ATMEGA 16 IMPLEMENTATION AS INDICATORS OF MAXIMUM SPEED
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 11, Number 15 (2016) pp 8432-8435
© Research India Publications. http://www.ripublication.com
Atmega16 Implementation As Indicators Of Maximum Speed
1
1
Anna Nur Nazilah Chamim, 2Didik Ahmadi, 3Iswanto
Department of Electrical Engineering, Universitas Muhammadiyah Yogyakarta
E-mail: [email protected], [email protected],id
Abstract
Motorcycle accidents caused by sudden deceleration or
exceed maximum safe speed of vehicles are still common.
There is no tool that can provide alerts when the speed has
exceeded the safe speed limit for vehicles allowed. Hence, the
study aims to design and manufacture implementation of
ATmega16 as an indicator of the maximum speed. Output
data is obtained in the form of increasing speed. Maximum
speed indicator system consists of atmega 16 as the main
processing unit, sensor optocoupler, 4x4 keypad, buzzer and
LCD LM162. It includes the output of the transducer which is
processed by a microcontroller keypad which is then
forwarded to the buzzer and LCD LMB162. Testing is
conducted by direct tests on the vehicle running, and the
obtained results show the maximum speed indicator device
made to work properly and in accordance with the
specifications of the predetermined design, so that it can give
a warning when the safe speed is being and has been
exceeded.
researchers such as Nadh & Praba [4] used PIC
microcontroller to remotely monitor the speed of an induction
motor while using zig bee and SMS to transmit speed data.
PIC microcontroller was also used by Isik et al. [5] to monitor
the motor speed of permanent magnet DC (PMDC). The
motor speed data were monitored and plotted by using fuzzy
algorithms.
Fuzzy algorithm is an artificial intelligence algorithm used to
control a system such as quadrotor [6],[7] and to create path
planning as practiced by Iswanto et al. [8],[9] applying fuzzy
path planning on a quadrotor. In artificial intelligence system,
the algorithm was also used by Tunggal et al.[10] to detect the
heart rate.
This paper presents fuzzy algorithm applied to the
microcontroller used to monitor the speed of a motor cycle.
With the algorithm, the microcontroller can calculate the
speed of the motorcycle and give a warning if the speed used
exceeding the maximum speed limit.
Keywords: Microcontroller, Indicators, Maximum speed,
Motorcycles, Vehicle accident
RESEARCH METHOD
Model of safe speed indicator system design is a design model
that is a scheme of the modules making up the block devices,
so it will be on to the system at a plant in the form of safe
speed indicator devices.
INTRODUCTION
Each vehicle has different characteristics particularly twowheeled vehicles. At first the characteristics of two-wheeled
vehicles with the same type of products are the same. But
having reached the users, the characteristics are changing
because they adapt to the characteristics of the users. The
characteristics of the vehicle affects the safe speed that can be
achieved. Safe speed is the speed that is considered safe
meaning that the vehicle does not slip or is stable when the
rider conducts sudden deceleration. Safe speed of a vehicle
can only be determined by those who are riding it, in other
words safe speed is a speed limit that is considered to be
controlled by the rider while riding. Motorcycle accident is
frequently caused by a rider who did sudden deceleration, and
because it exceeds the maximum safe speed for the vehicle.
A tool that can be used as speed indicators and may give a
warning when the speed has exceeded the safe speed limit
allowed for vehicles is needed to reduce and avoid accidents
caused by speeds exceeding the safe speed limit. Some
previous researchers have conducted researches on measuring
speed included Rajab et al. [1] using piezoelectric to measure
the speed of a vehicle. Some other researchers such as Zhang
et al. [2] used sensor less speed to measure BLDC motor
speed.
The other researchers applied microcontroller and FPGA to
measure the speed of the motor. Millan-Almaraz et al. [3]
used FPGA control to measure the speed of the motor with
wavelet algorithm. In addition to using FPGA, the other
Figure 1: Block diagram of system
Figure 1 [11] is then translated into a schematic circuit of the
overall system as shown figure 2.
8432
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 11, Number 15 (2016) pp 8432-8435
© Research India Publications. http://www.ripublication.com
buttons pressed which then represents as a particular function
key.
Figure 2: Schematic circuit
To facilitate the testing tool and isolate the failure possibilities
in making circuits, circuit system is printed into several
modules, namely:
Figure 4: circuit 4x4 keypad
Optocoupler Sensor.
