This study is to design an inverted pendulum as a simple model of a two-wheeled vehicle. The inverted pendulum is a mechanical balance system where the center of mass is at the top. Control of the inverted pendulum mechanism is obtained... more
This study is to design an inverted pendulum as a simple model of a two-wheeled vehicle. The inverted pendulum is a mechanical balance system where the center of mass is at the top. Control of the inverted pendulum mechanism is obtained from the spinning flywheel and then changes one axis to produce force. Considering the problem of free motion in the design and flexibility of actuators in a traditional inverted pendulum, this system is designed with a structure that has a compact control actuator. Lagrange method is used to design a dynamic model of a gyroscope inverted pendulum to obtain an equilibrium condition. To find out the system response that has been made, modeling has been applied to Matlab Simulink. PID control has been designed to obtain a system that has better capabilities. Finally, this paper will evaluate some of the strengths and weaknesses of this control approach, compared to other balancing techniques.
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This research is focusing on the control of motorbike prototype self balancing automatically. Designing and building a bicycle-shaped robot or called by Two-Wheel Vehicle Prototype (TWPV) capable of driving and balancing without a driver,... more
This research is focusing on the control of motorbike prototype self balancing automatically. Designing and building a bicycle-shaped robot or called by Two-Wheel Vehicle Prototype (TWPV) capable of driving and balancing without a driver, stability control is very important. The wheel is stripped as an automatic balancing of the bike with a driving motor or called the Gyro Disc Actuator System (GDAS). Stability control applied in bicycle robots is a control using Proportional Integral Derivative (PID). The robot reads the feedback system sensor to maintain balance by detecting the angle of inclination to react correctly to maintain a stable vertical position. Feedback data is inserted into the subtraction unit with reference to control system which produces output in the form of torque to the motor to rotate the reaction wheel. The purpose of this project is to create modelling of plant that implied Gyro Disc Actuator System (GDAS) and use Simulink simulation to analysis stability c...
Research Interests: Computer Science and IEEE
This thesis presents a method to improve the response of a robotic control system in order to obtain a more robust system performance using an active force control with a knowledge-based system method called the Active Force Control and... more
This thesis presents a method to improve the response of a robotic control system in order to obtain a more robust system performance using an active force control with a knowledge-based system method called the Active Force Control and Knowledge-Based System (AFCKBS). The focus ofthe study is the implementation of a mechanism to refme the trajectory error generated by an Active Force Control (AFC) scheme applied to a two-link robotic planar arm. This is accomplished by utilizing features ofthe signal patterns produced by the input and output functions. Based on the previous research that employed a number ofrobotic control schemes, knowledge ofthe trajectory track error pattern was obtained when a specific trajectory tracking command was forced to the system. The correlation between the generated track error pattern and the input function of the robot scheme provides the essential knowledge to be utilized via the proposed technique. A simulation and experimental study was performed...
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xiv, 348 hal.: ill.; 23 cm
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Research Interests: Engineering and Andi
Autonomous self-driving car has gained a lot of interest with the advance of robotic technology. An autonomous car using only visual information for autonomous navigation is expected to mimic the way human driving capability. The car has... more
Autonomous self-driving car has gained a lot of interest with the advance of robotic technology. An autonomous car using only visual information for autonomous navigation is expected to mimic the way human driving capability. The car has to navigate robustly and completing the tasks in a specified environment. These tasks for example detecting road lanes, pedestrians, or road signs. In this paper, as a step toward the goal of developing an autonomous self-driving car, we develop a prototype of autonomous line following robot. Using only visual information, we study a visual servoing technique for which the robot able to detect road lanes and navigate autonomously. An image processing technique is employed to obtain effective features for feedback control. The controller utilizes features extracted from the image plane, without using the complete geometric representation. Motion is controlled only on x-axis or heading angle control. The proportional integral and derivative controller is used to maintain the heading of the robot. Experiments show encouraging result for the robot to navigate autonomously given the road lanes and maintain heading angle.
This research presented Active Force Control (AFC) as a control method which is applied to Automatic Turret gun (ATG) in ground combat vehicles This method compares the reference force conducted by actuator with actual force of the... more
This research presented Active Force Control (AFC) as a control method which is applied to Automatic Turret gun (ATG) in ground combat vehicles This method compares the reference force conducted by actuator with actual force of the mechanical systems that arise due to disturbances. The advantage of AFC method is its ability to handle disturbances effectively without complicated mathematical calculations. The AFC method uses Crude Approximation (CA) in the internal loop controller AFC as inertia matrix estimator as an important part in the control loop. Simulation without load on the azimuth movement shows PID controller produces the best precision with MSE of 0 degrees while RACAFC and RAC method provide MSE 0.267 degrees. In simulation on the elevation movement, the RAC method showed the best results with an estimated MSE of the targets shot of 2.42 degrees, while the PID and RACAFC method are 2.5 and 2.46 degrees. When simulation is conducted with additional load RACAFC method gi...
