Object Distance Measurement System Using Monocular Camera on Vehicle

To support autonomous vehicles that are currently often studied by various parties, the authors propose to make a system of predicting the distance of objects using monocular cameras on vehicles. Distance prediction uses four methods and the input parameter was obtained from images processed with MobileNets SSD. Calculations using linear regression are the simplest calculations among the four methods but have an error of 1% with a standard deviation of 1.65 meters. While using the first method, the average error value is 9% with a standard deviation of 0.43 meters. By using the second calculation, the average error resulted in 6% with a standard deviation of 0.35 meters. The experimental method had an average error of 1% with a standard deviation of 0.26 meters, so the experimental method was used

Line Detection Using Arranging Coordinate Point Method

Line detection system is a system line that canrecognize the line mark painted on the road. This is one of thedigital driver assistance tools that improve driving safety. Thevideo streaming captured using a camera which is installed infront of the vehicle as the input system will detected the line byusing the Arranging Coordinate Point Algorithm. The systemwill provide the correction value of the vehicle distance from thecenter of the road and guide the driver to stay on the track.Based on the experiment result, the system could detect astraight and curved line. The line is well detected by the systemin good condition such as less of noise of the road, good weather,and clear lane line. The system has a computational process0.0625 fps with average error calculation of position from thecenter of the road is 0.0992 m and standard deviation is 0.62448m

H∞ Control of Polynomial Fuzzy Systems: a Sum of Squares Approach

This paper proposes the control design ofa nonlinear polynomial fuzzy system with H∞ performance objective using a sum of squares (SOS) approach. Fuzzy model and controller are represented by a polynomial fuzzy model and controller. The design condition is obtained by using polynomial Lyapunov functions that not only guarantee stability but also satisfy the H∞ performance objective. The design condition is represented in terms of an SOS that can be numerically solved via the SOSTOOLS. A simulation study is presented to show the effectiveness of the SOS-based H∞ control designfor nonlinear polynomial fuzzy systems

Desain dan Implementasi Inverter Satu Fasa 400 Watt dengan Metode Switching High Frequency

This article proposes a design of 400 watt inverter with frequency of 50 Hz at voltage of 12 Vdc input and 220 Vac output. This inverter is designed to convert the Direct Current (DC) into Alternating Current (AC) voltage with the purpose to utilize DC electricity generated by renewable energy. Hence, the energy can be employed as the replacement of the commercial electricity. In this research, the inverter is designed with the use of Switching High Frequency (SHF) method as the amplifier system applied for step up input voltage. Besides, the proposed inverter also utilizes the Sinusoidal Pulse Width Modulation (SPWM) method as the driver resulting the output signal in the form of pure-sine-wave. Furthermore, the switching system for SHF method in this research employs Arduino nano as the control and EGS002 as the SPWM driver. To obtain the real data, the examination is performed with connecting the inverter directly to the load, e.g., bulb, fan, and solder. Finally, the examination and analysis of the implementation result confirm that the design works well and fulfills the expected specification. Hence, this inverter design can be expected to provide the scientific contribution and applied for renewable energy especially in Indonesia, and generally in the world. Keywords: Arduino, DC-AC Inverter, SHF, Solar Cell, SPW

On the robustness of multivariable algebraic loops with sector nonlinearities

The paper is motivated by multivariable 'anti-windup' schemes. Such schemes are often described in a form that includes a multivariable algebraic loop. Multivariable algebraic loops may be particularly problematic in terms of well-posedness (the existence and uniqueness of the solutions) and robust stability. Conditions for well-posedness of such loops have been analysed previously. Here we extend this analysis to consider robust stability of the algebraic loop with small time-delays. It is shown that sufficient conditions for robustness of the algebraic loop can be directly incorporated into an LMI based static anti-windup controller synthesis. In addition, an alternative implementation of the algebraic loop is shown to have robustness without altering the LMI set up

Embedded Position Control of Permanent Magnet Synchronous Motor Using Model Predictive Control

This paper presents an implementation embedded system for position control of Permanent Magnet Synchronous Motor (PMSM). The control system consists of raspberry pi 3 as a microcontroller, ASDA-A2 servo drive, and Delta Servo ECMA type. The software design includes simulation tool and Python included on Raspbian OS. Communication between Raspberry Pi 3 and ASDA-A2 drivers using the ASCII Modbus communication protocol. Raspberry Pi 3 processes the reference data and the actual reading result and calculates the resulting error. The control algorithm used in this research is Model Predictive Control (MPC). As a Linear Quadratic Regulator, MPC aims to design and generate an optimal control signal with the ability to anticipate saturation, receding horizon, future event and take control accordingly In the design of the MPC technique to adjust the speed of the PMSM to take action of reference tracking, performance index optimization is done by adjusting the value of weighting horizon N, Q and R. The simulation and implementation results showed that the PMSM can reach the stability point on each desired setpoint and result in a near-zero steady-state error

Simple supercapacitor charging scheme of an electric vehicle on small-scale hardware simulator: a prototype development for education purpose

Supercapacitor is one of electrical energy sources that have faster charging-discharging times when compared to other power sources, such as battery and fuel cell. Therefore, it is often used as an additional power source in an electric vehicle. In this paper, a prototype of small-scale electric vehicle simulator (EVS) is built and a simple charging scheme of supercapacitor is used for education purpose. EVS is an electric vehicle prototype which can show the vehicle’s powertrain on small-scale configuration. Main components of this device are two direct current motors (DCMs) with a linked axis of rotation. Therefore one of them will be able to act as a generator. The supercapacitor charging scheme is employed by controlling the relays. The hardware experimental result shows that the averages of charging current are proportional to the maximum slope angle of the road profiles. This scheme is simple due to the EVS utility and it is useful for education purpose

Biomodeling Normal Delivery Process and monitoring at Kala I and II at parturition Simulator

Labor process is complex. Anatomically and physiologically must be monitored during labor process. Normal labor case is higher than labor with medical interventional. In Indonesia, labor process training still used conventional simulation media. The simulation can’t determined about labor process and monitoring during labor process. Thus, model that can simulate of labor process and monitoring during labor process in stage I and II must be provided This research expected to contribute in learning media to simulate normal labor process and monitored during labor process in stage I and II. Biomodeling expected to provide understanding about labor process, stage of labor, and monitoring during labor process. This research conducted with approach method scenario based model for simulate gameplay for normal labor process and monitoring in stage I and II. Based on literature about reproductive system organ and physiological, also must be monitored about physiological change during labor process with partograf  WHO standard and analyze parameter to determined labor process closely with the reality. Beside that, theory of labor process and pushing in contraction also be analyze  to find the basic formula from physic and mathematical concept. From the basic formula, modified basic formula for scenario gameplay simulation of normal labor process and monitoring in stage I and II.The result of this research was produce biomodeling to determine normal labor process, the stage of labor, and physiological monitoring for report that monitored appropriate with WHO partograf standard. This biomodeling expected become learning and training media for midwivery and doctor include student of medical and midwifery. Model that is produce from this research can be develop to abnormal labor process (medical interventional) include labor complication.<br /

Dissipative Controller Design for Networked Control Systems via the Markovian Jump System Approach

This paper describes a dissipative controller design for networked control systems modeled by the Markovian jump system. Dissipativity refers to the existence of a supply rate dealing with the system such that the closed-loop system has a dissipative property. The main result of this paper is a solvability condition in terms of linear matrix inequalities for achieving dissipativity of a dynamic output feedback problem in networked control systems via the Markovian jump system approach. A numerical example is given to show the efficacy of the proposed design