Research

>> 2019/2020 <<

Mobile robot by qr-code locator

This video shows the development of mobile robot. The mobile robot was built based on NI-MyRIO microcontroller driving pair of TorqueNADO motor. The motion of mobile robot is controlled by TETRIX Max DC Motor Controller to move forward, backward, and turn. NI-myRIO finds the location of the objects based on QR-Code images taken by the robot camera. After locating the object, the mobile robot carries the targeted object by clamping the object at clamp attachment. In order to calculate the surrounding object, the mobile robot uses ultrasonic sensor. Besides, the gyro sensor is also used to calculate the robot turn angle.

Simulation for ARM ROBOT WITH T-R-R-T-R-P CONFIGURATION

Arm robot movement simulation is required to validate the workspace of designed arm robot and to prevent the arm robot from colliding with any objects inside the workspace. In UNIKA Atma Jaya, arm robot with twist-rotary-rotary-twist-rotary-prismatic (T-R-R-T-R-P) configuration has been built. Since this robot uses a new configuration robot, hence there is no simulation (software/tool) to validate the movements of the six DoF arm robot. In this final project, a simulation program has been built to simulatethe movements of the arm robot with twist-rotary-rotary-twist-rotary-prismatic configuration. The simulation is built with Robot Operating System (ROS) as its operating system and Gazebo as its virtual environment to show the occured events of the arm robot (movement). The developed simulation program has succeed to show the arm robot environment, and some possible movements through some experiments.

Study of Mobile Robot Mechanism for Uneven Terrain

Robot needs a suspension mechanism to move in various terrains (including the uneven one). The robot body should be stable in various position during the motion. This final project explores the design of motion mechanism for mobile robot to overcome uneven terrain such as stairs.

>> 2018/2019 <<

Crawling Motion generation by Reinforcement learning

There are various methods for making motion of a robot, for example : roadmap, kinematics, and motion capture. Along with the rapid development of AI (Artificial Intelligence) technology, where the technology can also be used to make movements in robots. Through AI technology, the term Machine Learning emerged, which means using machines / computers to learn to solve a problem. In this work, Machine Learning is used to generate the robot's crawling motion. Through the Reinforcement Learning method using the Q-Learning algorithm to run the learning phase, robots are assigned to look for sets or sequence of movements that allow the robot to move by crawling. The results obtained will be compared with sets or sequences produced by kinematic methods.

obstacle avoidance Using vfh+

Mobile robot is a kind of robot which has an ability to navigate. The ability itself is achieved by the integration of some sensors, and algorithm that is fused to make modules that enable the robot to move autonomously. One of the most important modules to achieve its autonomous ability is obstacle avoidance module. An obstacle avoidance module has been made by using Light Detection and Ranging (LiDAR) sensor and Vector Field Histogram+ (VFH+) algorithm.

Guidance System For Goods Retrieval In Shopping Center

The system gives path suggestion when visitor are looking the goods at some particular shops.

UNDERWATER vEHICLE

Underwater explorations are considered important for the lake ecosystem sustainability. Human underwater exploration is limited by a few aspects, those are underwater pressure change, lightings, and the oxygen needs which affect thediving period. There is a solution of using a Remotely Operated Vehicle (ROV) to replace divers but unluckily comes with an expensive price and less simple design. So, the purpose in this final project is to produce a prototype of a mini ROV which can move forward, backward, turning left, turning right, upward, and downward, and also built using inexpensive and easy-to-find materials.

traversable road detection using computer vision

In many cases, robot needs to distinguish the traversable areas in their vicinity to avoid collision with any objects in the environment. One way is to use computer vision techniques. Here, we used OpenCV library to detect the traversable area based on the color and HSV values of the paving road.

