Desain Proportional Integral Derrivative (Pid) Controller Pada Model Arm Robot Manipulator

Dalam rangka menuju proses industrialisasi modern di negara Indonesia, harus didukung dengan teknologi yang canggih, contoh nya adalah arm robot manipulator. sebagai pelaku proses produksi sehingga dihasilkan ketepatan,kepresisian, dan kefektifan pada proses produksi. Dengan hal tersebut dibuat sebuah desain kontrol PID pada arm robot manipulator dengan tujuan menghasilkan tingkat presisi dan kestabilan yang lebih baik. Kontroler tersebut didesain, disimulasikan, dan diaplikasikan pada hardware dengan menggunakan software MATLAB/Simulink, kemudian dianalisa kestabilannya dengan metode root locus. Akrilik digunakan sebagai material pada body arm robot. Selanjutnya komponen utama seperti, potensiometer sebagai analog input, motor DC sebagai penggerak setiap link, serta Arduino Mega 2560 sebagai mikrokontroler. Akrilik dipilih karena ringan, kuat dan tahan lama.Dalam penelitian ini akan dilakukan penyempurnaan konstruksi mekanik arm robot manipulator yang sudah ada, pemasangan hardware elektronik, dan pemrograman mikrokontroler dengan menggunakan software MATLAB pada Arduino Toolbox. Dari penelitian yang telah dilakukan, model arm robot manipulator dapat bergerak lebih smooth sesuai dengan input pergerakan potensiometer, dan berada posisi kestabilan saat dianalisa dengan menggunakan root locus

Voltage tracing in UDDS drive cycle test.

<p>(a) Battery current and voltage response in UDDS; (b) Voltage tracing of the UDDS test; (c) Voltage tracing error of the UDDS test; (d) Voltage tracing error probability distribution of the UDDS test.</p

EIS test conditions.

<p>EIS test conditions.</p

ECM based on the EIS response of the lithium-ion battery with 2855 mAh capacity and 60% SOC.

<p>ECM based on the EIS response of the lithium-ion battery with 2855 mAh capacity and 60% SOC.</p

EIS curves of lithium-ion batteries with different SOC and maximum discharge capacities.

<p>EIS curves of lithium-ion batteries with different SOC and maximum discharge capacities.</p

Flow chart of parameter identification.

<p>Flow chart of parameter identification.</p

Voltage step response test.

<p>(a) Battery voltage and current response; (b) Tracing voltage and tracing error; (c) Voltage tracing error probability.</p

Measurement and Correlation for Solubilities of Adipic Acid in Acetic Acid + ε‑Caprolactone Mixtures and Cyclohexanone + ε‑Caprolactone Mixtures

The solubilities of adipic acid in acetic acid + ε-caprolactone mixtures and in cyclohexanone + ε-caprolactone mixtures were measured by using the method of dynamic laser under atmospheric pressure. The experimental temperature ranged from 305.55 to 343.15 K, and the mass fraction of ε-caprolactone in the solvent mixtures ranged from 0.100 to 1.000, respectively. It was found that with the increasing of mass fraction of ε-caprolactone in solvent mixtures (0.100 to 1.000), the measured solubilities of adipic acid in acetic acid + ε-caprolactone mixtures decreased at the same temperature. However, in cyclohexanone + ε-caprolactone mixtures, the solubility showed an opposite trend with the increasing of mass fraction of ε-caprolactone in solvent mixtures. The experimental data were correlated by the modified NRTL activity coefficient model, and the values of the solubility calculated showed good agreement with the experimental observations

Measurement and Correlation for Solubilities of Adipic Acid, Glutaric Acid and Succinic Acid in Acetic Acid + Cyclohexanone Mixtures

Under atmospheric pressure, the solubilities of adipic acid, glutaric acid, and succinic acid in acetic acid + cyclohexanone mixtures were measured respectively by using the laser dynamic method in which the temperature ranged from 298.55 to 340.85 K and the mass fraction of cyclohexanone in the binary solvent mixtures ranged from 0.0 to 1.0. The results showed that the solubilities of adipic acid, glutaric acid, and succinic acid in acetic acid + cyclohexanone solvent mixtures all increased with decreasing of the mass fraction of cyclohexanone in the solvent mixtures at the constant temperature, and with the gradually increasing of temperature the measured solubilities of adipic acid, glutaric acid and succinic acid in acetic acid + cyclohexanone solvent mixtures would increase at the constant proportion solvent mixtures. The λ<i>h</i> equation and the nonrandom two liquid (NRTL) activity coefficient model were used to correlate the experimental solubilities, and the average relative deviation was lesser than 2% respectively. It was found that the solubilities calculated by these models showed a good agreement with the experimental observations. In addition, the λ<i>h</i> equation with a small number of adjustable parameters is very suitable for engineers so that they could use directly. Compared with the λ<i>h</i> equation, the NRTL equation has a wider range of applications due to the stronger theory

Aggregated Silver Nanoparticles Based Surface-Enhanced Raman Scattering Enzyme-Linked Immunosorbent Assay for Ultrasensitive Detection of Protein Biomarkers and Small Molecules

Lowering the detection limit is critical to the design of bioassays required for medical diagnostics, environmental monitoring, and food safety regulations. The current sensitivity of standard color-based analyte detection limits the further use of enzyme-linked immunosorbent assays (ELISAs) in research and clinical diagnoses. Here, we demonstrate a novel method that uses the Raman signal as the signal-generating system of an ELISA and combines surface-enhanced Raman scattering (SERS) with silver nanoparticles aggregation for ultrasensitive analyte detection. The enzyme label of the ELISA controls the dissolution of Raman reporter-labeled silver nanoparticles through hydrogen peroxide and generates a strong Raman signal when the analyte is present. Using this assay, prostate-specific antigen (PSA) and the adrenal stimulant ractopamine (Rac) were detected in whole serum and urine at the ultralow concentrations of 10^–9 and 10^–6 ng/mL, respectively. The methodology proposed here could potentially be applied to other molecules detection as well as PSA and Rac