Ahmad Ataka Awwalur Rizqi

• Lecturer at Universitas Gadjah Mada

Shrimp Farmers traditionally measure shrimp's size by picking them from the pond using a net, putting them into scales, drying them, and counting the average body weight. This method is time-consuming. Additionally, continuous and high-frequency sampling, which is essential for accurate shrimp growth prediction and efficient shrimp farming, is chal...

This study proposes a novel approach to improve the stability of a Single Machine Infinite Bus (SMIB) system by developing a learning-based Power System Stabilizer (PSS) utilizing the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm. The proposed controller adjusts the gain of the PSS in response to disturbances, ensuring robust cont...

Soft robotics is the next generation of robotics systems that complements rigid robots using concepts inspired by natural organisms. Despite possessing extraordinary flexibility, agility, and endurance, making them safe to interact with humans, modelling and controlling soft robots still prove to be a major challenge. On the one hand, data-driven m...

Soft-growing robots are an emerging field in robotics, offering significant potential for various applications. One critical aspect of their functionality is effective obstacle avoidance, especially in applications where the robots must navigate through narrow and intricate spaces. However, controlling these robots presents substantial challenges,...

The Ultra-wideband indoor positioning system (UWB IPS) is a position tracking system that utilizes UWB transceivers. This research explores one of the commonly used techniques in UWB IPS, known as time difference of arrival (TDoA), and addresses two key issues related to TDoA-based UWB IPS: the selection of the TDoA algorithm dimension and filter d...

The demand for touchless technologies has increased since the outbreak of Covid-19. Spontaneous gaze-based interaction is a promising technique because it offers a natural approach for object selection using eye movements. There are two types of object trajectory in spontaneous gaze-based interaction: linear and circular trajectories. However, prev...

The 4th industrial revolution has led to automation in various area, including construction. One of the most important parts of construction process is excavation. However, automating an excavation process still proves to be a challenging task. This research aims to automate an excavator in order to improve human safety and work efficiency using a...

Unmanned Aerial Vehicles (UAV) have emerged as versatile platforms, driving the demand for accurate modeling to support developmental testing. This paper proposes data-driven modeling software for UAV. Emphasizes the utilization of cost-effective sensors to obtain orientation and location data subsequently processed through the application of data...

The use of mecanum wheels for mobile robots has led to more flexibility in terms of the robots' navigation ability. This usage, however, leads to a more complex control system which mainly relies on a complete knowledge of the robot's kinematic model. This research aims to show that reinforcement learning can help develop control systems for robots...

Excavator operation demands precise control because of the complicated nature of the tasks. Standard operation of excavator by human worker generally lacks effectiveness and efficiency which is vital in industrial processes. On the other hand, conventional control methods generally rely on the exact model of excavator which is difficult to obtain a...

Automating an excavator in construction tasks proves to be challenging. While conventional kinematics control can be employed to produce motion, the challenge lies in the perception task: how to distinguish and detect various objects in construction sites. These include construction objects (rocks, sands, etc) as well as vehicles for object storage...

Counterfeit products have become a pervasive problem in the global marketplace, necessitating effective strategies to protect both consumers and brands. This study examines the role of cybersecurity in addressing counterfeiting issues, specifically focusing on a multi-level grayscale watermark-based authentication system. The system comprises a gen...

The rise of deep reinforcement learning in recent years has led to its usage in solving various challenging problems, such as chess and Go games. However, despite its recent success in solving highly complex problems, a question arises on whether this class of method is best employed to solve control problems in general, such as driverless cars, mo...

There has been tremendous interest in the development of DC microgrid systems which consist of interconnected DC renewable energy sources. However, operating a DC microgrid system optimally by minimizing operational cost and ensures stability remains a problem when the system’s model is not available. In this paper, a novel model-free approach to p...

In recent years, various robot navigation method has been proposed, including the use of SLAM (Simultaneous Localization and Mapping), various path planning approaches such as A* or Djikstra, and obstacle avoidance methods such as an Artificial Potential Field. A navigation method is important for mobile robots to navigate autonomously. However, th...

Over the course of the past decade, we have witnessed a huge expansion in robotic applications, most notably from well-defined industrial environments into considerably more complex environments. The obstacles that these environments often contain present robotics with a new challenge - to equip robots with a real-time capability of avoiding them....

