Perancangan Dan Implementasi Autonomous Landing Menggunakan Behavior-Based Dan Fuzzy Controller Pada Quadcopter

Perkembangan teknologi sistem kendali pesawat sayap berputar (copter) semakin pesat salah satunya pada pesawat berbaling-Baling empat (quadcopter). Landing merupakan bagian tersulit dalam penerbangan quadcopter. Ukuran quadcopter yang kecil mengakibatkan susahnya pengendalian kestabilan dan kecepatan turun.Cara mengatasi permasalahan ini adalah dengan autonomous landing yang menggunakan algoritma kendali behavior-based (berbasis perilaku). Tugas akhir ini merancang dan mengimplementasikan algoritma kendali behavior-based (berbasis perilaku) pada proses autonomous landing quadcopter dan kontroler PD (Proporsional, Diferensial) pada untuk kestabilan sudut roll dan pitch, sedangkan untuk jarak landing menggunakan kontroler logika fuzzy. Pada Tugas Akhir ini, didapatkan nilai parameter kontroler PD roll dan kontroler PD pitch dari hasil tuning terstruktur pada simulasi Kp=500 dan Kd=30. Sedangkan kendali landing menggunakan kontroler logika fuzzy dengan parameter Ke=4 Kde=175 dan Ku=1 pada simulasi dapat melakukan proses landing selama 8 detik dari ketinggian 3 meter. Respon hasil implementasi pada quadcopter belum sesuai dengan hasil simulasi. Proses landing pada implementasi lebih cepat dengan waktu 3.5 detik dari ketinggian 2 meter, selain itu koreksi sudut roll dan sudut pitch masih terhadapat error +/-3º

Insights into the potential application of magnetic field in controlling sludge bulking and foaming: A review

The formation of bulking and foaming in biological wastewater treatment could cause a series of operational issues with biomass and effluent quality, ultimately affect the treatment performance of the system. The essential parameters influencing the growth of bulking and foaming bacteria are comprehensively summarised in this paper. Existing bulking and foaming control approached are critically reviewed and addressed, as well as their drawbacks and limitations. Despite the abundance of information and implementation, a complete control technique for limiting filamentous sludge bulking and foaming remains insufficient. Magnetic field application is emphasised as a viable control strategy in this regard. The present review study provides new insight of this application by comparing the use of magnetic fields to conventional treatments. Future outlooks on the use of magnetic fields to prevent BFB proliferation were also highlighted

Pengaturan Kecepatan pada Simulator Parallel Hybrid Electric Vehicle Menggunakan Metode Pid-linear Quadratic Regulator

Hybrid Electric Vehicle (HEV) merupakan suatu kendaraan dengan konsep ramah lingkungan dan hemat energi yang diharapkan menjadi salah satu alternatif menanggulangi efek rumah kaca dan krisis energi. HEV menggabungkan kinerja Internal Combustion Engine (ICE) atau mesin bakar dan motor listrik. Pada HEV dengan konfigurasi paralel, ICE dan motor listrik dapat bekerja bersama-sama. Pada Tugas Akhir ini digunakan Simulator Parallel Hybrid Electric Vehicle (PHEV). Simulator ini merepresentasikan kondisi nyata HEV namun dalam skala yang lebih kecil. Simulator ini terdiri dari mesin bakar 2 tak sebagai penggerak utama, motor DC sebagai penggerak pembantu, dan beban berupa rem magnetik arus eddy. Ketika terjadi permasalahan regulator akibat pembebanan lebih pada kendaraan, kecepatan putar pada ICE menurun sehingga kecepatan HEV tidak sesuai dengan output yang diharapkan. Oleh karena itu, dibutuhkan suatu kontroler untuk melakukan pengaturan kerja dari motor listrik agar bekerja sesuai dengan kebutuhan yang diinginkan. Kontroler PID – Linear Quadratic Regulator (PID-LQR) digunakan untuk memperbaiki performansi kerja HEV agar mampu membantu ICE mencapai kecepatan putar yang seharusnya. Berdasarkan hasil pengujian secara simulasi didapatkan motor DC menggunakan kontroler PID-LQR mampu membantu kinerja ICE sehingga dapat mengembalikan respon sistem menuju nilai steady state ketika terjadi pembebanan pada rentang arus beban rem nominal 0.56 A-1.14 A. Berdasarkan hasil pengujian secara implementasi, motor DC dapat membantu kinerja ICE, namun masih terdapat error steady state

Sequential microbial activities mediated bioelectricity production from distillery wastewater using bio-electrochemical system with simultaneous waste remediation

