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Information technology International Seminar (ITIS)

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

ISBN: (数字)9798331521295

ISBN: (纸本)9798331521301

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.

关键词： Meters Seminars Accuracy Trajectory tracking Navigation Estimation Control systems Planning Reliability Quadrotors

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Morphology and electron circulation of ZTO (Zinc Tin Oxide) on SLG for CZTS thin film solar cell 20

Morphology and electron circulation of ZTO (Zinc Tin Oxide) ...

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20th IEEE Student Conference on Research and Development, SCOReD 2022

作者： Xian, Kang Jian Abdullah, Huda Yuliarto, Brian Akhtaruzzaman, Md Dzarfan Othman, Mohd Hafiz Fen, Yap Wing Mohamad, Md Fauzi Universiti Kebangsaan Malaysia Faculty of Engineering and Built Environment Dept of Electric Electronic and System Engineering Selangor Bangi43600 Malaysia Institut Teknologi Bandung Faculty of Industrial Technology Engineering Physics Department Bandung40132 Indonesia Universiti Kebangsaan Malaysia Selangor Bangi43600 Malaysia School of Chemical and Energy Engineering Universiti Teknologi Malaysia Johor Johor Bahru81310 Malaysia Universiti Putra Malaysia Faculty of Science Department of Physics Selangor Serdang43400 Malaysia Universiti Tun Hussein Onn Malaysia Faculty of Technology Management and Business Batu Pahat Johor Parit Raja86400 Malaysia

ISBN: (数字)9781665474887

ISBN: (纸本)9781665474887

Among the 3rd generation of photovoltaics (PVs), Cu2ZnSnS4 (CZTS), having the kesterite structure, was one of the most promising absorber layer candidates for low-cost thin-film solar cells. Also, it was composed of earth affluent and non-Toxic elements, promising price reductions in prospect compared to CIGS solar cell. However, the common buffer layer for CZTS is Cadmium Sulphate (CdS). The CdS could be replace by a better material, Zinc Tin Oxide. On the other hand, ZnSnO3(ZTO) with several advantages, and the high field-effect electron mobility of ZTO with as high as 20-50 cm2/V s. The master plan was scrutinized opportunity to supersede the default CZTS buffer layer Cadmium Sulphate with Zinc Tin Oxide. In this research, the ZTO layer was deposited on top of the soda-lime glass (SLG). The Zinc Tin Oxide was deposited on top SLG through solution process method. The deposition was tested to show ZTO behavior changes on these layers. Morphological show more tin doped results in bigger grain size. The direct optical band gap of ZTO was calculated to be 2.7-3.02 *** Zn0.867Sn0.133OCδ shows conductivity of 26μA at 2V.) © 2022 IEEE.

关键词： Tin oxides

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Visual Localization of Intersections on Autonomous Vehicles Based on HD Map

Visual Localization of Intersections on Autonomous Vehicles ...

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International Conference on Control, Automation and systems ( ICCAS)

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

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.

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A New Damage Index for Structural Health Monitoring: A Comparison of Time and Frequency Domains

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Procedia Computer Science 2021年 179卷 930-935页

作者： Fergyanto E. Gunawan Tran Huu Nhan Muhammad Asrol Yasuhiro Kanto Insannul Kamil Sutikno Industrial Engineering Department BINUS Graduate Program - Master of Industrial Engineering Bina Nusantara University Jakarta Indonesia 11480 Department of Automotive Engineering Faculty of Transportation Engineering Ho Chi Minh City University of Technology Ho Chi Minh City Viet Nam Mechanical Systems Engineering College of Engineering Ibaraki University Ibaraki Japan Department of Industrial Engineering Department Faculty of Engineering Andalas University Padang Indonesia Department of Mechanical Engineering Department Faculty of Engineering Institut Teknologi Sepuluh Nopember Surabaya Indonesia

With the adoption of the damage tolerance design principle, the health monitoring system has become an integral part of the operation of engineering structures. For the system to work, a damage indicator that describes the structural integrity level should be established and monitored. The damage indicator is usually derived from structural responses. Many quantities have been proposed for damage indicator including natural frequency, mode shape, curvature, strain energy, and t-, F-, and z-statistics. In this paper, we propose a new damage indicator in the time and frequency domains derived from the Euler-Bernoulli beam theory. We evaluate the method by using data obtained from a numerical simulation of a cracked beam. The beam deformation is nonlinear due to the contact between the crack faces during vibration. The proposed damage index is estimated in the domains for various observation points on the beam. Besides, the existence of the crack is also predicted by the widely used traditional method based on the change of the natural frequency and mode shape. A comparison is made between the present method and the existing ones. We conclude the present proposal is more sensitive to detect the crack.

关键词： Euler-Bernoulli Beam Structural Health Monitoring Damage Indicator Natural Frequency Finite Element Method

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

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

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International Conference on Control, Automation and systems ( ICCAS)

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

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.

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Application of nanocatalyst iron oxide (Fe2O3) to reduce exhaust emissions (CO and HC) 1

Application of nanocatalyst iron oxide (Fe2O3) to reduce exh...