Optocoupler is a device that consists of two parts: a
transmitter and a receiver, in which the detection is between
the light source and light receiver. The series serve as a
counter optocoupler spinning wheel. Optocopler output of the
sensor will be submitted to the microcontroller interrupt pin.
This module contains the components required by the sensor
support including resistors and capacitors. The way of this
sensor work is when the front wheel motor rotates 360°,
sensor detects the color changes from dark to light and gives
the output of a voltage of 5 volts.
ATmega16 Microcontroller Module.
The series of microcontrollers used in calculating the system
consist of a minimum system microcontroller ATmega16. The
ATmega16 microcontroller minimum system consists of a 12
MHz crystal and two 33pF capacitors to support the internal
oscillator circuit. Microcontroller minimum system also
features power on reset circuit that occurs when the system is
turned on. Power on reset circuit consists of a single 10 kΩ
resistor and a 10μF/16V electrolyte capacitor.
Figure 5: Optocoupler Sensor circuit
Figure 3: Minimum circuit ATmega16
LCD Module LMB16x2.
LCD (liquid crystal display) is a viewer tool made from liquid
crystal dot matrix operation using the system [13]. LCD
functions on this design are used to display the results of the
calculation of the microcontroller. In this design, the LCD
used is 16x2 LCD that has backlamp. LCD is connected to
Port B on the microcontroller ATmega16. LCD used in the
design is a parallel LCD Hitachi HD44780. Controller and
4x4 keypad module.
The series serve as a keypad for input of the microcontroller
[12]. This module consists of 16 push-buttons arranged in a
matrix. The way this module work is that when one of the
push button is pressed, the microcontroller ATmega16 will
obtain information such as the number of columns and row
8433
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 11, Number 15 (2016) pp 8432-8435
© Research India Publications. http://www.ripublication.com
LCD driver can display alphanumeric characters, Japanese
characters (katakana), and some symbols. The controller
contains a ROM-forming character (character generator
ROM) size 9920 bits generate 240 characters consisting of
208 characters with a resolution of 5x8 dot (dot, pixel) and 32
characters with 5x10 dots. The controller also contains a
character-forming RAM that can store 64 characters 8 bits.
RESULTS AND ANALYSIS
Overall Equipment Testing Phase.
In this stage the first step to do that is to know the length and
the ratio of the circumference of a full cycle of the front
wheels noted in interrupt ATmega16 microcontroller. The
data obtained is shown in table 1.
Table 1: The comparison of the wheels.
NO
1
front wheel
1
speedometer Wheels
2.6
Interrupt
10
The data from table 1 then inputted into the program with the
following specifications:
Interruptions obtained are used to add value to data
count.
Data count is reset every one second.
If one interrupt obtained by the microcontroller ATmega16
represents the distance of 0.17 m, by applying the formula in
the form of speed distance per time, the reached speed value is
gained. The speed that still has units of meters per second then
converted into kilometers per hour using the following
formula:
1 m / sec = 1 * (1/1000: 3600) km / h
= 1 * 3.6 km / h
Interpreted into the following program:
kecps = (float) data_count * 0.17 *3.6;
Where the variable representing the distance and variable 0:17
3.6 is the conversion factor obtained.
Then the following data are tested and obtained:
Figure 6: LCD series LMB16x2
BUZZER Module.
This tool serves as buzzer audible indicator or marker when
the vehicle is exceeding the speed limit. Buzzer [14] is
connected to the microcontroller port which is the circuit
using a buzzer C9012 transistor type. Basically buzzer is
connected to Vcc voltage of 5 volts and then switched by
using a transistor. So that the sound of the buzzer depends on
the condition of the transistor at the time. If the transistor is
ON (due to low flows on the basis, with the provision of logic
'0'), the buzzer gets Vcc voltage, but if the transistor is OFF
(due to high flows on the base, with the provision of logic '1'),
then the buzzer is also OFF. Resistor 2.2 K at the base serves
as a current-limiting transistor that goes through port. Buzzer
schematic is shown in figure 7.
Table 2: Overall test results
Seatpoint (km/h)
30
40
50
60
Velocity (km/h)
20
35
26
22
44
46
23
52
56
48
66
55
5
Alarm
Passive
Active
Passive
Passive
Active
Active
Passive
Active
Active
Passive
Active
Passive
Passive
Testing has been conducted to rate setpoint changes to
determine the performance of the system and overall work as
expected. The input voltage must be above 8 volts and below
or equal to 24 volts. Distance to the sensor mounting plate is 1
cm.