Despite their soft and compliant bodies, most of to-day's soft robots have limitations when it comes to elongation or extension of their main structure. In contrast to this, a new type of soft robot called the eversion robot can grow longitudinally , exploiting the principle of eversion. Eversion robots can squeeze through narrow openings, giving t...

Soft actuators are free from any rigid, bulky, and hard components. This is greatly beneficial towards achieving compliant actuation and safe interactions in robots. Inspired by the eversion principle, we develop a novel soft actuator of the inhomogeneous cross-section that can linearly extend and achieve a large payload capability. The proposed so...

This work explores the use of machine learning to model the curvature of a soft-body continuum robot. Because of their compliant structures, such robots are subject to strains and deformations that are uncharacteristic of their rigid-body counterparts, giving rise to infinite degrees of freedom. Traditional modelling approaches as applied to rigid...

Thin and imperceptible soft skins that can detect internal deformations as well as external forces, can go a long way to address perception and control challenges in soft robots. However, decoupling proprioceptive and exteroceptive stimuli is a challenging task. In this paper, we present a silicone-based, capacitive E-skin for exteroception and pro...

In the last decade, soft robots have been at the forefront of a robotic revolution. Due to the flexibility of the soft materials employed, soft robots are equipped with a capability to execute new tasks in new application areas-beyond what can be achieved using classical rigid-link robots. Despite these promising properties, many soft robots nowada...

Plant-inspired inflatable eversion robots with their tip growing behaviour have recently emerged. Because they extend from the tip, eversion robots are particularly suitable for applications that require reaching into remote places through narrow openings. Besides, they can vary their structural stiffness. Despite these essential properties which m...

In this paper, we present a kinematic control and obstacle avoidance for the soft inflatable manipulator which combines pressure and tendons as an actuating mechanism. The position control and obstacle avoidance took inspiration from the phenomena of a magnetic field in nature. The redundancy in the manipulator combined with a planar mobile base is...

In this paper, we present a kinematic control and obstacle avoidance for the soft inflatable manipulator which combines pressure and tendons as an actuating mechanism. The position control and obstacle avoidance took inspiration from the phenomena of a magnetic field in nature. The redundancy in the manipulator combined with a planar mobile base is...

This paper describes a novel approach in human-robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate cooperative robot movements, the user's posture is, whenever required, brought back to an ergonomic optimum. Effective...

In this paper, a magnetic-field-inspired robot navigation is used to navigate an under-actuated quad-copter towards the desired position amidst previously-unknown arbitrary-shaped convex obstacles. Taking inspiration from the phenomena of magnetic field interaction with charged particles observed in nature, the algorithm outperforms previous reacti...

Various methods based on hyperelastic assumptions have been developed to address the mathematical complexities of modeling motion and deformation of continuum manipulators. In this study, we propose a quasistatic approach for 3D modeling and real-time simulation of a pneumatically actuated soft continuum robotic appendage to estimate the contact fo...

Various methods based on hyperelastic assumptions have been developed to address the mathematical complexities of modeling motion and deformation of continuum manipulators. In this study, we propose a quasistatic approach for 3D modeling and real-time simulation of a pneumatically actuated soft continuum robotic appendage to estimate the contact fo...

Soft robotic structures might play a major role in the 4th industrial revolution. Researchers have successfully demonstrated advantages of soft robotics over traditional robots made of rigid links and joints in several application areas including manufacturing, healthcare and surgical interventions. However, soft robots have limited ability to exer...

Taking inspiration from the properties of magnetic fields, we propose a reactive navigation method for soft continuum manipulators operating in unknown environments. The proposed navigation method outperforms previous works since it is able to successfully achieve collision-free movements towards the goal in environments with convex obstacles witho...

With a shift in current robotics application from known, well-defined environments towards unknown environments , the robot's ability to avoid unknown obstacles in real-time whilst relying on limited information about spatial constraints in its path becomes essential. Taking inspiration from the laws of electromagnetism, we present a novel navigati...

