks. When the task operation is carried out by using work tools, the task motion is recorded. The simulation is executed on the basis of the recorded motion. Then, computer graphics (CG) of the simulation results is superimposed on the work object using augmented reality and the superimposed moving image is presented to the worker. As an example of the moving image, the worker is able to observe the molten metal flows into the mold as shown in Fig. 1. In this technology, the simulation result is changed according to the task motion. Therefore, through the moving image, the worker can evaluate whether the worker's previous task motion had gone well or not. Here, only simulation is performed on this training, and the actual task is not performed. Thus, the worker can practice it repeatedly through trial and error and it is expected her/his skills are improved. However, depending on the target task, it is necessary to appropriately choose the method of the motion detection and the simulation and so on. Fig. 1

Concept of task training support example of application to pouring task in casting process

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5/5/2020 Double dielectric barrier discharge chamber for ozone generation - IEEE Conference Publication

5Author(s) Mochammad Facta ; Hermawan ; Karnoto ; Zainal Salam ; Zolkafle Buntat View All Authors

Double dielectric barrier discharge chamber for ozone generation

1 Paper Citation

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Abstract: The paper proposes an ozone generation generated by double dielectric barrier discharge chamber which is operated at atmospheric pressure discharge and supplied by high f... View more

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The paper proposes an ozone generation generated by double dielectric barrier discharge chamber which is operated at atmospheric pressure discharge and supplied by high frequency power converter. The air fed or oxygen is bombarded inside chamber that is constructed by a planar type chamber using double aluminum mesh on a metal plate and a double mica sheet as dielectric material. The power converter utilizes the class E parallel resonant converter operated at 39 kHz and maximum voltage 3 kV peak to peak.. The system is able to produced ozone product more than 150 ppm. Due to the simplicity and low cost design, it can be suitably used for low-density application such as home water treatment.

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5/5/2020 Double dielectric barrier discharge chamber for ozone generation - IEEE Conference Publication

Authors



Mochammad Facta

Electrical Engineering Department, Universitas Diponegoro, Semarang, Indonesia

Hermawan

Karnoto

Zainal Salam

Energy Conversion Department, Universiti Teknologi Malaysia, Johor Bahru, Malaysia

Zolkafle Buntat

High Voltage and High Current Institute, Universiti Teknologi Malaysia, Johor Bahru, Malaysia

I. Introduction

Ozone gas (3) is widely used in deodorization, decolourization, disinfection, bleaching processes, gas/air treatment, chemical synthesis and recently in medical applications [1]. In many of the applications mentioned above, it is crucial to deliver O3 within the correct dosage.

Over-or under-dose of O3 may have ineffective or destructive effects.

The dosage can be related to ozone gas concentration, measured in part per million (ppm) or mg/m3. One example to illustrate the importance of exposing the correct ozone concentration is in the bacteria disinfection for post-harvest treatment of fruits. It is reported in reference [2] that when the ozone concentration is not delivered in appropriate dosage as illustrated in Table 1, the skin colour can be changed and the quality of the fruit is reduced [3]. Hence the importance of knowing the concentration of ozone gas produced by the ozonizer.

Table 1 Ozone treatment on post harvest [2]

Name of fruitOzone concentrationTreatment Time

Apple 0.4 ppm daily

Citrus 0.3 ppm daily

Lemon 0.3 ppm daily

Pear 0.4 ppm daily

Strawberry 0.35 ppm 2 days

Mochammad Facta

Electrical Engineering Department, Universitas Diponegoro, Semarang, Indonesia Hermawan

Electrical Engineering Department, Universitas Diponegoro, Semarang, Indonesia Karnoto

Electrical Engineering Department, Universitas Diponegoro, Semarang, Indonesia Zainal Salam

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ANFIS application for calculating inverse kinematics of programmable universal machine for assembly (PUMA) robot

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Enhancement of DRAMs Performance using Resonant Tunneling Diode Buffer Ahmed Luifi Elgreatiy, Ahmed Ahmed Shaaban, EI-SayedM EI-Rabaie

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Design of Real-Time Gas Monitoring System Based-on Wireless Sensor Networks for Merapi Volcano

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ANFIS Application for Calculating Inverse Kinematics of Programmable Universal Machine for Assembly (PUMA) Robot

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