This paper presents a stabilization control method for “x” configuration quadcopter. The control method used the combination of PD (Proportional Derivative) controller and PIAFC (Proportional Integral Active Force Control). PD is used to... more
This paper presents a stabilization control method for “x” configuration quadcopter. The control method used the combination of PD (Proportional Derivative) controller and PIAFC (Proportional Integral Active Force Control). PD is used to stabilize quadcopter, and PIAFC is used to reject uncertainty disturbance (e.g. wind) by estimating disturbance torque value of quadcopter. The PD with PIAFC provided better result where PIAFC could minimize uncertain disturbance effect. The simulation has successfully give comparation about controller performance (PD, PD-AFC, PD-PIAFC) by calculate RMS (Root Mean Square) value. PD with AFC gives better result than PD. AFC optimization using PI (PD-PIAFC) give best result if compared with PD or PD-AFC. PD-PIAFC has lowest RMS value of result control signal, 0.0389 for constant disturbance and 0.1008 for fluctuated disturbance.Keywords:“x” configuration quadcopter, stability, PD, PIAFC.
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... yang tak terhingga saya sampaikan kepada Allah SWT Yang Maha Berkuasa Atas Segalanya, karena hanya dengan ridho, hidayah dan anugerah ... atas doa, cinta kasih sayang dan dukungannya, Untuk saudara sedarahku, Angga Aditya S, Reza... more
... yang tak terhingga saya sampaikan kepada Allah SWT Yang Maha Berkuasa Atas Segalanya, karena hanya dengan ridho, hidayah dan anugerah ... atas doa, cinta kasih sayang dan dukungannya, Untuk saudara sedarahku, Angga Aditya S, Reza Fahrel S , Ibu Nu Rhahida Arini ...
In this paper, the authors describe and demonstrate how a Five fingered gripper can be designed and simulated to provide both gross motion and fine motion to the fingers. Satisfactory motion responses for the finger simulation are... more
In this paper, the authors describe and demonstrate how a Five fingered gripper can be designed and simulated to provide both gross motion and fine motion to the fingers. Satisfactory motion responses for the finger simulation are achieved. The fine motion including force feedback and the gross motions, which orientate the fingers into their approximate configuration is provided by an advance PID control strategy. The fingers are to be controlled in a manner which mimics the kinematics and dynamics of the five fingers of a human hand. This mimicry is required to design the correct motions necessary to handle engineering components. In order to evaluate the design philosophy and capability of the five fingered gripper, a challenging assembly process has been identified. The five fingered gripper assembly was built using Solidworks software tool, and it’s mechanical assembly representation was established in SimMechanics. The advance PID control is very effectively used to control the...
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VrtáSb Wvvtbt Yñut International Review of Mechanical Engineering (l.RE.MEj, Vol. 1, п. 5 September 2007 Control of Mobile Manipulator Using Resolved Acceleration with Iterative-Learning-Proportional-Integral Active Force Control E.... more
VrtáSb Wvvtbt Yñut International Review of Mechanical Engineering (l.RE.MEj, Vol. 1, п. 5 September 2007 Control of Mobile Manipulator Using Resolved Acceleration with Iterative-Learning-Proportional-Integral Active Force Control E. Pitowarno1, M. Mailah2 ...
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The active force control (AFC) method is known as a robust control scheme that dramatically enhances the performance of a robot arm particularly in compensating the disturbance effects. The main task of the AFC method is to estimate the... more
The active force control (AFC) method is known as a robust control scheme that dramatically enhances the performance of a robot arm particularly in compensating the disturbance effects. The main task of the AFC method is to estimate the inertia matrix in the feedback loop to provide the correct (motor) torque required to cancel out these disturbances. Several intelligent control schemes have already been introduced to enhance the estimation methods of acquiring the inertia matrix such as those using neural network, iterative learning and fuzzy logic. In this paper, we propose an alternative scheme called Knowledge-Based Trajectory Error Pattern Method (KBTEPM) to suppress the trajectory track error of the AFC scheme. The knowledge is developed from the trajectory track error characteristic based on the previous experimental results of the crude approximation method. It produces a unique, new and desirable error pattern when a trajectory command is forced. An experimental study was p...