Figure 7: BUZZER circuit
8434
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 11, Number 15 (2016) pp 8432-8435
© Research India Publications. http://www.ripublication.com
[2]
[3]
[4]
[5]
Figure 8: occupancy sensors
[6]
[7]
[8]
[9]
Figure 9: outdoor display
CONCLUSION
A tool is needed for a vehicle to control the speed to avoid any
unwanted situation such as an accident. Therefore the paper
aims to design a tool as a speed indicator. The tool gives a
warning if the speed has been exceeding the safe speed. It will
be passive or no warning when the speed is less than the
setpoint and to be active or give a warning if the speed is
greater or equal than the setpoint. The tool is in accordance
with the predetermined design specifications that can give a
warning when exceeding the safe speed.
[10]
[11]
[12]
REFRENCES:
[1]
[13]
S. A. Rajab, A. Mayeli, and H. H. Refai, “Vehicle
Classification and Accurate Speed Calculation Using
Multi- Element Piezoelectric Sensor,” in 2014 IEEE
Intelligent Vehicles Symposium Proceedings, 2014,
pp. 894–899.
[14]
8435
P. Zhang, P. Neti, and S. Grubic, “Sensorless speed
estimation of mains-fed induction motors for
condition monitoring using motor relays,” in 2015
IEEE Energy Conversion Congress and Exposition
(ECCE), 2015, pp. 2840–2845.
J. R. Millan-Almaraz, R. J. Romero-Troncoso, L. M.
Contreras-Medina, and A. Garcia-Perez, “Embedded
FPGA based induction motor monitoring system
with speed drive fed using multiple wavelet
analysis,” in 2008 International Symposium on
Industrial Embedded Systems, 2008, pp. 215–220.
A. Nadh and N. L. Praba, “Automatic speed and
torque monitoring in induction motors using ZigBee
and SMS,” in 2013 IEEE International Conference
ON Emerging Trends in Computing, Communication
and Nanotechnology (ICECCN), 2013, pp. 733–738.
A. Isik, O. Karakaya, P. A. Oner, and M. K. Eker,
“PMDC motor speed control with fuzzy logic
algorithm using PIC16F877 micro controller and
plotting data on monitor,” in 2009 Fifth International
Conference on Soft Computing, Computing with
Words and Perceptions in System Analysis, Decision
and Control, 2009, pp. 1–4.
N. M. Raharja, Iswanto, M. Faris, and A. I. Cahyadi,
“Hover position quadrotor control with fuzzy logic,”
in 2014 The 1st International Conference on
Information Technology, Computer, and Electrical
Engineering, 2014, pp. 89–92.
N. M. Raharja, Iswanto, O. Wahyunggoro, and A. I.
Cahyadi, “Altitude control for quadrotor with
mamdani fuzzy model,” in 2015 International
Conference on Science in Information Technology
(ICSITech), 2015, pp. 309–314.
I. Iswanto, O. Wahyunggoro, and A. I. Cahyadi,
“Quadrotor Path Planning Based On Modified Fuzzy
Cell Decomposition Algorithm,” TELKOMNIKA,
vol. 14, no. 2, pp. 655–664, 2016.
I. Iswanto, O. Wahyunggoro, and A. Imam Cahyadi,
“Path Planning Based on Fuzzy Decision Trees and
Potential Field,” Int. J. Electr. Comput. Eng., vol. 6,
no. 1, p. 212, 2016.
T. P. Tunggal, A. Latif, and Iswanto, “Low-cost
portable heart rate monitoring based on
photoplethysmography and decision tree,” in
ADVANCES OF SCIENCE AND TECHNOLOGY
FOR SOCIETY: Proceedings of the 1st International
Conference on Science and Technology 2015 (ICST2015), 2016, p. 090004.
Iswanto, Design dan Implementasi Sistem Embedded
Mikrokontroler ATMEGA8535 dengan Bahasa
Basic. Yogyakarta: Gava Media, 2008.
Iswanto and N. M. Raharja, Mikrokontroller: Teori
dan Praktik Atmega 16 dengan Bahasa C. Penerbit
Deepublish, 2015.
A. N. N. Chamim and Iswanto, “Implementasi
Mikrokontroler Untuk Pengendalian Lampu Dengan
Sms,” in Prosending Retii 6., 2011.
I. Iswanto and R. D. Setiawan, “Power Saver with
PIR Sensor,” J. Control Instrum., vol. 4, no. 3, pp.
