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COVID-19 is a very dangerous respiratory disease that can spread quickly through the air. Doctors, nurses, and medical personnel need protective clothing and are very careful in treating COVID-19 patients to avoid getting infected with the COVID-19 virus. Hence, a medical telepresence robot, which resembles a humanoid robot, is necessary to treat COVID-19 patients. The proposed self-balancing COVID-19 medical telepresence robot is a medical robot that handles COVID-19 patients, which resembles a stand-alone humanoid soccer robot with two wheels that can maneuver freely in hospital hallways. The proposed robot design has some control problems; it requires steady body positioning and is subjected to disturbance. A control method that functions to find the stability value such that the system response can reach the set-point is required to control the robot's stability and repel disturbances; this is known as disturbance rejection control. This study aimed to control the robot using a combination of Proportional-Integral-Derivative (PID) control and a Kalman filter. Mathematical equations were required to obtain a model of the robot's characteristics. The state-space model was derived from the self-balancing robot's mathematical equation. Since a PID control technique was used to keep the robot balanced, this state-space model was converted into a transfer function model. The second Ziegler-Nichols's rule oscillation method was used to tune the PID parameters. The values of the amplifier constants obtained were Kp=31.002, Ki=5.167, and Kd=125.992128. The robot was designed to be able to maintain its balance for more than one hour by using constant tuning, even when an external disturbance is applied to it. Doi: 10.28991/esj-2021-SP1-016 Full Text: PDF

A lava flood disaster is a volcanic hazard that often occurs when heavy rains are happening at the top of a volcano. This flood carries volcanic material from upstream to downstream of the river, affecting populous areas located quite far from the volcano peak. Therefore, an advanced early warning system of cold lava floods is inarguably vital. This paper aims to present a reliable, remote, Early Warning System (EWS) specifically designed for lava flood detection, along with its disaster communication system. The proposed system consists of two main subsystems: lava flood detection and disaster communication systems. It utilizes a modified automatic rain gauge; a novel configured vibration sensor; Fuzzy Tree Decision algorithm; ESP microcontrollers that support IoT, and disaster communication tools (WhatsApp, SMS, radio communication). According to the experiment results, the prototype of rainfall detection using the tipping bucket rain gauge sensor can measure heavy and moderate rainfall intensities with 81.5% accuracy. Meanwhile, the prototype of earthquake vibration detection using a geophone sensor can remove noise from car vibrations with a Kalman filter and measure vibrations in high and medium intensity with an accuracy of 89.5%. Measurements from sensors are sent to the webserver. The disaster mitigation team uses data from the webserver to evacuate residents using the disaster communication method. The proposed system was successfully implemented in Mount Merapi, Indonesia, coordinated with the local Disaster Deduction Risk (DDR) forum. Doi: 10.28991/esj-2021-SP1-011 Full Text: PDF