PID Controller with an Override Mode for a Wall-Following Robot with a Rotating Sensor Compartment

This paper presents the design of a wall-following robot (WFR) with a rotating sensor compartment to reduce the number of distance sensors used. Two infrared (IR) sensors were fitted in the compartment that rotates back and forth at 45°, producing four measurement values at each rotation cycle. The WFR was regulated using a novel control scheme of PID controller with an override mode. A discrete PID controller in position form was used to run the WFR to follow straight wall segments or walls turning left, while an override mode governed the WFR to follow walls turning right. The sampling time was set to 300 ms. The parameters of the PID controller were tuned using a trial-and-error method. The Mean Absolute Errors (MAE) was selected as the cost function. The WFR conducted twelve trial runs along a trial track with a length of 200 cm, consisting of one right turn and one left turn. The parameters that yielded the lowest MAE of 0.90 cm were used for further tests. Subsequently, a closed track for testing was constructed with a length of 845 cm, consisting of 7 right turns and 2 left turns. The WFR completed five test runs successfully, each elapsing the test track twice. The lowest MAE during the tests was 1.06 cm. The favorable performance of the proposed WFR strengthens future development efforts to equip the robot with more hardware to fulfill specific tasks and to put the completion time into optimization consideration

Design and Implementation of Wind Speed-Based Radar Antenna Safety System Prototype

Air defense radar is a system that detects the presence of one or more air objects at a certain distance, altitude, and direction. One type of air defense radar used by the Indonesian National Armed Forces (TNI) is the Thomson TRS 2215D. An essential part of the radar is the rotating part of the radar antenna support called the antenna pivot. The rotation of the radar antenna must constantly be monitored and controlled for rotational stability at a speed of 6 Rotations per Minute (RPM) with a maximum wind speed of 120 km/h to prevent damage to the driving gear. Stormy weather with high wind speeds can cause the rotation speed of the radar antenna to be uncontrollable, which can cause damage. The solution offered in this study is to build a safety system that will lock the radar antenna automatically when the wind speed is detected to exceed tolerances and maintain the security of the radar antenna and its support system. The safety system was designed using an ESP32 Wi-Fi device equipped with an anemometer wind speed sensor, a Liquid Crystal Display (LCD) monitor, a Direct Current (DC) motor, and a Blynk Internet of Things (IoT) application. The test was conducted in a simulation using a multi-meter and oscilloscope measuring instrument. Testing the radar antenna's safety system prototype on a laboratory scale shows that the safety system can work as designed. The system can lock the radar antenna when the airflow is set at a speed of 54 km/h or 15 m/s, communication with the Blynk server works well, and the ESP32 device can transmit data at a maximum distance of 14 meters

Design of Level Sensor Prototype for Fuel Tank in Base Transceiver Station Facilities

A monitoring system for fuel availability at Base Transceiver Stations (BTS) is an absolute necessity. The fuel availability in the generator set must be guaranteed because it ensures the energy supply and continuous operation. This research purpose is to create a robust and effective sensor that can be monitored in real-time so that industry players can estimate the consumption of fuel at the BTS in a certain period. The novelty of this research is that instead of looking at the amount of fuel consumption/reduction like the previous research, this study focuses on how much diesel availability is in the generator tank. So, calculating fuel requirements and predicting actual consumption are done directly. The sensor is a reed-switch oil level sensor and is connected to ESP32 as the microcontroller. It's installed horizontally and uses an optimum distance between sensors of 2.5 mm to improve the sensor reading's accuracy. The test results of converting voltage values into ADC signals on sensor readings produced a determination coefficient of 0.9987, which showed the reliability of the sensor-level design. The sensor precision test results produced an RSD value of 0.17% and the accuracy test produced an error range of -3% to 2% with an average error value of 1.59%. These results indicate that the designed level sensor has good precision and accuracy. Through this research, the provider can predict and plan their fuel consumption needs for BTS power supply and increase the Domestic Component Level in the sensor industry

Grounding Analysis Based on Different Soil Characteristics in The Distribution System