26–34, 2013.
© Research India Publications. http://www.ripublication.com
Atmega16 Implementation As Indicators Of Maximum Speed
1
1
Anna Nur Nazilah Chamim, 2Didik Ahmadi, 3Iswanto
Department of Electrical Engineering, Universitas Muhammadiyah Yogyakarta
E-mail: [email protected], [email protected],id
Abstract
Motorcycle accidents caused by sudden deceleration or
exceed maximum safe speed of vehicles are still common.
There is no tool that can provide alerts when the speed has
exceeded the safe speed limit for vehicles allowed. Hence, the
study aims to design and manufacture implementation of
ATmega16 as an indicator of the maximum speed. Output
data is obtained in the form of increasing speed. Maximum
speed indicator system consists of atmega 16 as the main
processing unit, sensor optocoupler, 4x4 keypad, buzzer and
LCD LM162. It includes the output of the transducer which is
processed by a microcontroller keypad which is then
forwarded to the buzzer and LCD LMB162. Testing is
conducted by direct tests on the vehicle running, and the
obtained results show the maximum speed indicator device
made to work properly and in accordance with the
specifications of the predetermined design, so that it can give
a warning when the safe speed is being and has been
exceeded.
researchers such as Nadh & Praba [4] used PIC
microcontroller to remotely monitor the speed of an induction
motor while using zig bee and SMS to transmit speed data.
PIC microcontroller was also used by Isik et al. [5] to monitor
the motor speed of permanent magnet DC (PMDC). The
motor speed data were monitored and plotted by using fuzzy
algorithms.
Fuzzy algorithm is an artificial intelligence algorithm used to
control a system such as quadrotor [6],[7] and to create path
planning as practiced by Iswanto et al. [8],[9] applying fuzzy
path planning on a quadrotor. In artificial intelligence system,
the algorithm was also used by Tunggal et al.[10] to detect the
heart rate.
This paper presents fuzzy algorithm applied to the
microcontroller used to monitor the speed of a motor cycle.
With the algorithm, the microcontroller can calculate the
speed of the motorcycle and give a warning if the speed used
exceeding the maximum speed limit.
Keywords: Microcontroller, Indicators, Maximum speed,
Motorcycles, Vehicle accident
RESEARCH METHOD
Model of safe speed indicator system design is a design model
that is a scheme of the modules making up the block devices,
so it will be on to the system at a plant in the form of safe
speed indicator devices.
INTRODUCTION
Each vehicle has different characteristics particularly twowheeled vehicles. At first the characteristics of two-wheeled
vehicles with the same type of products are the same. But
having reached the users, the characteristics are changing
because they adapt to the characteristics of the users. The
characteristics of the vehicle affects the safe speed that can be
achieved. Safe speed is the speed that is considered safe
meaning that the vehicle does not slip or is stable when the
rider conducts sudden deceleration. Safe speed of a vehicle
can only be determined by those who are riding it, in other
words safe speed is a speed limit that is considered to be
controlled by the rider while riding. Motorcycle accident is
frequently caused by a rider who did sudden deceleration, and
because it exceeds the maximum safe speed for the vehicle.
A tool that can be used as speed indicators and may give a
warning when the speed has exceeded the safe speed limit
allowed for vehicles is needed to reduce and avoid accidents
caused by speeds exceeding the safe speed limit. Some
previous researchers have conducted researches on measuring
speed included Rajab et al. [1] using piezoelectric to measure
the speed of a vehicle. Some other researchers such as Zhang
et al. [2] used sensor less speed to measure BLDC motor
speed.
The other researchers applied microcontroller and FPGA to
measure the speed of the motor. Millan-Almaraz et al. [3]
used FPGA control to measure the speed of the motor with
wavelet algorithm. In addition to using FPGA, the other
Figure 1: Block diagram of system
Figure 1 [11] is then translated into a schematic circuit of the
overall system as shown figure 2.
8432
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 11, Number 15 (2016) pp 8432-8435
© Research India Publications. http://www.ripublication.com
buttons pressed which then represents as a particular function
key.
Figure 2: Schematic circuit
To facilitate the testing tool and isolate the failure possibilities
in making circuits, circuit system is printed into several
modules, namely:
Figure 4: circuit 4x4 keypad
Optocoupler Sensor.
Optocoupler is a device that consists of two parts: a
transmitter and a receiver, in which the detection is between
the light source and light receiver. The series serve as a
counter optocoupler spinning wheel. Optocopler output of the
sensor will be submitted to the microcontroller interrupt pin.
