3D Platform Simulator Design Using Discrete Multi-Piston Actuators

Generally, 3D simulator uses continuous feedback control system to control their actuator states. The objective of this article is to control the movement of actuators in compliance with 3D position required by simulator. This research uses discrete actuator for 3D simulator with four actuators that is open-loop controlled using Neuro-fuzzy control system. The actuator possesses linear pneumatic actuator with three pistons inside where each piston has independent intake. With the proposed design, the actuator able to give degree of discrete not only two (binary) values but also 26 combinations of discrete values. The 3D simulator proposed in this research have four actuators and two passives like-actuator. This configuration gives 4 degrees of freedom of platform movement. Applying force to the actuator using discrete output controller make possible to get more precise in terms of control and movement of the simulator that very useful for many force control applications

Perancangan Reaction Wheel Inverted Pendulum Sebagai Alat Peraga Sistem Kontrol Berbasis Sistem Kontrol PID

Sebuah sistem kontrol akan lebih mudah dipahami apabila tersedia alat peraga yang dapat digunakan sebagai media pembelajarannya. Reaction wheel inverted pendulum adalah suatu alat yang under-actuation sehingga keberadaan kontroler mutlak dibutuhkan. Ini akan sangat menarik bila digunakan sebagai alat peraga sebuah sistem kontrol. Salah satu aplikasi dari reaction wheel inverted pendulum ini adalah untuk sistem kesimbangan robot humanoid. Dalam perancangan ini dilakukan perancangan fisik alat peraga dan perancangan kontrolernya. Perancangan dimulai dari merancang mekanik alat peraga terlebih dahulu, mulai dari dimensi dan bentuk alat sampai kebutuhan motor. Selanjutnya didesain kontroler yang dapat menyeimbangkan alat secara otomatis. Kontroler yang digunakan berbasis Arduino. Dari hasil pengujian didapatkan bahwa alat peraga reaction wheel inverted pendulum ini dapat berfungsi dengan cukup baik meskipun ada sedikit kekurangannya

3D Platform Simulator Design Using Discrete Multi-Piston Actuators

Generally, 3D simulator uses continuous feedback control system to control their actuator states. The objective of this article is to control the movement of actuators in compliance with 3D position required by simulator. This research uses discrete actuator for 3D simulator with four actuators that is open-loop controlled using Neuro-fuzzy control system. The actuator possesses linear pneumatic actuator with three pistons inside where each piston has independent intake. With the proposed design, the actuator able to give degree of discrete not only two (binary) values but also 26 combinations of discrete values. The 3D simulator proposed in this research have four actuators and two passives like-actuator. This configuration gives 4 degrees of freedom of platform movement. Applying force to the actuator using discrete output controller make possible to get more precise in terms of control and movement of the simulator that very useful for many force control applications

Rekayasa Mutu Besi Beton Dengan Metode Taguchi

In attempt to increase the quality of SR-24-type iron rods several constraints are often faced. One of the problems is the high variability of yield strength quality characteristic. A research of influential factors and ideal composition of materials that can minimize quality variability is needed. To solve the above problem Taguchi method is used in designing the experiment. The superiority of this method is the ability to minimize variability of response and the efficiency of experiment. First steps that is taken is choosing control and noise factors and determining the levels. Then, the orthogonal matrix for experiment is built. Data analysis are done by optimizing signal-to-noise ratio, analysis of means, and analysis of variance. Result of analysis of SNR and mean give a conclusion that Carbon content of 0.1 %, Silicon content of 0.15 %, and Mangan content of 0.5 % are sufficient composition of additive material that will minimize variability level of yield strength

Perancangan Mesin Pengikat Sendok Beserta Lengan Pengambil Sendok Tiga Axis Di PT. X

