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2024 International Conference on Electrical and Information technology, IEIT 2024

作者： Pratama, Giga Verian Ekawati, Estiyanti Mukhlish, Faqihza Industrial Automation Engineering Politeknik Negeri Bandung Bandung Indonesia Institut Teknologi Bandung Faculty of Industrial Technology Center for Instrumentation Technology and Automation Bandung Indonesia

ISBN: (纸本)9798331516888

The study investigates the swarm capabilities of quadrotors, focusing on the cyclic leader-follower (LF) method. Unlike conventional LF, where a leader's failure aborts the entire swarm, cyclic LF replaces a failing leader with a follower. This process continues until one quadrotor remains, ensuring task completion. The system employs ArUco squared fiducial markers (SFM) as guiding media and first-order plus time delay (FOPTD) models for velocity dynamics. Based on this model, each quadrotor's proportional derivative (PD) controller and the cyclic LF swarm configurations are designed and simulated. The simulation results are verified through real-time flight assignment using three quadrotors to trace reference points along an 800 cm route. Its guiding media are 60 SFM ArUco distributed over an 840 × 270 cm area on the ground. The cyclic LF formation is assessed by simulating a fault of the battery during the course. The cyclic LF system with no battery failure completes the assignment in 19.2 seconds, with the root means square of tracing error (RMSTE) of 73.6 cm. In comparison, the system with two battery failures completes in 27 seconds, with the RMSTE of 156.9 cm, 159.3 cm, and 273.7 for the first, the second, and the last leader, respectively. The flight duration and the tracing errors increase due to leader changes and formation adjustments. In all test cases, at least one quadrotor completes the assignment. © 2024 IEEE.

关键词： Flight simulators

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Enhanced Feature Matching in Image Stitching Using ORB for Image-Based Mapping Using UAV 1

Enhanced Feature Matching in Image Stitching Using ORB for I...

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1st engineering and Science International Conference 2024, ESIC 2024

作者： Anoraga, Muhammad Imron Catur Ekawati, Estiyanti Mukhlish, Faqihza Instrumentation and Control Master Program Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Engineering Physics Research Group Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Center for Instrumentation Technology and Automation Institut Teknologi Bandung Bandung Indonesia

Image-based region mapping requires an image-stitching process to produce a complete map while preserving the details of the mapped objects. Image acquisition can be done using UAVs such as drones, and image stitching can be performed using the Oriented FAST and Rotated BRIEF (ORB) techniques. However, this algorithm has a drawback: There are many mismatches during feature matching. In this study, a maximum pixel displacement constraint between images was applied during the feature-matching process. Applying this constraint improved the feature-matching results due to a significant reduction of the mismatch rate from 84.28% to 25.17%. This reduction positively impacted subsequent stages, including map stitching. The mismatch removal process and the acquisition of transformation models during image registration became faster, reducing the processing time from 17m 36.8s to 1m 17.2s. Additionally, there was an improvement in the SSIM metric score, indicating that the stitched image results had a higher similarity to the reference image captured by a digital camera, increasing from 0.8423 to 0.8489. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Software Interference Prevention and SWaP-C Minimization in Cyber-Physical Systems Using Hypervisor technology 5

Software Interference Prevention and SWaP-C Minimization in ...

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5th IEEE International Conference on technology, Informatics, Management, engineering and Environment, TIME-E 2024

作者： Sridadi, Bambang Joelianto, Endra Nazaruddin, Yul Yunazwin Institut Teknologi Bandung Doctoral Program in Engineering Physics Faculty of Industrial Technology Bandung Indonesia Institut Teknologi Bandung Instrumentation Control and Automation Research Group Faculty of Industrial Technology Bandung Indonesia

ISBN: (纸本)9798350364743

Currently, hypervisor technology is an emerging topic of research. Virtualization technology, especially hypervisors and virtual machines (VM), has been widely studied but is still little applied in the cyber-physical systems (CPS) field. A hypervisor, or VM monitor (VMM), is a software program used to run multiple VMs on a single physical machine through space and time partitioning in a real-time operating system. This paper discusses the hypervisor technology to prevent software interference and to minimize size, weight, and power-cost (SWaP-C) in cyber physical systems, as well as, the application of hypervisor technology in the aerospace, automotive and control fields. By partitioning, a hypervisor can increase software safety because application programs with different criticality levels do not affect each other in failure when run in partitioned VMs. © 2024 IEEE.

关键词： Application programs

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A Microservices-Driven Digital Twin Model for Precision Farming in a Controlled Indoor Environment 5

A Microservices-Driven Digital Twin Model for Precision Farm...

