Desain dan Simulasi Sistem Kendali PID Pada AGV(Automated Guided Vehicle) Pengikut Garis

Abstrak. Efektivitas dan efisiensi di bidang Logistik menjadi hal yang sangat penting. Salah satu solusi yang dilakukan untuk meningkatkan hal tersebut adalah bagaimana mengotomasi proses logistik dengan teknologi robotika yang disebut dengan AGV (Automated Guide Vehicle). Pada penelitian ini akan dikembangkan AGV yang dikendalikan dengan suatu algoritma agar dapat mengikuti lintasan berupa garis berwarna putih pada saat bertugas memindahkan material dari satu tempat ke tempat lain di dalam proses logistik. Sistem kendali yang digunakan adalah kendali PID (Proportional, Integral, Derivative), dengan dukungan perangkat keras berupa kamera RGB-D sebagai alat navigasi AGV untuk mendeteksi dan mengikuti lintasan. Sistem Kendali PID berfungsi untuk menjaga agar AGV tetap berada pada lintasan yang dibuat. Pengujian dilakukan dengan membandingkan nilai-nilai parameter baik kendali P, PD, dan PID agar mendapatkan parameter yang menghasilkan respon paling baik sehingga AGV mampu bergerak mengikuti lintasan garis berwarna putih. AGV  telah dirancang dan disimulasikan dalam sebuah perangkat lunak open source yang dikenal sebagai simulator Gazebo dan ROS (Robot Operating System). Proses navigasi menggunakan algoritma deteksi garis dengan tahapan melakukan filtering dan thresholding untuk menentukan titik pusat moment gambar lintasan garis putih. Dengan adanya titik pusat tersebut, AGV bergerak mengikuti pola lintasan dengan membandingkannya terhadap titik referensi yang telah ditentukanKata Kunci: Kendali PID, AGV (Automated Guided Vehicle), RGB-D, Simulator Gazebo, ROS(Robot Operating System

Smart Manufacturing

This book is a collection of 11 articles that are published in the corresponding Machines Special Issue “Smart Manufacturing”. It represents the quality, breadth and depth of the most updated study in smart manufacturing (SM); in particular, digital technologies are deployed to enhance system smartness by (1) empowering physical resources in production, (2) utilizing virtual and dynamic assets over the Internet to expand system capabilities, (3) supporting data-driven decision-making activities at various domains and levels of businesses, or (4) reconfiguring systems to adapt to changes and uncertainties. System smartness can be evaluated by one or a combination of performance metrics such as degree of automation, cost-effectiveness, leanness, robustness, flexibility, adaptability, sustainability, and resilience. This book features, firstly, the concepts digital triad (DT-II) and Internet of digital triad things (IoDTT), proposed to deal with the complexity, dynamics, and scalability of complex systems simultaneously. This book also features a comprehensive survey of the applications of digital technologies in space instruments; a systematic literature search method is used to investigate the impact of product design and innovation on the development of space instruments. In addition, the survey provides important information and critical considerations for using cutting edge digital technologies in designing and manufacturing space instruments

Portland Daily Press: September 16,1872

https://digitalmaine.com/pdp_1872/1129/thumbnail.jp

Republican Journal: Vol. 68, No. 36 - September 03,1896

https://digitalmaine.com/rj_1896/1035/thumbnail.jp

Republican Journal: Vol. 58, No. 17 - April 29,1886

https://digitalmaine.com/rj_1886/1016/thumbnail.jp

The "Skyscraper problem" and the city beautiful : the Woolworth Building

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Architecture, 1988.Includes bibliographical references.The "skyscraper problem" challenged the thought and practice of civic designers and architects prior to World War I. It referred to the incompatibility of City Beautiful principles with economically propelled land development, and to the contradiction between the notion of architecture as an art and the skyscraper's programmatic and technical requirements. Civic designers in New York had difficulty accommodating the skyscraper in their large-scale plans. They also found that it intruded on their vision for the business street, hindered their attempts to plan City Hall Park as New York's civic center, and created a chaotic skyline. Bruce Price, Louis Sullivan, Thomas Hastings, Cyrus L.W. Eidlitz, and other architects suggested alternative proposals for subjecting the skyscraper to the constraints of design . Prior to the design of the Woolworth Building, however, architectural critics did not unanimously endorse any single approach. Frank Woolworth chose a site for his proposed headquarters at the intersection of City Hall Park, New York's civic center, with lower Broadway, the spine of its business district . Woolworth commissioned Cass Gilbert to design the Woolworth Building in 1910. Gilbert shared the City Beautiful vision of McKim, Mead & White and Daniel Burnham. He also accepted the skyscraper's pragmatic requirements. Woolworth intended his headquarters to function as a speculative office building, but also to look like a civic institution. The imagery of a civic institution would represent the capitol of his commercial "empire" as well as display his civic-mindedness, wealth, and cosmopolitanism. The Woolworth Building's siting at New York's civic center, its composition, its arcade, and its sculptural and mural decoration identified it with the prevailing concept of the civic building. The soaring vertical piers of its exterior recalled Gilbert's earlier design for the West Street Building, which was influenced by the functionalist ideas of Louis Sullivan. The Woolworth Building convinced critics that a suitable architectural expression could be found for the skyscraper. Zoning reformers regarded it as a benign skyscraper. Contemporary observers attuned to City Beautiful aesthetic principles thought that the Woolworth Building strengthened the order and image of New York's civic center and enhanced the view of the city from afar.by Gail Fenske.Ph.D