This study aims to obtain the type of grounding and resistance value in the distribution system of medium voltage UP3 South Surabaya ducts. In addition, to see the magnitude of the comparative value of the results of the resistance analysis stimulates ETAP. In the South Surabaya UP3 medium voltage distribution system. PT. PLN (Persero) improves and optimizes service to all of its customers. The grounding system at PT PLN UP3 South Surabaya. The existing PLN UP3 South Surabaya must comply with PUIL regulations of 2011, and the value of land holdings must be no greater than 5 Ω. Of the 15 grounding points analyzed, there are 3 points whose grounding values do not meet the requirements of PUIL 2011, namely the grounding values are still above 5 Ω. The smallest grounding resistance value before adding the rod electrode is 1.1 Ω at the 3rd point or BD 313 and after adding one rod and then paralleling it, the resistance value drops to 0.55 Ω. For the largest grounding resistance at the point that meets the requirements, namely 4 Ω at the 9th point or BD 653 and after adding one rod and then parallelizing it, the resistance value drops to 1.75 Ω. ETAPsimulation, the simulation results are affected by the value of x direction and the depth of the conductor. In addition, the simulation results are affected by the size of the rod. ETAP simulation results, the touch tolerable is 587.6 volts and the step tolerable is 1948.6 volts. For the largest grounding resistance at the point that meets the requirements, namely 4 Ω at the 9th point or BD 653 and after adding one rod and then parallelizing it, the resistance value drops to 1.75 Ω. ETAP simulation, the simulation results are affected by the value of x direction and the depth of the conductor. In addition, the simulation results are affected by the size of the rod. ETAP simulation results, the touch tolerable is 587.6 volts and the step tolerable is 1948.6 volts. For the largest grounding resistance at the point that meets the requirements, namely 4 Ω at the 9th point or BD 653 and after adding one rod and then parallelizing it, the resistance value drops to 1.75 Ω. ETAP simulation, the simulation results are affected by the value of x direction and the depth of the conductor. In addition, the simulation results are affected by the size of the rod. ETAP simulation results, the touch tolerable is 587.6 volts and the step tolerable is 1948.6 volts

Optimal Propagation Model for DVB-T2 System in Urban Area

The large-scale implementation of analog switch-off for television broadcasting in Indonesia has led to blank spots in several regions. To address this issue, an optimal propagation model is needed. Proper selection and analysis of the channel model can enhance transmitter coverage, increase coverage percentage, improve energy efficiency, and boost field strength due to optimal transmit power. Previous studies have explored various DVB-T2 propagation models, notably the ITU-R P.1812-4 and Longley-Rice models, which are sophisticated and consider various environmental parameters, making them suitable for diverse broadcasting conditions. This research introduces a novel approach by specifically focusing on the urban context of Semarang City, Indonesia, to reduce blank spots by applying the ITU-R P.1812-4 and Longley-Rice propagation models. This study uniquely compares the two models to determine the most effective one for this urban area. Results indicate that the ITU-R P.1812-4 model provides a higher field strength value than the Longley-Rice model, with average field strengths of 108.3425 dBμV/m and 108.2325 dBμV/m, respectively. The difference in average field strength of 0.11 dBμV/m, despite having the same free space loss value of 100.9025 dB, indicates that one model has a slightly stronger signal. This stronger signal can improve coverage by reaching further distances and penetrating obstacles better. Additionally, a stronger signal means less power is needed to maintain the same coverage area, thus improving energy efficiency. This research not only offers empirical data specific to Semarang City but also provides insights that can guide future digital broadcasting optimizations in similar urban environments

Design of Electric Motorcycle Variable with Battery Management System

This study focuses on conceptualization and development of a battery management system (BMS) with two main functions, battery monitoring and management, in the context of brushless direct current motors (BLDCs). The main challenge in variable estimation is to protect the battery from potential risks during the charge and discharge cycle. The new proposed resolution combines a comprehensive BMS with monitoring capabilities for charge (SoC), health (SoH), voltage, current and battery temperature. In addition, a protective mechanism is incorporated to prevent variables from overshooting safety parameters. This research uses two different methodologies for estimating SOC, coulomb counting and open circuit voltage. In experimental tests, resistance potentiometers of 1,650, 3,300 and 0 were used, with SoC estimates of 37%, 19% and 65%, while coulomb counting method has a marginal error of 1.13%. On the contrary, the open-circuit voltage method generated a SoC estimate of 0% for all potentiometer resistance, with an error rate of 0.64 %. As a result, the open circuit voltage method is chosen because of its superior accuracy compared to the coulomb counting method. The state assessment of the battery showed a value of 100% after seven cycles. In addition, a protective system has been implemented to ensure that battery variables remain within the safe thresholds throughout the charge and discharge process. Consequently, the implementation of this BMS is expected to significantly improve overall performance and extend battery life

Performance Analysis of Permanent Magnet BLDC Motor for Reducing Cogging Torque Using Taguchi Method