CanDle FIRE DETECTION USING COMPUTEr vision

This work was motivated by fire fighting robot competition. The robot in the competition has one task, that is to extinguish the fire of candle. Traditionally, robot can use flame sensor to detect the fire. However, based on the experience, the flame sensor was reliable when the distance between candle and robot is relatively close. In this work, we use computer vision technique to give alternative solution for detecting the fire. By using camera, the candle might be detected just after the robot enters the room where the candle is placed.

intuitive goods transporter robot (intu-gods)

Transporter robot was developed to help human in transporting goods from different locations. People expect that robots work autonomously when they perform the tasks. However, there should be a time when human wants to control the robot to follow their commands. For that purpose, we need a controller (user interface) that transfers human intention to the motion of the robot. The types of such controller may appear as joystick, teach pendant, or maybe a smartphone. In our opinion, none of them is intuitive enough to allow broad range of human age in controlling the robot. For example, old people may find difficult to use smartphone UI (user interface) when controlling the robot. Children may also find difficult to use joystick since they need to learn on how to use the controller. Obviously, learning process is always needed for any types of controller. However, we want to have controller that is intuitive and simple in use. Here, we propose an intuitive controller that is a part of the transporter robot. The user/human controls the robot only by pulling, relaxing, and directing the rope connected to the controller. Then, those actions are interpreted by the controller as the command for regulating the velocity and direction of the robot. The operation procedure of controller is very simple, intuitive, yet useful.

Motion generation for transporter robot

Motion generation module is responsible to move the robot according the predefined path. In order to test the under-developed motion generation module, we tested the module on the two types of test. First test was related to turning radius . The second test was sine-wave motion test. Turning radius is one important parameter to characterize the robot ability. Specifically, turning radius play significant role when robot is heading to narrow passage and turn areas, as the sine-wave test was to test whether the robot can generate sine wave motion.

Outdoor localization System for mobile robot

From the design of localisation prototype, it can be concluded that this prototype system is able to obtain data in form of position data, those result has an euclidean distance error as much as 1.68 m and average orientation as much as 16.68° relative to the ground truth.

System

Development

Experiments

RoBot manipulator 6-dof (5r1p)

The need of manipulator robot in various industrial fields is increasing. A study is needed to explore the knowledge in selecting robot components such as an electric motor based on the torque required by computing the inverse dynamics of the Newton-Euler method and compared with the ADAMS simulation. After that, the material selection is performed by using ashby diagrams to find the light-weight and in-expensive materials based on strength. From the results of the study, the torque value required by the computational dynamics with the ADAMS simulation has a difference of 1.0791 Nmm or 0.0118%.

Search and Reckon hybrid robot

A hybrid robot that can exchange mode between wheeler and walker. This robot was presented at National Science Week of College Student (PIMNAS 30) as a result of Creativity Program for College Student funded by the Ministry of Science and Technology.

>> 2017/2018 <<

Rocker-BOOGIE SUSPENSION ROBOT

Rocker-bogie robot is a robot that inspirated from mars rover made by Jet Propulsion Laboratory. This robot more like an explorer that can passing through any kind of different field such as different height on the wheels by maintain it's body to keep it balanced. This suspention system composed by two (2) rockers that connected each other through an axis that sustain the body, and the bogie that connected with each of the rockers. This robot controlled by a remote control that using internet connection (via wifi) as the input from the operator. This final project is about building a rocker-bogie robot based on microcontroller with remote control. The rocker-bogie robot succesfully made, this robot can passing through different height by stabilized the body and it can move with the input that given by the operator using internet connection (via wifi).

Traffic Cones Picking and retrieval System

The retrieval and placement of traffic cones in Indonesia is still done manually by authorized officers, this may jeopardize the safety of officers and is less efficient in terms of time, effort, and cost. Therefore, a machine is needed to collect and put traffic cones that can solve the problems in setting the traffic cones manually. The purpose of designing this machine is to design and build of collecting and laying traffic cones machine for pickup trucks, with the benefits of simplifying, accelerating, reducing amount of manpower required, and enhancing the sense of security and comfort for the authorized officers set traffic cones, other than that this design can be used as a reference for further design for students of Mechanical Engineering UNIKA Atma Jaya. Stages of design is done is task clarification as the initial stage, conceptual design to get the best variant, embodiment design of the best variant, and detailed design that accompanied the calculations required before the embodiment of the machine. The design result and embodiment of the machine can fulfill the demand in accordance with requirement list that have been designed before, can run the function of the machine well, with the maximum retrieval and placement speed of traffic cones is ±10 km / h, working speed of machine in collecting and laying traffic cones depends on the speed of the pickup trucks, the distance between traffic cones, and the operator, also can manage traffic cones quickly, reduce the amount of manpower and operational costs, improve security and comfort officers, flexible to be moved on other vehicles according to specifications, and can be operated on the right side or on the left side of the vehicle.