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... 9 Thesis Writing 12 Submit Thesis Page 20. 17 REFERENCES Adil Irdam. (2000). Konsep Manajemen Lalu Lintas Kapal Pada Alur Pelayaran dan Pelabuhan Menggunakan GPS dan Sistem Informasi Laut, Jurnal Survering dan Geodesi, Indonesia.... more
... 9 Thesis Writing 12 Submit Thesis Page 20. 17 REFERENCES Adil Irdam. (2000). Konsep Manajemen Lalu Lintas Kapal Pada Alur Pelayaran dan Pelabuhan Menggunakan GPS dan Sistem Informasi Laut, Jurnal Survering dan Geodesi, Indonesia. Budir, Ibnu. (2007). ...
... di mana penyelidikan dijalankan). TIDAK TERHAD TANDATANGAN KETUA PENYELIDIK PROFESOR MADYA DR. MUSA MAILAH Nama & Cop Ketua Penyelidik Tarikh : 10 APRIL 2007 / CATATAN : * Jika Laporan Akhir Penyelidikan ...
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VrtáSb Wvvtbt Yñut International Review of Mechanical Engineering (l.RE.MEj, Vol. 1, п. 5 September 2007 Control of Mobile Manipulator Using Resolved Acceleration with Iterative-Learning-Proportional-Integral Active Force Control E.... more
VrtáSb Wvvtbt Yñut International Review of Mechanical Engineering (l.RE.MEj, Vol. 1, п. 5 September 2007 Control of Mobile Manipulator Using Resolved Acceleration with Iterative-Learning-Proportional-Integral Active Force Control E. Pitowarno1, M. Mailah2 ...
Research Interests:
1 Sistem Penggerak Utama dan Kontrol untuk Kendaraan Tipe Ackermann dengan Sel Surya ... Dibawah ini adalah gambar pembuatannya. ... Dengan menggunakan alat tachometer didapatkan hasil Kecepatan pada Roda bisa mencapai 400rpm pada roda... more
1 Sistem Penggerak Utama dan Kontrol untuk Kendaraan Tipe Ackermann dengan Sel Surya ... Dibawah ini adalah gambar pembuatannya. ... Dengan menggunakan alat tachometer didapatkan hasil Kecepatan pada Roda bisa mencapai 400rpm pada roda kiri dan 396rpm pada ...
1 Sistem Penggerak Utama dan Kontrol untuk Kendaraan Tipe Ackermann dengan Sel Surya ... Dibawah ini adalah gambar pembuatannya. ... Dengan menggunakan alat tachometer didapatkan hasil Kecepatan pada Roda bisa mencapai 400rpm pada roda... more
1 Sistem Penggerak Utama dan Kontrol untuk Kendaraan Tipe Ackermann dengan Sel Surya ... Dibawah ini adalah gambar pembuatannya. ... Dengan menggunakan alat tachometer didapatkan hasil Kecepatan pada Roda bisa mencapai 400rpm pada roda kiri dan 396rpm pada ...
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... 9 Thesis Writing 12 Submit Thesis Page 20. 17 REFERENCES Adil Irdam. (2000). Konsep Manajemen Lalu Lintas Kapal Pada Alur Pelayaran dan Pelabuhan Menggunakan GPS dan Sistem Informasi Laut, Jurnal Survering dan Geodesi, Indonesia.... more
... 9 Thesis Writing 12 Submit Thesis Page 20. 17 REFERENCES Adil Irdam. (2000). Konsep Manajemen Lalu Lintas Kapal Pada Alur Pelayaran dan Pelabuhan Menggunakan GPS dan Sistem Informasi Laut, Jurnal Survering dan Geodesi, Indonesia. Budir, Ibnu. (2007). ...
The development of satellite research is becoming increasingly easy and can be followed by colleges because it can be done by means of small satellites. According to Larson [1], satellites with small size were classified by dimensional... more
The development of satellite research is becoming increasingly easy and can be followed by colleges because it can be done by means of small satellites. According to Larson [1], satellites with small size were classified by dimensional weight. Classification shown in table 1 small satellite with a range of weights and the range of the cost of manufacture.
... yang tak terhingga saya sampaikan kepada Allah SWT Yang Maha Berkuasa Atas Segalanya, karena hanya dengan ridho, hidayah dan anugerah ... atas doa, cinta kasih sayang dan dukungannya, Untuk saudara sedarahku, Angga Aditya S, Reza... more
... yang tak terhingga saya sampaikan kepada Allah SWT Yang Maha Berkuasa Atas Segalanya, karena hanya dengan ridho, hidayah dan anugerah ... atas doa, cinta kasih sayang dan dukungannya, Untuk saudara sedarahku, Angga Aditya S, Reza Fahrel S , Ibu Nu Rhahida Arini ...