An electric motor is an electromagnetic machine commonly utilized across various industries and automotive products. One prevalent type of electric motor employed in electric vehicles is the Permanent Magnet Brushless DC Motor (PM-BLDC), a brushless motor employing permanent magnets. However, despite its efficiency, permanent magnet motors often experience vibrations that can disrupt their performance. This research aims to optimize the existing BLDC motor design, with a specific focus on reducing the existing cogging torque. Initially, the existing design exhibited a cogging torque level of 0.21482 Nm. The optimization process involved modifications to several key design parameters, such as air gap, magnet thickness, magnet type, and slot opening width. In previous research, only comparisons were made between stator slot designs, which proved to be less effective as significant differences were not evident in the results of the comparative analysis of BLDC motor designs. So, in this research, the Taguchi method was utilized for the optimization process due to several advantages it offers. Through an analysis of means and variance, the optimization process successfully achieved a significant reduction in cogging torque by 0.099744 and an increase in efficiency by 0.6%. The results of the optimized permanent magnet BLDC design indicated a cogging torque value of 0.115072 Nm and an efficiency of 86.64% at an operational motor speed of 1500 rpm. This research provides a substantial contribution to the development of more efficient electric motors suitable for various applications

Estimation of Lithium-Ion Battery Health in Electric Bicycles Using Internal Resistance Measurement Method

This study evaluates the performance of a 36 Volt 10 Ah battery in an electric bicycle with a 350-Watt Brushless DC (BLDC) motor as an environmentally friendly alternative to overcome the negative impacts of motorized vehicle use in Indonesia. In addition, this study measured the State of Health battery’s value of internal resistance, which is different from other studies that use capacity fading. With a focus on maximum travel distance and travel time, experiments were conducted without load and with a 70kg load. The no-load test was conducted only once, resulting in a travel time of 600 minutes and a distance of 330.1 Km. Although the battery was not discharged, the results were not in line with expectations, so the no-load test was only conducted once. In the 70kg load test, six trials were conducted with variable measurements of distance, battery voltage, and battery resistance. Results showed variations in distance between 50.7 km and 53.1 km, and travel time between 151 and 160 minutes. The battery voltage varied from 31.316 Volts to 31.850 Volts. The resistance in the battery also showed an increase of about 0.0001 ohms from 0.1132 ohms to 0.1139 ohms. Overall, the results from the study showed that as time and usage progressed, the battery voltage and internal resistance values tended to increase, while the distance and travel time tended to decrease. The internal resistance measurement method proved to be effective in assessing battery health as the State of Health value decreased throughout the experiment

Implementation of Solar PV Protection System in Indonesia: A Review

Conventional energy sources will run out if used continuously and damage the environment. Therefore, it is necessary to develop other energy sources that are safe, environmentally friendly, and inexhaustible known as renewable energy sources to meet energy needs in Indonesia. This article presents a review that discusses the protection of solar panels and PLTS. Solar panels are vulnerable to lightning strikes and other electrical disturbances, so an effective protection system is needed. This study uses a qualitative method through a literature study, reviewing various protection methods such as conventional and electrostatic lightning rods, good grounding systems, and overcurrent detection devices such as Solar Charge Controller (SCC) and Maximum Power Point Tracking (MPPT). In addition, battery protection with Automatic Transfer Switch (ATS) and Low Voltage Disconnected (LVD) is also discussed. Using Arduino Uno, ESP 32, and PLC, automation approaches offer real-time monitoring and control solutions for solar power plant performance. Innovations in the lightning protection zone concept and minimal quantity measurement schemes enable more cost-effective design of protection systems without reducing the level of protection. The results show that these various protection methods can provide effective and efficient protection for solar power plants, enabling optimization of system function and safety. In conclusion, the protection systems reviewed in this study offer a sustainable solution to Indonesia's energy challenges by utilizing the maximum potential of solar energy. The potential for further research is presented in this article to develop more efficient and effective protection methods

Forklift Design Integrated Speed Limiter and Position Tracking Through IoT-Based Website

Forklifts, as lifting and transportation equipment, play a crucial role in logistics. However, forklift operators often chase targets, pushing the forklift to perform at higher speeds. Operating a forklift at high speeds not only poses potential dangers to the working conditions but can also lead to a decrease in forklift performance. Operators do not ensure the forklift is running according to procedures due to a lack of supervision. In response to this issue, the author proposes an innovation in the form of a monitoring device capable of recording speed violations committed by operators. With the planned device, it is expected that forklift operators will exercise more caution and take greater responsibility when operating the forklift. The objective of this research is to reduce the likelihood of accidents and forklift damage due to improper use. The study produces a forklift design equipped with supporting components for the implementation of the device and a website as a monitoring platform for forklift operators and workers, providing real-time access to collected data. This system enhances operational safety in operating forklifts. The research significantly contributes to the development of safer and smarter forklift technology, aligning with strict demands for safety standards and risk management in industrial environments