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1st Materials Research Society-Indonesia Conference and Congress 2017, MRS-INA C and C 2017

作者： Puspitasari, P. Yazirin, C. Bachtiar, L.A. Dika, J.W. Zaharis, S.M.S.N.S. Mechanical Engineering Department Engineering Faculty Malang State University Semarang street 5 East-Java-Malang Indonesia Center of Nano Research and Advanced Materials Malang State University Semarang street 5 East-Java-Malang Indonesia Master Program of Mechanical Engineering Engineering Faculty Malang State University Semarang street 5 East-Java-Malang Indonesia Bachelor Program Mechanical Engineering Department Malang State University Semarang street 5 East-Java-Malang Indonesia Industrial Chemical Technology Programme Faculty of Science and Technology Universiti Sains Islam Malaysia Bandar Baru Nilai Negeri Sembilan Nilai71800 Malaysia

Fe2O3 has been the interest of many studies due to its applications in various scientific and industrial fields including in environment, corrosion, soil science, and exhaust emissions. Fe2O3 is a chemical mixture that can be applied as a catalyst to reduce exhaust emissions because it is capable of binding CO and HC contained in motorcycle exhaust gases The growth of motor vehicles results in air pollution and an increase in exhaust emissions consisting of 70.50% CO and 18.34% HC. One effort to reduce exhaust emission levels is by applying a catalytic converter to the exhaust system. This research was an experimental research aiming to investigate the difference in emission level of CO and HC between a motorcycle with and without a catalytic converter. The types of fuel used were RON 88, RON 90, RON 92, and RON 98. The results showed that the application of Fe2O3 as a catalyst could reduce the level of CO significantly in RON 88, i.e. 91.43% CO, and the level of HC in RON 88 and RON 92, i.e. 53.27% and 91.07% HC respectively. © Published under licence by IOP Publishing Ltd.

关键词： Catalytic converters

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

Constrained and Unconstrained Nonlinear Control of Rubber Ty...

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International Conference on Control, Automation and systems ( ICCAS)

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

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.

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A Comparative Study of SnO2 Deposition Using Spray and Spin-Coating Technique for Electron Transport Layer of Inorganic Perovskite Solar Cells

A Comparative Study of SnO2 Deposition Using Spray and Spin-...

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International Conference on Radar, Antenna, Microwave, Electronics, and Telecommunications (ICRAMET)

作者： Almas Shafwan Wilman Septina Natalita Maulani Nursam Xorell Ivanov Monov Prima Fitri Rusliani Shobih Adhi Kusumadjati Nunik Nurhayati Lia Yuliantini Physics Study Program Republic of Indonesia Defense University Bogor Indonesia Research Centre for Electronics National Research and Innovation Agency Republic of Indonesia Bandung Indonesia Master of Engineering Physics Faculty of Industrial Engineering Bandung Institute of Technology Bandung Indonesia

ISBN: (数字)9798350389920

ISBN: (纸本)9798350389937

Organic-inorganic halide perovskites have become notable for their efficiency in light harvesting. Nonetheless, the incorporation of organic cations like $\mathbf{M A}^{+}$and $\mathrm{FA}^{+}$presents stability challenges when exposed to environmental factors. This study explores the potential of replacing organic components with inorganic $\mathrm{Cs}^{+}$to enhance stability and efficiency in PSCs, focusing on CsPbBr 3 as the light harvester. We compare spin-coating and spray-coating techniques for depositing SnO 2 as the electron transport layer, revealing that spray-coating 7 cycles achieves higher PCE. Through detailed characterization, including UV-Vis, FTIR, SEM, I-V, and IPCE analyses, we optimized the manufacture of $\mathrm{SnO}_{2}, \mathrm{CsPbBr}_{3}$, and carbon deposition at room temperature, resulting in a PCE of $\mathbf{2. 2 1 \%}$ using the spray-coating process, demonstrating significant improvements over the spin-coating method.

关键词： Microwave antennas Vibrations Photovoltaic cells Radar Radar antennas Perovskites Stability analysis Telecommunications Thermal stability Electrons

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Optimal RTGC Non-linear Control system Based on Sliding Mode Controller

Optimal RTGC Non-linear Control System Based on Sliding Mode...

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SICE International Symposium on Control systems (ISCS)

作者： Steven Bandong Cristian MP Napitupulu Yul Yunazwin Nazaruddin Engineering Physics Doctoral Program Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Engineering Physics Program Faculty of Industrial Technology Institut Teknologi Bandung Bandung Indonesia Department of Engineering Physics Instrumentation and Control Research Group Institut Teknologi Bandung Bandung Indonesia National Center for Sustainable Transportation Technology Institut Teknologi Bandung Bandung Indonesia

The high traffic of containers between countries and continents demands the implementation of automation at cargo seaports. Rubber Tyred Gantry Crane (RTGC) is one of the main components for loading and unloading at container yards which needs to move the container accurately to the desired position and minimize the sway during this process. This paper attempts to examine non-linear control using the sliding mode controller (SMC) method for MIMO control problems in RTGC. The control objective is to reduce the swing angle and move the container to the desired position and height by means of the force of two motors on RTGC. The detailed derivation of the nonlinear RTGC model, the design of SMC and its sliding surface are introduced in this paper. In order to optimize the performance of the SMC control action, the Particle Swarm Optimization (PSO) and Grid search methods are employed in the investigation. The obtained results demonstrate that the SMC exhibits satisfactory control performance and effectively reduces chattering across various initial conditions and system parameters.

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Gelatine-Based Phantom For Simulating A-Line Reverberations in Lung Ultrasonogram

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

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International Conference on Instrumentation Control and Automation (ICA)

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

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.

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