This paper describes a novel approach in human robot interaction driven by ergonomics. The new protocol optimises human-robot relative position and orientation based on human ergonomics. An RGB-D camera is used to calculate and monitor real-time human joint angles and to compute the current ergonomics state. The algorithmic framework identifies cau...

In this paper, we present a reactive robot navigation method for a non-holonomic mobile robot taking inspiration from the phenomena observed in magnetic fields. The algorithm is shown to be able to guide mobile robots in arbitrary-shaped convex environment without being trapped in local minima by exploiting the local sensory information without pri...

Quadrotor is frequently used for photography enthusiasts to take aerial photographs. When taking aerial photographs, quadrotor moves toward destination point to obtain a good picture. When hovering in open space, quadrotor is often disturbed by wind. The paper presents control strategy for a nonlinear system to solve the problem. The main purpose o...

In this paper, we present a novel pose estimation and obstacle avoidance approach for tendon-driven multi-segment continuum manipulators moving in dynamic environments. A novel multi-stage implementation of an Extended Kalman Filter is used to estimate the pose of every point along the manipulator's body using only the position information of each...

CLAWAR 2016: 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines London, UK, 12 –14 September 2016 Edited by: Mohammad O Tokhi ( University of Sheffield, UK), Gurvinder S Virk ( University of Gävle, Sweden) Nowadays, rigid-link manipulators have been extensively used in various industrial a...

Nowadays, rigid-link manipulators have been extensively used in various industrial applications, such as automotive industry and manufacturing operations. Nonetheless, despite of their precise and well-established position control, rigidlink manipulators sufier from their lack of exibility, especially when operated in cluttered, unknown, dynamic en...

The flexibility and dexterity of continuum manipulators in comparison with rigid-link counterparts have become main features behind their recent popularity. Despite of that, the problem of navigation and motion planning for continuum manipulators turns out to be demanding tasks due to the complexity of their flexible structure modelling which in tu...

The rigid-link manipulators have been extensively employed in industrial setting nowadays. However, problem arises when such manipulators are assigned to work alongside human or employed in cluttered, complex, and tight environment. Hence, continuum manipulator, with its inherent compliant and flexibility, is preferable in this aspect. In this pape...

There have been numerous attempts to develop anthropomorphic robotic hands with varying levels of dexterous capabilities. However, these robotic hands often suffer from a lack of comprehensive understanding of the musculoskeletal behavior of the human thumb with integrated foldable palm. This paper proposes a novel kinematic model to analyze the im...

In this paper, a potential-field-based real-time path planning algorithm for a multi-segment continuum manipulator is proposed. This planner is employed to enable a continuum-style manipulator to move autonomously in dynamic environments in real-time. The classic potential field method is modified to make it applicable for a kinematics model based...

Continuum manipulators are a rapidly emerging class of robots. However, due to the complexity of their mathematical models and modelling inaccuracies, the development of effective control systems is a particularly challenging task. This paper presents the first attempt on kinematic control of continuum manipulators using a fuzzy-model-based approac...

This work presented the gain scheduling based LQR for Quadrotor systems. From the original nonlinear model, the system is always controllable and observable in various equilibrium points. Moreover, the linearized systems have a unique property that is known as sparse system. Hence, in order to implement the most efficient state feedback controller,...

In this article we developed a sparse controller for Quadrotor. The controller is designed by applying pole placement method to the linearized Quadrotor model. We also introduced the use of post-filter and pre-filter to transform the state coordinate to decrease coupling between states. The proposed controller is implemented using simulink blocks....

Potential-function-based control strategy for path planning and formation control of Quadrotors is proposed in this work. The potential function is used to attract the Quadrotor to the goal location as well as avoiding the obstacle. The algorithm to solve the so called local minima problem by utilizing the wall-following behavior is also explained....

In this paper, the speed control problem of DC Motor is presented. Three different control algorithms, namely PID, Fuzzy, and LQR were designed and implemented. These controller were applied to the DC motor, and their performance and energy controller output were compared each other on the basis of unit-step response, disturbance rejection, and sig...

This paper presents the gain scheduling based linearization of simplified quadrotor non-linear model as well as the test for the system controllability and observability for various equilibrium point. The simplified non-linear model of quadrotor is linearized at some equilibrium points to get the linear state equation. Then, the controllability and...