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23rd International Conference on Control, Automation and systems, ICCAS 2023

作者： Utsula, Bizza S. Ashedananta, Muhammad D. Azis, Nadana A. Nazaruddin, Yul Y. Nadhira, Vebi Institut Teknologi Bandung Faculty of Industrial Technology Department of Engineering Physics Bandung40132 Indonesia Institut Teknologi Bandung Engineering Physics Doctoral Program Faculty of Industrial Technology Bandung40132 Indonesia Instrumentation and Control Research Group Institut Teknologi Bandung Faculty of Industrial Technology Bandung40132 Indonesia

ISBN: (纸本)9788993215274

The increasing number of autonomous vehicles will result in a safety factor that must be maintained. One of the crucial prerequisites for this is proper localization, especially at intersections where most road accidents occur each year. This research is proposed to improve the localization process, which has drawbacks such as the inaccurate Global Positioning system (GPS) when satellite signals are blocked, and Light Detection and Ranging (LiDAR), which is expensive and needs heavy computing time. This is done by implementing the High Definition Map (HD Map) method, which maps the condition of an area that is stored as memory on an autonomous vehicle computer. The proposed system uses a monocular camera to be processed into a semantic segmentation feature map at the pixel level, then uses point cloud to reconstruct a 3D intersection model, which is then segmented semantically as well so that position data is obtained after merging using the occupancy grid and scoring function. The results of this CNN-based approach localization produce less accuracy and Mean Intersection over Union (MIoU) values with 60% average accuracy and 62.3 MioU when compared to GPS data and other 3D semantic segmentation systems, but the proposed approach can save costs and computational burden. © 2023 ICROS.

关键词： Autonomous vehicles

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Time Optimization Analysis Using Hybrid Simulated Annealing and Genetics Algorithm for CNC Punching Machine 2

Time Optimization Analysis Using Hybrid Simulated Annealing ...

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2nd International Conference on Mechanical, Electronics, Computer, and industrial technology, MECnIT 2018

作者： Selvi, Lukman Joelianto, Endra Leksono, Edi Master Program of Engineering Physics Faculty of Industrial Technology Institut Teknologi Bandung Jl. Ganesha No.10 Bandung Indonesia Instrumentation and Control Research Group Faculty of Industrial Technology Institut Teknologi Bandung Jl. Ganesha No.10 Bandung Indonesia Engineering Physics Research Group Faculty of Industrial Technology Institut Teknologi Bandung Jl. Ganesha No.10 Bandung Indonesia

This research describes the method of manufacturing process planning of hole manufacturing, which in every machining process consists of several individual operations with various types of punching blades. The process of setting the trajectory is one of the problems of holes manufacturing process because this process takes a long machining time and often it obtains undirected sequence path that sometimes causes stress material and the damaged of punching blades. The aim of optimization process is to minimize the processing time of holes manufacturing so the time function which is obtained can be converted in the form of energy consumption that helps manufacturers to predict the machining time. Dynamic Directed Graph is applied where each node represents a machining operation. The time function is obtained by studying the shortest path of a directed graph where the structure of objectivity studied is similar to the Traveling Salesman Problem (TSP). The mathematical model is used to solve the hole optimization problem of the graph structure by proposing the combination of both to solve the optimization problem. The Algorithm realization will be applied in real time CAD / CAM programming by using TOPS300 which is used for TRUMPF TC200 Punching Machine. There are 2 kinds of blade operations in this research which are single stroke operation and multi strokes operation. Both produce different time function. By a. Finally, some conclusions are given from examples that show the hybrid algorithm of Simulated Annealing and Genetic Algorithms is effective in reaching higher optimization performance and less energy consumption, which 26.02 seconds for single stroke operation and 126.02 seconds for multi strokes operation with the acquisition of logical path results with the absence of intersecting trajectories. © 2019 Published under licence by IOP Publishing Ltd.

关键词： Directed graphs

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DDPG-Based PID Optimal Controller for Position and Sway Angle of RTGC 23

DDPG-Based PID Optimal Controller for Position and Sway Angl...

