Sistem Pengendali Kecepatan Motor Dc Pada Lift Barang Menggunakan Kontroler Pid Berbasis Atmega 2560

Lift barang adalah angkutan transportasi vertikal digunakan untuk memindahkan barang. Lift ini sangat khusus fungsinya untuk barang saja, lift ini hampir sama dengan lift penumpang namun ada sedikit perbedaan dalam sistem keamanannya. Lift barang yang sekarang memang sudah otomatis tetapi hanya pada gedung bertingkat tinggi. Untuk minimarket atau home industry yang memiliki struktur bangunan 2 lantai, banyak dijumpai masih menggunakan pengkatrolan secara manual oleh tenaga manusia untuk memindahkan barang. Hal ini cukup tidak efisien. Pada penelitian ini telah dirancang sistem pengaturan kecepatan motor DC pada lift barang menggunakan kontoler PID dengan kontruksi sistem yang sederhana. Digunakan Kontroler PID untuk mengurangi kesalahan, sehingga putaran motor dapat sesuai dengan kecepatan yang diinginkan. Dengan bantuan kontroler PID maka lift barang mampu bergerak dengan aman dan halus. Pada skripsi ini digunakan metode Ziegler-Nichols tunning 2. Dalam pembuatannya digunakan Arduino Mega 2560, rotary encoder Autonic E40H8 500-6-L-5, limit switch, dan motor DC. Berdasarkan data respons sistem yang diperoleh dari pengujian dengan menggunakan metode kedua Ziegler-Nichols, maka parameter kontroler PID dapat ditentukan dengan gain Kp = 7.71, Ki = 7.035 dan Kd = 2.113.Kata Kunci— Lift barang, Pengendalian Kecepatan, PID, Arduino Mega 2560

Stratigraphic section of the Moenave Formation at the St. George Dinosaur Discovery Site at Johnson Farm.

<p>Resting trace and trackway SGDS.18.T1 is in the “Top Surface” of the Main Track-Bearing Sandstone Bed (indicated by the blue arrow) in the Whitmore Point Member of the Moenave Formation.</p

Measurements (in cm; ° as noted) of SGDS.18.T1 <i>Eubrontes</i> trackway and corresponding tail drag marks.

<p>Roman numerals = divarication angles between indicated pedal digits, L/R = left/right, MTD = maximum track depth, P = pace or step length, PA = pace angulation, S = stride length, TL = track length (excluding metatarsal impression, if any), TTL = total track length (including metatarsal impression, if any), TW = track width, * = more accurate measurements taken from 2000 M.G. Lockley tracing (CU Denver Tracks Museum Tracing # T472), although tracing provides little data and present track is much more weathered, – = measurement not applicable or unobtainable.</p><p>Measurements in parentheses are approximations due to incompleteness, poor preservation of trace, or ambiguity in discerning track margin from surface sedimentary structures; subscripted numbers indicate tracks between which P, PA, and S measurements are given.</p

Restoration of Early Jurassic environment preserved at the SGDS, with the theropod <i>Dilophosaurus wetherilli</i> in bird-like resting pose, demonstrating the manufacture of SGDS.18.T1 resting trace.

<p>By Heather Kyoht Luterman.</p

<i>Eubrontes</i> trackway with resting trace (SGDS.18.T1) in the Whitmore Point Member of the Moenave Formation, St. George, Utah.

<p>A, Overhead, slightly oblique angle photograph of SGDS.18.T1 resting trace. Note normal <i>Eubrontes</i> track cranial to resting traces (top center) made by track maker during first step upon getting up. Scale bar equals 10 cm. B, Schematic of SGDS.18.T1 to scale with A: first resting traces (manus, pes, and ischial callosity) in red, second (shuffling, pes only) traces in gold, final resting traces (pes and ischial callosity) in green, and tail drag marks made as track maker moved off in blue. Note long metatarsal (“heel”) impressions on pes prints. C, Direct overhead photograph and D, computerized photogrammetry with 5 mm contour lines of <i>Eubrontes</i> trace SGDS.18.T1. Color banding reflects topography (blue-green = lowest, purple-white = highest); a portion of the berm on which the track maker crouched is discernible. Abbreviations: ic = ischial callosity, lm = left manus, lp = left pes, rm = right manus, rp = right pes, td = tail drag marks.</p

Measurements (in cm; ° as noted) of SGDS.18.T1 <i>Eubrontes</i> resting trace and immediately associated marks.