A two-chambered microbial fuel cell (MFC), which can function on the self-driven bioelectrogenic activity operated on anaerobically digested distillery waste (ADDW) i.e. wastewater post anaerobic digestion was designed and fabricated in the laboratory. MFC was evaluated for production of bioelectricity with a simultaneous reduction in the carbon content. Using a surface response methodology with a Box-Behnken design (BBD), operating conditions such as the concentration of antifoam, pH, and resistance were optimized and it was found that the pH and resistance were optimum at 8.3 and 1000 0, respectively with no antifoam in the system. Under optimum conditions, 31.49 Wm-3 was generated, and 60.78 +/- 0.95% total organic carbon was degraded. We revealed that the fermentative bacteria generated organic acids mainly acetate from dextrose present in ADDW and electrogenic bacteria oxidized acetate in a successive manner to generate electrons, which was confirmed by gas chromatography. The development of biofilm analyzed by scanning electron microscope (SEM) was found to be crucial in the transfer of electrons directly to the anode and was confirmed by cyclic voltammetry experiments. Identification of bacteria from biofilm by both culture and denaturing gradient gel electrophoresis methods found bacteria belonging to phylum Firmicutes and gamma-proteobacteria. The study of successive nature of bacterial metabolism to generate electricity could play an important role in the production of electricity in a continuous mode of operation using MFCs fed with ADDW for further reduction of carbon content post anaerobic digestion for the benefit for the environment. Thus MFC can be used as a complementary technology to anaerobic digestion. (C) 2016 Hydrogen Energy Publications LLC. Published by Elsevier Ltd. All rights reserved

Superior removal of humic acid from aqueous stream using novel calf bones charcoal nanoadsorbent in a reversible process

While the potable water disinfection regimen has significantly reduced waterborne diseases, development of disinfection byproducts (DBP) during this process has brought a global threat to the environment and human health. The most notorious water pollutant, humic acid (HA), transforms into carcinogenic byproducts during the disinfection process (chlorination) of water treatment. HA removal methods are neither economic nor widely available. This study addresses the most urgent global issue of HA removal by developing an innovative and self-regenerative process based on a low-cost and self-regenerative calf bone char (CBC) that removed 92.1–100% of HA. CBC-based HA removal has not been described yet. The developed CBC, as a super adsorbent of HA, was initially characterized by a scanning electron microscope. Various parameters of adsorption/desorption and self-regeneration of CBC adsorbent were experimentally determined. Results show that prepared CBC with a 112 m2/g surface area exhibited adsorption of 38.08 mg/g (HA = 20 mg/L, pH = 4.0) which is several folds higher than the typical amount of HA present in water. The 30 m reaction time was enough to remove HA which is the shorter HA time in comparison to other similar studies. The increase of HA from 0.5 to 5 g/L, raises % HA removal (36.7–99.8%) while a pH decrease (10–4) increases adsorption (12.3–98.3%). The adsorption data fitted well with the pseudo-second-order model and the Langmuir isotherm which demonstrate that adsorption takes place by a monolayer formation. Thermodynamic constants supported the endothermic, spontaneous and reversible nature of adsorption which can attain 100% HA removal. 100% regeneration of exhausted CBC by NaOH further supports the sustainability of the process. CBC as a new adsorbent material thus provides an economical and sustainable water pre-treatment procedure. The present study provides technical guidance for building a cost-effective and scalable process capable of providing clean water

Surpassing the current limitations of high purity H2 production in microbial electrolysis cell (MECs): Strategies for inhibiting growth of methanogens

Microbial electrolysis cells (MECs) are perceived as a potential and promising innovative biotechnological tool that can convert carbon-rich waste biomass or wastewater into hydrogen (H2) or other value-added chemicals. Undesired methane (CH4) producing H2 sinks, including methanogens, is a serious challenge faced by MECs to achieve high-rate H2 production. Methanogens can consume H2 to produce CH4 in MECs, which has led to a drop of H2 production efficiency, H2 production rate (HPR) and also a low percentage of H2 in the produced biogas. Organized inference related to the interactions of microbes and potential processes has assisted in understanding approaches and concepts for inhibiting the growth of methanogens and profitable scale up design. Thus, here in we review the current developments and also the improvements constituted for the reduction of microbial H2 losses to methanogens. Firstly, the greatest challenge in achieving practical applications of MECs; undesirable microorganisms (methanogens) growth and various studied techniques for eliminating and reducing methanogens activities in MECs were discussed. Additionally, this extensive review also considers prospects for stimulating future research that could help to achieve more information and would provide the focus and path towards MECs as well as their possibilities for simultaneously generating H2 and waste remediation. 2017 Elsevier B.V.The author Abudukeremu Kadier would like to acknowledge the support from The National University of Malaysia ( UKM ), Project No: DIP-2014-028 and The Malaysian Ministry of Higher Education ( MOHE ), Project No: ERGS/1/2011/STWN/UKM/02/5 . Special thanks to Prof. Dr. Azah Bt Mohamed the Head of Project: DIP-2014-028 & Members. The author Periyasamy Sivagurunathan would like to acknowledge the support from Ton Duc Thang University for this research