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23rd International Conference on Control, Automation and systems, ICCAS 2023

作者： Bandong, Steven Nazaruddin, Yul Y. Joelianto, Endra Institut Teknologi Bandung Engineering Physics Doctoral Program Faculty of Industrial Technology Bandung40132 Indonesia Instrumentation and Control Research Group Faculty of Industrial Technology Bandung40132 Indonesia

ISBN: (纸本)9788993215274

Increasing global trade requires fast and accurate container transfers by minimizing positional errors and swing angles on the Rubber Tyred Gantry Crane (RTGC) at the container yard causing that the optimization of the controller is a necessity. Currently developing artificial intelligence, namely reinforcement learning based Deep Deterministic Policy Gradient (DDPG) approach, can provide continuous action or output that can be used for controller optimization problems. DDPG can learn from its interactions with the environment, allowing it to identify the best optimal parameter region. This paper proposes DDPG as an PID controller optimizer for position and swing angle of RTGC tested on six episode variations and a trajectory reference. The results garnered from this proposed methodology reveal that the optimal PID parameters perform well across a spectrum of reference trajectories, as well as under varying system parameters such as container masses and rope lengths, as demonstrated by metrics like position and swing angle error, rise time, settling time, and overshoot. © 2023 ICROS.

关键词： Containers

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Design of Brain-computer interface platform for semi real-time commanding electrical wheelchair simulator movement

Design of Brain-computer interface platform for semi real-ti...

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2013 3rd International Conference on Instrumentation, Control and Automation, ICA 2013

作者： Kaysa, W Affan Suprijanto, S. Widyotriatmo, Augie Engineering Physics Program Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Instrumentation and Control Research Group Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia

ISBN: (纸本)9781467357982

Brain Computer Interface (BCI) research has developed intensively during past years, especially in the assistive technology development for disabled people, e.g. electric wheelchair. This paper will propose our design of the BCI platform for commanding the electric wheelchair simulator. A wireless EEG device is used because of the need for mobile, comfortable, and user-friendly BCI platform. This paper will cover the design process to build the BCI platform prototype, and evaluation about the result achieved. Our BCI platform consists of Emotiv EPOC wireless EEG, and a computer for EEG acquisition, noise filtering, feature extraction, feature classification, and gives control command to wheelchair simulator that is connected via USB. Power spectral density is used as feature extraction of μ rhythm and artificial neural network with multi layer perceptron is used for classifying the idle and movement condition and for classifying between right hand and left hand movement. The first prototype of our BCI system has an interchangeable classification database that allows drastic modification of the system input, output, user recognition, and even the classification method. © 2013 IEEE.

关键词： Brain computer interface

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Designing ultrasound power measurement system by radiation force method

Designing ultrasound power measurement system by radiation f...

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Proceedings of 42nd Kasetsart University Annual Conference

作者： Chatchawarnkitkul, Jintana Chasawadi, Ake Tagheen, Pochaman Industrial or Metrology Program Faculty of Engineering King Mongkut's Univ. T. Thonburi Physics and Engineering Program Department of Science Service Ministry of Science and Technology

ISBN: (纸本)9745374318

In this research work, a prototype for an ultrasound power measurement using radiation force method has been studied and designed. The total output power from ultrasound transducer can be measured by this method. Using off the shelf equipment in the laboratory a prototype based on Radiation Force Balance (RFB) can be constructed. When the ultrasound wave from an ultrasound transducer propagated through water, it exerted a force proportional to the total ultrasound power to the intercepted reflecting target. The ultrasound power can be measured by this prototype in both continuous and pulse modes. The results obtained have the overall uncertainty of ultrasound power measurement range 0.01 to 0.39 W and 0.40 to 40 W are approximately ±5% and ±2% at 95% confidence level, respectively.