This module contains the components required by the sensor
support including resistors and capacitors. The way of this
sensor work is when the front wheel motor rotates 360°,
sensor detects the color changes from dark to light and gives
the output of a voltage of 5 volts.
ATmega16 Microcontroller Module.
The series of microcontrollers used in calculating the system
consist of a minimum system microcontroller ATmega16. The
ATmega16 microcontroller minimum system consists of a 12
MHz crystal and two 33pF capacitors to support the internal
oscillator circuit. Microcontroller minimum system also
features power on reset circuit that occurs when the system is
turned on. Power on reset circuit consists of a single 10 kΩ
resistor and a 10μF/16V electrolyte capacitor.
Figure 5: Optocoupler Sensor circuit
Figure 3: Minimum circuit ATmega16
LCD Module LMB16x2.
LCD (liquid crystal display) is a viewer tool made from liquid
crystal dot matrix operation using the system [13]. LCD
functions on this design are used to display the results of the
calculation of the microcontroller. In this design, the LCD
used is 16x2 LCD that has backlamp. LCD is connected to
Port B on the microcontroller ATmega16. LCD used in the
design is a parallel LCD Hitachi HD44780. Controller and
4x4 keypad module.
The series serve as a keypad for input of the microcontroller
[12]. This module consists of 16 push-buttons arranged in a
matrix. The way this module work is that when one of the
push button is pressed, the microcontroller ATmega16 will
obtain information such as the number of columns and row
8433
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 11, Number 15 (2016) pp 8432-8435
© Research India Publications. http://www.ripublication.com
LCD driver can display alphanumeric characters, Japanese
characters (katakana), and some symbols. The controller
contains a ROM-forming character (character generator
ROM) size 9920 bits generate 240 characters consisting of
208 characters with a resolution of 5x8 dot (dot, pixel) and 32
characters with 5x10 dots. The controller also contains a
character-forming RAM that can store 64 characters 8 bits.
RESULTS AND ANALYSIS
Overall Equipment Testing Phase.
In this stage the first step to do that is to know the length and
the ratio of the circumference of a full cycle of the front
wheels noted in interrupt ATmega16 microcontroller. The
data obtained is shown in table 1.
Table 1: The comparison of the wheels.
NO
1
front wheel
1
speedometer Wheels
2.6
Interrupt
10
The data from table 1 then inputted into the program with the
following specifications:
Interruptions obtained are used to add value to data
count.
Data count is reset every one second.
If one interrupt obtained by the microcontroller ATmega16
represents the distance of 0.17 m, by applying the formula in
the form of speed distance per time, the reached speed value is
gained. The speed that still has units of meters per second then
converted into kilometers per hour using the following
formula:
1 m / sec = 1 * (1/1000: 3600) km / h
= 1 * 3.6 km / h
Interpreted into the following program:
kecps = (float) data_count * 0.17 *3.6;
Where the variable representing the distance and variable 0:17
3.6 is the conversion factor obtained.
Then the following data are tested and obtained:
Figure 6: LCD series LMB16x2
BUZZER Module.
This tool serves as buzzer audible indicator or marker when
the vehicle is exceeding the speed limit. Buzzer [14] is
connected to the microcontroller port which is the circuit
using a buzzer C9012 transistor type. Basically buzzer is
connected to Vcc voltage of 5 volts and then switched by
using a transistor. So that the sound of the buzzer depends on
the condition of the transistor at the time. If the transistor is
ON (due to low flows on the basis, with the provision of logic
'0'), the buzzer gets Vcc voltage, but if the transistor is OFF
(due to high flows on the base, with the provision of logic '1'),
then the buzzer is also OFF. Resistor 2.2 K at the base serves
as a current-limiting transistor that goes through port. Buzzer
schematic is shown in figure 7.
Table 2: Overall test results
Seatpoint (km/h)
30
40
50
60
Velocity (km/h)
20
35
26
22
44
46
23
52
56
48
66
55
5
Alarm
Passive
Active
Passive
Passive
Active
Active
Passive
Active
Active
Passive
Active
Passive
Passive
Testing has been conducted to rate setpoint changes to
determine the performance of the system and overall work as
expected. The input voltage must be above 8 volts and below
or equal to 24 volts. Distance to the sensor mounting plate is 1
cm.