<p>Roman numerals = divarication angles between indicated pedal digits, Isch = ischial callosity impression, L/R = left or right, M/P = manus or pes, MTD = maximum trace depth, TD = tail drag, TL = total trace length (excluding metapodial impression, if any), TTL = total trace length (including metapodial impressions, if any), TW = total trace width. n/a = measurement not applicable, – = measurement not obtainable.</p><p>Measurements in parentheses are approximations due to incompleteness, poor preservation of trace, or ambiguity in discerning track margin from surface sedimentary structure.</p

Stereophotographs of SGDS.18.T1 crouching trace.

<p>Elevation exaggerated to emphasize individual tracks. Placards on surface are markers used in generation of photogrammetric image in <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0004591#pone-0004591-g004" target="_blank">Figure 4D</a>.</p

Digit III length versus femur length for <i>Albertosaurus</i>, <i>Gorgosaurus</i>, and <i>Daspletosaurus</i>.

<p>Graphical results and best-fit line for comparing footprint length FL (digit III length, as calculated by totaling the proximodistal lengths of digit III phalanges and adding 5% to the total length to account for anatomical unknowns) to osteologic femur length (<i>y</i>) for late Campanian - early Maastrichtian tyrannosaurids <i>Albertosaurus</i>, <i>Gorgosaurus</i>, <i>Daspletosaurus. </i><a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0103613#pone.0103613-Currie5" target="_blank">[22]</a>. The calculated <i>y</i> can then be used to estimate age of the track-maker using the methods of Erickson <i>et al. </i><a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0103613#pone.0103613-Erickson1" target="_blank">[21]</a>, <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0103613#pone.0103613-Myhrvold1" target="_blank">[25]</a>. All data are in millimeters (mm), and are unadjusted <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0103613#pone.0103613-Thulborn2" target="_blank">[18]</a>. Standard error for footprint length +/–32.3 mm; femur length +/–55.7 mm.</p

Jurabrontes curtedulensis laserscanner 3D models

<div><b>Laserscanner 3D models of <i>Jurabrontes curtedulensis</i></b></div><div><br></div><div>Laserscanner 3D models and Processing reports of holotype, two paratypes and a referred specimen of <i>Jurabrontes curtedoulensis </i>obtained in the field in May 2011 with a FARO Platinum Scanarm 3.0 m. Processing information in the associated pdf.</div><p></p><div>Files are labelled accordingly the track modeled.<br></div><div><br></div><div><div>This is a supporting material for http://dx.doi.org/10.1080/08912963.2017.1324438</div><div><br></div><div><b>Citation for this article</b>: Marty D., Belvedere M., Razzolini N.L., Lockley M.G., Paratte G., Cattin M., Lovis C. and Meyer C.A. 2017. The tracks of giant theropods (<i>Jurabrontes curtedulensis</i> ichnogen. & ichnosp. nov.) from the Late Jurassic of NW Switzerland: palaeoecological and palaeogeographical implications. Historical Biology. doi: 10.1080/08912963.2017.1324438</div></div

Data collection schematic for reanalysis of <i>Wupus agilis</i>.

<p>Diagrammatic representation of linear and angle measurements collected directly from individual prints (A,B) and trackways (C) of <i>Wupus agilis</i> (<a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0124039#pone.0124039.s001" target="_blank">S1 Table</a> and <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0124039#pone.0124039.s002" target="_blank">S2 Table</a>). <b>A</b>, Footprint measurements: <b>II</b>, digit II; <b>III</b>, digit III; <b>IV</b>, digit IV; <b>FL</b>, footprint length; <b>DLII</b>, digit II length; <b>DLIV</b>, digit IV length; <b>DWII</b>; digit II width; <b>DWIII</b>, digit III width; <b>DWIV</b>, digit IV width. <b>B</b>, <b>DIVII–III</b>, digit divarication II–III; <b>DIVIII–IV</b>, digit divarication III–IV; <b>FW</b>, footprint width; <b>C</b>, Trackway measurements: <b>PL</b>, pace; <b>PA</b>, pace angulation; <b>SL</b>, stride. DIVTOT (not shown), total divarication, summed from measurements of DIVII–III and DIVIII–IV.</p