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5th IEEE International Conference on technology, Informatics, Management, engineering and Environment, TIME-E 2024

作者： Lubis, Ramot Widyotriatmo, Augie Albert Joelianto, Endra Institut Teknologi Bandung Doctoral Program in Engineering Physics Faculty of Industrial Technology Bandung Indonesia Institut Teknologi Bandung Instrumentation Control and Automation Research Group Faculty of Industrial Technology Bandung Indonesia

ISBN: (纸本)9798350364743

This paper presents a microservices-driven digital twin (DT) model for precision farming in controlled indoor environments, addressing the critical need for scalable, modular, and real-time agricultural systems. As the global demand for food rises, integrating Industry 4.0, IoT, edge, and cloud computing technologies becomes essential to improve farming process. The proposed model enhances scalability, modularity, and real-time decision making through decentralized data processing. A master-agent containerized computing architecture was employed to reduce latency and optimize environmental control. Moreover, the integration of a Kalman filter improved the accuracy of key environmental parameter adjustments. This research explored how this model can be scaled for larger farming operations and addresses challenges in system interoperability and implementation. Future work will expand this research to diverse agricultural settings, real-world validation, and ensuring data privacy and security. This study provides a framework for advancing precision farming through digital twin technology. © 2024 IEEE.

关键词： Kalman filters

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Design and Implementation of Obstacle Detection and Avoidance System for Autonomous Quadrotor 10

Design and Implementation of Obstacle Detection and Avoidanc...

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10th IEEE Information technology International Seminar, ITIS 2024

作者： Ismail, Lutfi Rais Mukhlish, Faqihza Budi, Eko Mursito Institut Teknologi Bandung Engineering Physics Bachelor Program Faculty of Industrial Technology Indonesia Institut Teknologi Bandung Engineering Physics Research Group Center for Instrumentation Technology and Automation Indonesia

ISBN: (纸本)9798331521295

Unmanned aerial vehicles (UAVs) of the quadrotor type are widely used in both civilian and military applications due to their superior maneuverability, lower manufacturing costs, and the absence of crew risk. This has led to an increased demand for control and navigation systems that enable autonomous operation, allowing quadrotors to follow desired flight paths and avoid obstacles. In this study, an obstacle detection and avoidance system for an autonomous quadrotor was designed and implemented. The obstacle detection system can detect obstacles up to 7 meters away with a mean average precision (mAP) of 89.63%. The position estimation system can estimate obstacle positions up to 6 meters on the y-axis and 1.2 meters on the x-axis, with average errors of 0.146 meters and 0.019 meters, respectively. The flight route planning system uses the A∗ algorithm to calculate the shortest path to the target while avoiding obstacles. Based on test results, the quadrotor successfully detects obstacles, estimates their positions, determines the optimal flight route, and follows it with a mean absolute error (MAE) of 0.101 meters, demonstrating reliable autonomous operation. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Resilient Controller Synthesis Against DoS Attacks for Vehicular Platooning in Spatial Domain

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IEEE Transactions on Vehicular technology 2025年第5期74卷 8251-8266页

作者： Gong, Jian Murguia, Carlos Bayuwindra, Anggera Cao, Jinde Nanjing University of Posts and Telecommunications College of Automation and College of Artificial Intelligence Nanjing210023 China Pillar 487372 Singapore Eindhoven University of Technology Department of Mechanical Engineering Netherlands Bandung Institute of Technology School of Electrical Engineering and Informatics Bandung40132 Indonesia Southeast University School of Mathematics Nanjing211189 China Purple Mountain Laboratories Nanjing211111 China

This paper proposes a vehicular platoon control approach under Denial-of-Service (DoS) attacks and external disturbances. DoS attacks increase the service time on the communication network and cause additional transmission delays, which consequently increase the risk of rear-end collisions of vehicles in the platoon. To counter DoS attacks, we propose a resilient control scheme that exploits polytopic overapproximations of the closed-loop dynamics under DoS attacks. This scheme allows synthesizing robust controllers that guarantee tracking of both the desired spacing policy and spatially varying reference velocity under all space-varying DoS attacks within a hard upper bound on the attack duration. In addition, L2 string stability conditions are derived to ensure that external perturbations do not grow as they propagate through the platoon, thus ensuring the string stability. Numerical simulations illustrate the effectiveness of the proposed control method. © 1967-2012 IEEE.

关键词： Denial-of-service attack

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Design of Image-Based Autonomous Landing Instrumentation and Control System for Unmanned Quadrotor Vehicles 10

Design of Image-Based Autonomous Landing Instrumentation and...