Figure 7: BUZZER circuit
8434
International Journal of Applied Engineering Research ISSN 0973-4562 Volume 11, Number 15 (2016) pp 8432-8435
© Research India Publications. http://www.ripublication.com
[2]
[3]
[4]
[5]
Figure 8: occupancy sensors
[6]
[7]
[8]
[9]
Figure 9: outdoor display
CONCLUSION
A tool is needed for a vehicle to control the speed to avoid any
unwanted situation such as an accident. Therefore the paper
aims to design a tool as a speed indicator. The tool gives a
warning if the speed has been exceeding the safe speed. It will
be passive or no warning when the speed is less than the
setpoint and to be active or give a warning if the speed is
greater or equal than the setpoint. The tool is in accordance
with the predetermined design specifications that can give a
warning when exceeding the safe speed.
[10]
[11]
[12]
REFRENCES:
[1]
[13]
S. A. Rajab, A. Mayeli, and H. H. Refai, “Vehicle
Classification and Accurate Speed Calculation Using
Multi- Element Piezoelectric Sensor,” in 2014 IEEE
Intelligent Vehicles Symposium Proceedings, 2014,
pp. 894–899.
[14]
8435
P. Zhang, P. Neti, and S. Grubic, “Sensorless speed
estimation of mains-fed induction motors for
condition monitoring using motor relays,” in 2015
IEEE Energy Conversion Congress and Exposition
(ECCE), 2015, pp. 2840–2845.
J. R. Millan-Almaraz, R. J. Romero-Troncoso, L. M.
Contreras-Medina, and A. Garcia-Perez, “Embedded
FPGA based induction motor monitoring system
with speed drive fed using multiple wavelet
analysis,” in 2008 International Symposium on
Industrial Embedded Systems, 2008, pp. 215–220.
A. Nadh and N. L. Praba, “Automatic speed and
torque monitoring in induction motors using ZigBee
and SMS,” in 2013 IEEE International Conference
ON Emerging Trends in Computing, Communication
and Nanotechnology (ICECCN), 2013, pp. 733–738.
A. Isik, O. Karakaya, P. A. Oner, and M. K. Eker,
“PMDC motor speed control with fuzzy logic
algorithm using PIC16F877 micro controller and
plotting data on monitor,” in 2009 Fifth International
Conference on Soft Computing, Computing with
Words and Perceptions in System Analysis, Decision
and Control, 2009, pp. 1–4.
N. M. Raharja, Iswanto, M. Faris, and A. I. Cahyadi,
“Hover position quadrotor control with fuzzy logic,”
in 2014 The 1st International Conference on
Information Technology, Computer, and Electrical
Engineering, 2014, pp. 89–92.
N. M. Raharja, Iswanto, O. Wahyunggoro, and A. I.
Cahyadi, “Altitude control for quadrotor with
mamdani fuzzy model,” in 2015 International
Conference on Science in Information Technology
(ICSITech), 2015, pp. 309–314.
I. Iswanto, O. Wahyunggoro, and A. I. Cahyadi,
“Quadrotor Path Planning Based On Modified Fuzzy
Cell Decomposition Algorithm,” TELKOMNIKA,
vol. 14, no. 2, pp. 655–664, 2016.
I. Iswanto, O. Wahyunggoro, and A. Imam Cahyadi,
“Path Planning Based on Fuzzy Decision Trees and
Potential Field,” Int. J. Electr. Comput. Eng., vol. 6,
no. 1, p. 212, 2016.
T. P. Tunggal, A. Latif, and Iswanto, “Low-cost
portable heart rate monitoring based on
photoplethysmography and decision tree,” in
ADVANCES OF SCIENCE AND TECHNOLOGY
FOR SOCIETY: Proceedings of the 1st International
Conference on Science and Technology 2015 (ICST2015), 2016, p. 090004.
Iswanto, Design dan Implementasi Sistem Embedded
Mikrokontroler ATMEGA8535 dengan Bahasa
Basic. Yogyakarta: Gava Media, 2008.
Iswanto and N. M. Raharja, Mikrokontroller: Teori
dan Praktik Atmega 16 dengan Bahasa C. Penerbit
Deepublish, 2015.
A. N. N. Chamim and Iswanto, “Implementasi
Mikrokontroler Untuk Pengendalian Lampu Dengan
Sms,” in Prosending Retii 6., 2011.
I. Iswanto and R. D. Setiawan, “Power Saver with
PIR Sensor,” J. Control Instrum., vol. 4, no. 3, pp.
26–34, 2013.