关键词： Ultrasonics

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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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NONDESTRUCTIVE TEST FOR QUALITY CONTROL IN LABORATORY-SCALE FABRICATION OF LAMINATED COMPOSITES USING programMABLE PORTABLE ULTRASONIC

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International Journal of Lightweight Materials and Manufacture 2025年

作者： Yusuf Giri Wijaya Suprijanto Damar Rastri Adhika Rhakamerta Hijazi Abian Nurrohmad Magister Program of Instrumentation and Control Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Research Center for Aeronautics Technology National Research and Innovation Agency Bogor Indonesia Instrumentation Control and Automation Research Group Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Nano and Quantum Technology Research Group Engineering Physics Faculty of Industrial Technology Institut Teknologi Bandung Indonesia Research Center for Nanosciences and Nanotechnology Institut Teknologi Bandung Indonesia Research Center for Nuclear Beam Analysis Technology National Research and Innovation Agency Tangerang Indonesia

Laminated composites are the most frequently used component materials in manufacturing unmanned aerial vehicles (UAVs) in research centers or start-up industries. On a laboratory scale, laminated composites are fabricated by relying on technicians' skills due to the involvement of manual processes. Nondestructive testing (NDT) is needed to guarantee the structural integrity of the final product of laminated composites. The work proposes a programmable portable ultrasonic for nondestructive testing (NDT) to detect a potential defect due to foreign object contamination of fabrication layers of laminate composite. The proposed programmable NDT system is built using open-board devices; therefore, it could be developed cost-effectively compared to a commercial NDT system. The proposed NDT can measure and analyze a pattern of A-scan signal as a function of foreign object contamination material. Based on a C-scan image, the proposed NDT system could also be programmed to detect the size area of potential defects due to foreign object contamination. Two types of specimens, carbon fiber-reinforced polymer (CFRP) and glass fiber-reinforced polymer (GFRP), were tested to evaluate the performance of the developed NDT system. Testing aims to identify artificial defects intentionally placed within these specimens. The proposed portable ultrasonic NDT effectively detects CFRP and GFRP defects on A-mode and C-scan images. Therefore, the proposed portable ultrasonic NDT is an affordable system that can be developed in a laboratory workshop for quality control in laboratory-scale fabrication of laminated composites.

关键词： Laminated composite laboratory-scale fabrication quality control portable ultrasonic NDT A-scan C-scan

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Constrained and Unconstrained Nonlinear Control of Rubber Tyred Gantry Crane (RTGC) with DC Motor Using Sliding Mode Controller 23

Constrained and Unconstrained Nonlinear Control of Rubber Ty...

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23rd International Conference on Control, Automation and systems, ICCAS 2023

作者： Napitupulu, Cristian Mp Bandong, Steven Nazaruddin, Yul Yunazwin Siregar, Parsaulian I. Institut Teknologi Bandung Faculty of Industrial Technology Department of Engineering Physics Bandung40132 Indonesia Institut Teknologi Bandung Engineering Physics Doctoral Program Faculty of Industrial Technology Bandung40132 Indonesia Institut Teknologi Bandung Instrumentation and Control Research Group Department of Engineering Physics Bandung40132 Indonesia

ISBN: (纸本)9788993215274

The increasing exchange of goods between countries and continents necessitates efficient transportation facilities, with cargo seaports playing a vital role. Within each cargo seaport, the Rubber Tyred Gantry Crane (RTGC) stands out as crucial heavy equipment that requires automation to manage heavy cargo traffic and eliminate bottlenecks. While linear control methods are commonly employed to address this challenge, the inherent nonlinear behavior of the system must be considered. This paper focuses on designing a nonlinear control method, specifically the Sliding Mode Controller (SMC), to create an effective MIMO controller for managing the position, cable length, and sway of the gantry crane system. Two DC motors serve as actuators for controlling the trolley position and cable length, which hoists the container. The nonlinear gantry crane model, integrated with the nonlinear DC motor model, is elaborately derived. Subsequently, the designed non-linear SMC control law and sliding surface are simulated to assess control performance. Acknowledging the limitation of the power source and DC motor specifications, the paper also explores control performance when the voltage to control R TGC is constrained within a specified range. The results demonstrate that the proposed method yields excellent control performance for both constrained and unconstrained control outputs. © 2023 ICROS.