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10th IEEE Information technology International Seminar, ITIS 2024

作者： Fauzan, Ihsan M. Mukhlish, Faqihza Prayoga, Aditya Ahmad, Robby Azhari Institut Teknologi Bandung Instrumentation and Control Master Program Faculty of Industrial Technology Indonesia Institut Teknologi Bandung Engineering Physics Research Group Center for Instrumentation Technology and Automation Indonesia PT. Sas Aero Sishan Engineering Department Indonesia

ISBN: (纸本)9798331521295

The study designs an instrumentation and control system for autonomous quadrotor landing using a visual marker as the landing target. For landing process, the marker used as a landing target is an embedded ArUco marker, capable for detection for both long range and close-range detection. Position of the quadrotor relative from the ArUco marker is estimated using Perspective-N-Point pose estimation. The estimation errors compared to actual measurements are under 20 cm, which is less than the distance between ArUco border and its center. To keep camera for facing downward during the flight, the 2 axis inertially stabilization platform (ISP). The designed ISP can maintain the camera orientation even when quadrotor angle has changed. The landing control system is made for two different scenarios. First scenario is for landing with Global Positioning System (GPS) support, and the second scenario is without GPS support. The landing control system in GPS support scenario uses velocity setpoint to control the quadrotor while in without GPS support scenario, control system uses angle-thrust setpoint to control quadrotor. Quadrotor landing control system can attempt landing on top of the ArUco marker in both scenarios. The trajectory Mean Average Error (MAE) of x and y coordinates and radius of the landing process is (0.108, 0.326, 0.359) m for GPS support scenario and (0.301, 0.251, 0.436) m for without GPS support scenario. © 2024 IEEE.

关键词： Global positioning system

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automation System Architecture of pH Neutralization Process in Batik Wastewater Treatment Plant 4

Automation System Architecture of pH Neutralization Process ...

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4th engineering Physics International Conference 2023, EPIC 2023

作者： Diyah, Nazuwatussya Ekawati, E. Pradipta, J. Yulia, E. Master Program of Instrumentation and Control Faculty of Industrial Technology Institut Teknologi Bandung Indonesia Engineering Physics Research Group Faculty of Industrial Technology Institut Teknologi Bandung Indonesia Doctoral Program of Engineering Physics Faculty of Industrial Technology Institut Teknologi Bandung Indonesia Center for Instrumentation Technology and Automation Institut Teknologi Bandung Indonesia

Batik production in home industries needs support wastewater treatment in a limited space. Therefore, a modular-type, lab-scale wastewater treatment plant (WWTP) with a capacity of 87.75 liters and a dimension of 1.5 m × 0.75 m × 1 m has been constructed. The WWTP combines three significant processes: equalization, neutralization, and adsorption. This study focuses on the monitoring systems for the pH neutralization process. The system uses four microprocessors in a Master/Slave architecture and the I2C protocols for data communication between processors. The measuring instruments include pH, temperature, turbidity, and flow rate sensors. The actuators consist of submersible and peristaltic pumps. The operating range of pH, temperature, turbidity, and flow rate sensors are 0-14, 25-81.44℃, 0-3000 NTU, and 6.49-20.84 ml/s respectively. The pumps work in Pulse Width Modulation (PWM) mode with an operating range of 125-225 PWM. All sensors and actuators operate linearly within the operating range with a correlation coefficient of 0.97-1. © 2023 Institute of Physics Publishing. All rights reserved.

关键词： Turbidity

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Cyclic Leader-Follower Quadrotor Formation Control with Squared Fiducial Marker Guides

Cyclic Leader-Follower Quadrotor Formation Control with Squa...

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Electrical and Information technology (IEIT), International Conference on

作者： Giga Verian Pratama Estiyanti Ekawati Faqihza Mukhlish Industrial Automation Engineering Politeknik Negeri Bandung Bandung Indonesia Faculty of Industrial Technology Center for Instrumentation Technology and Automation Institut Teknologi Bandung Bandung Indonesia

ISBN: (数字)9798331516888

ISBN: (纸本)9798331516895

关键词： Simulation Media Fiducial markers Real-time systems Formation control Batteries PD control Root mean square Information technology Quadrotors

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Automating RTGC with PID Control: Utilizing Camera-Based Image Processing and Object Detection

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IFAC-PapersOnLine 2024年第7期58卷 299-304页

作者： Steven Bandong Yul Y. Nazaruddin Augie Widyotriatmo Muhammad R. Miransyahputra Yan Setiaji Engineering Physics Doctoral Program Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Instrumentation Control and Automation Research Group Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia

The high traffic in the container yard requires effective management, and one method to address this is through automation. The Rubber Tyred Gantry Crane (RTGC) plays a crucial role in container yards. Automating the RTGC involves determining the container’s location and sway angle to provide feedback for the control system. The advancements in computer vision technology offer a unique solution to tackle these challenges. This paper proposes image processing as a means to sense the sway angle and MobileNet SSD to detect the container’s location. The proposed method yields accurate measurement results and is integrated with optimized PID-PD for position and sway angle control in RTGC. The effectiveness of the proposed method is demonstrated through successful performance in both simulation and experiments conducted on a laboratory-scale RTGC prototype.

关键词： port automation RTGC control system computer vision optimization camera based sensor

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