Housing quality and lost (public) space in Croatia

IN ENGLISH: In the post-socialist period and within the current social transition context, urban and rural Croatia has, just like other transition countries, experienced many changes in the social structure and space. One example is the housing quality which is a replica of the situation in the Croatian society and has also undergone some major changes. Socially oriented housing construction co-financed by the state and the cities is in an unfavourable position compared to private housing construction. In the last twenty years the amount of the social housing construction has been only a minor part of the total contruction work in the country. For instance, out of nine newly planned residential housing developments in Zagreb, the capital city, only three have been completed and the work on the rest of them has stopped and is unlikely to continue. Private construction work prevails especially on the edge of the city and is characterised by high density housing. This type of housing construction doesn't benefit the majority of citizens in search of accommodation (price per square meter is too high, low-quality building). There is also a big problem of the community facilities (primary and secondary infrastructure, schools, kindergartens, playgrounds, green areas, sidewalks, public transport etc.). The existing globalisation-transition circumstances of the Croatian society corroborate the fact which experts of various profiles often point out: ignoring the process of (urban) planning will irreparably damage the space. The city transformation shows the absence of comprehensive urban planning which results in an ever increasing number of random buildings which do not fit in the surroundings. This leads up to yet another important issue – the shrinking and, in some cases, disappearance of public space which becomes the “lost space“. In recent years there has been a lot of building in the city core and on the edge which does not quite fit in the existing urban structure, image or the skyline of the city. The current situation in the process of planning can be characterized as a conflict and imbalance between the powerful actors (mostly political and economic) and less powerful actors (mostly professional and civil). The actors who have the political power and influence and the ones who possess the capital are forming an “alliance” between two important layers of the social structure. The lack of civil and professional actors, “lost spatial actors”, and therefore of civic aggregation is also present and that is also the cause of public space “disappearance” and undermined process of public participation. --------------- IN CROATIAN: U postsocijalističkom razdoblju i trenutnom tranzicijskom kontekstu urbana i ruralna Hrvatska su, kao i ostale tranzicijske zemlje, doživjele mnoge promjene u društvenoj strukturi i samom prostoru. Na primjeru kvalitete stanovanja kao replike stanja u hrvatskom društvu mogu se vidjeti značajne promjene. Društveno usmjerena stambena izgradnja sufinancirana od strane države i gradova je stoga rjeđa i u nepovoljnijoj je situaciji prema privatnoj stanogradnji. Zadnjih dvadeset godina udjel socijalne stambene gradnje je zanemariv u ukupnoj izgradnji na razini zemlje. Primjerice, od devet planiranih stambenih naselja izgrađenih po modelu POS-a u Zagrebu samo su tri i završena. Na ostalima je proces gradnje zastao i ne čini se da će se privesti kraju. Privatna je gradnje prisutnija, posebno na rubovima grada, a obilježava je visoka gustoća gradnje. Ovakav tip gradnje ne odgovara većini stanovnika koji su u procesu potražnje stambene nekretnine (visoka cijena kvadratnog metra, a slaba kvaliteta gradnje). Postoji također i problem nedostatne opremljenosti susjedstva (primarna i sekundarna infrastruktura, škole, vrtići, igrališta, zelene površine, pješačke staze, javni transport itd.). Navedene globalizacijsko-tranzicijske okolnosti hrvatskog društva potvrđuju ono što eksperti različitih profila ističu, a to je da će ignoriranje procesa (urbanog) planiranja nepovratno uništiti prostor gradova. Ovakve transformacije pokazuju nedostatak sustavnog urbanog planiranja što rezultira sve većim brojem zgrada koje se ne uklapaju u neposrednu okolinu. To nadalje dovodi do drugog važnog aspekta – smanjivanja i u nekim slučajevima, nestanka javnog prostora koji postaje „izgubljeni prostor“. Posljednjih je godina izgrađen velik broj zgrada, i u središtu i na rubovima grada, koje se ne uklapaju u postojeću urbanu strukturu, izgled ili vizuru grada. Ovakvu situaciju obilježavaju sukob i neravnoteža između moćnijih društvenih aktera (većinom političkih i ekonomskih) i onih manje moćnih (većinom profesionalnih i civilnih). Politički i ekonomski akteri se često povezuju u „savez“ dvaju najjačih u društvenoj strukturi. S druge strane nedostatak utjecaja civilnih i profesionalnih aktera kao „izgubljenih prostornih aktera“ dovodi do „nestanka“ javnih prostora te smanjenja važnosti procesa participacije (sudjelovanja javnosti)