Dewasa ini kebutuhan produksi pada suatu produk industri semakin hari semakin meningkat. Hal ini disebabkan karena kebutuhan konsumen akan suatu produk semakin meningkat juga. Salah satu dari kebutuhan proses produksi adalah proses pengemasan. Sebagai contoh kasus pengikatan tumpukan sendok di PT X. Saat ini PT X menerapkan pengikatan sendok secara manual tenaga manusia. Sehingga proses produksi kurang maksimal. Untuk itu perlu diadakan proses otomasi pengikatan tumpukan sendok di PT X. Proses otomasi dilakukan dengan menggabungkan beberapa mekanisme. Proses otomasi berjalan dengan mengambil tumpukan sendok selanjutnya membawa ke mesin pengikat. Untuk mesin pengikat digunakan mekanisme full pneumatik yang terkoneksi dengan PLC. Untuk lengan pengambil tumpukan sendok digunakan mekanisme dari motor stepper dan pneumatik. Pengikatan terjadi dua kali dalam satu proses. Yaitu menggunakan dua mesin pengikat dan dua lengan pengambil. Dengan adanya mesin tersebut diharapkan kualitas proses produksi di PT X meningkat

Pemodelan Torque Vectoring Sebagai Upaya Untuk Meningkatkan Stabilitas Pengendalian Mobil Listrik

Produsen otomotif saat ini sedang gencar-gencarnya melakukan pengembangan mobil listrik. Selain karena mobil listrik lebih mudah untuk diarahkan kepada penggunaan energi yang lebih ramah lingkungan, mobil listrik juga lebih fleksibel di dalam penerapan teknologi kontrol yang lebih mutakhir. Saat ini salah satu sistem kontrol yang tersedia dan dikembangkan pada mobil listrik adalah Torque Vectoring. Pada penelitian ini dilakukan pengembangan algoritma sistem Torque Vectoring beserta sistem kontrolnya melalui pemodelan dan simulasi MATLAB-Simulink. Metode kontrol yang digunakan adalah kontroler PID. Variabel yang diukur untuk melihat keefektivitas sistem Torque Vectoring adalah yaw rate, sudut kemudi, sudut sideslip, traksi pada setiap ban, percepatan longitudinal dan lateral, kecepat���an longitudinal, slip longitudinal di setiap ban, dan torsi output di setiap roda. Dari peneliti�an ini dapat disimpulkan bahwa algoritma sistem Torque Vectoring yang dikembangkan mampu meningkatkan stabilitas pengendalian mobil listrik. Sistem Torque Vectoring tersebut mampu beroperasi pada berbagai kondisi jalan dan manuver mobil, sehingga mobil dengan sistem Torque Vectoring lebih dapat dikendalikan dan stabil jika dibandingkan dengan mobil tanpa sistem Torque Vectoring

Applications of Artificial Intelligence Control for Parallel Discrete-Manipulators

Parallel Discrete-Manipulators are a special kind of force regulated manipulators which can undergo continuous motions despite being commanded through a large but finite number of states only. Real-time control of such systems requires very fast and efficient methods for solving their inverse static analysis. In this paper, artificial intelligence techniques (AI) are investigated for addressing the inverse static analysis of a planar parallel array featuring ten three-state force actuators and two applications using 3D Massively Parallel Robots (MPRs) with one and two layers. In particular, the research method used simulation software and hardware testing with the case of parallel manipulator with two level discrete pneumatic actuators. Simulations with typical desired displacement inputs are presented and a good performance of the results compared to AI is obtained. The comparison showed that the parallel manipulator has the Root Mean Squared Error (RMSE) has less than 10% and can be used for controlling the ternary states of discrete manipulators via AI

Regression Equations to Determine the Stages of Electric Current in Electrical Discharge Machining (EDM) According to the Level of Desired Surface Roughness with Shortest Processing Time

Electrical Discharge Machining (EDM) is one of the most common non-conventional machining processes used in the manufacturing of die and mold. In the process of EDM, practitioners usually face a problem, which is how to shorten process time and determine the point where the current should be changed so that the resulted surface roughness is not too high due to the use of large current at the beginning of the process. The purpose of this study is to determine the point when to change (reduce) the current in order to obtain the desired surface roughness and shortest processing time. From analysis of data, experiment was obtained some regression equations, those are: average surface roughness (Ra = 5424 + 0.698 I) which is used to find the final current to obtain the desired final surface roughness, peaks to valleys average roughness (Rz = 5.73 + 3.418 I) which is used to find the changing point for initial current and duration of processing time (t =103.164 + 0.4714 I) which is used to estimate the duration of processing time with the input of initial and final currents