关键词： Sliding mode control

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Gelatine-Based Phantom for Simulating A-Line Reverberations in Lung Ultrasonogram 8

Gelatine-Based Phantom for Simulating A-Line Reverberations ...

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8th International Conference on Instrumentation, Control, and Automation, ICA 2023

作者： Nabila, Citra Alfa Bahri, Saeful Adhika, Damar Rastri Suprijanto, Suprijanto Institut Teknologi Bandung Master Program of Instrumentation and Control Faculty of Industrial Technology Bandung Indonesia Institut Teknologi Bandung Doctoral Program of Engineering Physics Faculty of Industrial Technology Bandung Indonesia Institut Teknologi Bandung Advanced Functional Material Research Group Faculty of Industrial Technology Research Center of Nanosciences and Nanotechnology Bandung Indonesia Institute Teknologi Bandung Instrumentation and Control Research Group Faculty of Industrial Technology Bandung Indonesia

ISBN: (纸本)9798350301274

To understand typical features that could be imaged using ultrasonography (USG) in the training phases of medical students or practitioners, a lung phantom is required. The research team suggests using a gelatine-based phantom to demonstrate A-line reverberations in lung ultrasound. The ordinary gelatine-based phantom has the disadvantage of being too fragile and prone to breaking. The specific process was attempted on gelatine with a plasticizer and carrier agent to increase the gelatine's strength and elasticity. To simulate the A-lines, two different textures of gelatine layers are used, with other processes in between. A special procedure was used to set off the various acoustic impedances affecting reverberation physics with those varied textures. Based on USG image analysis, the proposed lung phantom material has some advantages: it is inexpensive and easy to find, despite its complicated procedures. Furthermore, it could be processed to have the desired properties and recycled after hardening with water bath melting. © 2023 IEEE.

关键词： Textures

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Measurement analysis of the level of household preparedness for facing landslide in Bogor regency 2

Measurement analysis of the level of household preparedness ...

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2nd International Conference on Disaster and Management 2020, ICDM 2020

作者： Saputra, P.D. Rahmawati, C. Purnomo, K.S.H. Larosa, E. Nurhasanah Military Building Construction Engineering Study Program Faculty of Military Engineering Indonesia Defense University Bogor Indonesia Industrial Engineering Department Faculty of Industrial Technology Universitas Dirgantara Marsekal Suryadarma Jakarta Indonesia Master of Management Program Universitas Teknologi Yogyakarta Yogyakarta Indonesia Mechanical Engineering Education Faculty of Teacher Training and Education Universitas Negeri Yogyakarta Yogyakarta Indonesia Civil Engineering Study Program School of Engineering and Technology Tanri Abeng University Jakarta Indonesia

There are so many areas in Indonesia that are prone to landslides. Bogor is the regency with the most frequent landslides. Therefore, high community preparedness is needed to deal with the landslide, especially at the household level because it is the spearhead of preparedness and influence disaster risk. The objective of this research is to measure and analyze the level of household preparedness for facing landslide. The location of this research is in Cibadak Village, Bogor regency where a landslide disaster had happened. This is a quantitative research. The number of the samples were 100 household. Data collection was done by surveying samples and distributing questionnaires. The data would be analyzed with descriptive analysis, and the results of level of household preparedness would be categorized to five levels which were very prepared (80-100), prepared (65-79), almost prepared (55-64), less prepared (40-54), and not prepared (0-39). The results of the research are the average index value of Knowledge and Attitude (KA) parameter is 66.77, Emergency Planning (EP) parameter is 52.24, Warning system (WS) parameter is 64.80, Resources Mobilization Capacity (RMC) parameter is 51.25 and the level of household preparedness for facing landslide is 59.26 or and it is significant at the almost prepared level. © Published under licence by IOP Publishing Ltd.

关键词： Landslides

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