Multipurpose jigs and fixtures

Jigs and fixtures are the auxiliary tools often used by manufacturing industry companies. The use of jigs and fixtures applies to large companies and small companies. A disadvantage of jigs and fixtures is the use that is devoted to a workpiece, but when the production of the object has been completed, the jig and fixture become unused items. The weakness can be solved by using multipurpose jig. A multipurpose jig is a jig auxiliary which has several parts to modify in accordance with the item to be manufactured, so the jigs and fixtures do not need to be thoroughly rearranged when new workpieces are to be produced. The functions of the multipurpose jigs still meet all the important aspects of jig and fixture. The design method starts from the clarification of tasks, conceptual design, design calculations, design manifestations, and detail design. Furthermore, the manufacturing process is carried out to realize the multipurpose jigs based on the design. After the multipurpose jig has build, several tests were conducted on 3 different specimen types, then analyzed the uniformity of specimens resulting from the use of multipurpose jigs.

>> 2016/2017 <<

pipe inspection robot

In modern times, humans use automation systems and robots to perform a specific job because of its ease and efficiency. One of the hardest tasks of humans is to inspect the inside of the pipe, which is four to six inches in diameter. This final project discusses the design of a pipe inspection robot capable of entering the inside of the pipe and tracing the pipe of that size. This robot controlled by a microcontroller arduino and receive a command with communication module to generating DC gearbox motor, servo, and modification servo to be one mechanism that can move the robot to step forward, backward, and turn as well. It has been successfully designed and simulated arduino-based robotic motion mechanisms used to through inner side of four to six-inch pipe specification and has bent on a pipe line from forty-five to ninety degrees. In addition to design and simulation, robot design is made in accordance with the design using 3D printers and the installation of components that produce a real robot shape and motion mechanism that has been predicted to be tested on the actual pipe. Based on the results of trials, a robotic mechanism has been created that can enter the pipe. The robot that is made is not waterproof, the inside surface of the dirty pipe, and the distance between the controller with the robot itself is below six meters.

Cable Inspection Robot

The design of the first prototype of a moving robot on 115 mm cylindrical beams is a step to answer the need of safer, more efficient, cheaper, and easier to operate cable inspection method that is faster than manual inspection method and more accurate than using drone to perform inspection. This writing will explain the design and the protoype of a moving robot on 115 mm cylindrical beams that can be used to climb and glide on bridge cables. This robot is designed to be able to glide with a minimum speed of 10 mm/s, can glide on cable with diameter range between 100mm-120mm, can travel with a minimum of 50 meter distance without the need of charging, can be controlled from distance, can take picture, and send the inspection result from distance. The trial of the first prototype of a moving robot on 115 mm cylindrical beams shows that the robot has fulfilled the design specification.

Musician Robot

The use of robot manipulator to play music.

6-DOF Manipulator

This system consists of several components of pneumtic actuators, robots, control units, and sensor sensors that are made specifically for CNC workpieces. The system itself is controlled through programs stored in the memory of the control unit. The program is built on the viewpoint of the CNC operator so that it can simplify the operator's work. The system is then tested by measuring the amount of coordinat z-axis of the test specimen mounted on the Mazak CNC spindle. The test was conducted as many as 100 samples divided into 4 times the test. Test results were analyzed by statistical method of measurement data. From the analysis results can be seen the maximum range, large variant, and range changes that occur between the 4 data. From the result it can be concluded the amount of feedplane used in CNC programming. This system can improve productivity and reduce the production cost of any CNC workpiece through reduction of processing time.

>> 2016/2017 <<

Rotary indexer table berbasis plc

Proses pemindahan material dilakukan menggunakan suatu piringan berputar yang diatur oleh indexer mekanik yaitu Geneva Gear. Selain itu, pada proses pengerjaan digunakan suatu sistem pneumatik sebagai pengisi, penekan, dan pendorong keluar pada benda kerja. Untuk melakukan semua proses tersebut dibutuhkan suatu sensor untuk mendeteksi adanya benda pada piringan. Dalam sistem yang dibuat terdapat indikator dan kontrol. Pada indikator terdapat lampu darurat, lampu riset, lampu kerja, counter, dan indikator voltase. Sedangkan pada kontrol terdapat voltase, tombol on/off, tombol darurat, dan tombol riset.