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All Journal Mechatronics, Electrical Power, and Vehicular Technology Jurnal INKOM Jurnal Riset Industri Teknologi Indonesia Ketenagalistrikan dan Energi Terbarukan Jurnal Tata Kelola dan Kerangka Kerja Teknologi Informasi Journal of Robotics and Control (JRC) International Journal of Informatics, Information System and Computer Engineering (INJIISCOM) SEMNASTERA (Seminar Nasional Teknologi dan Riset Terapan)

Estiko Rijanto

Research Centre for Electrical Power & Mechatronics, Indonesian Institute of Sciences, Komp LIPI Jl Cisitu 21/54D, Gd 20, Bandung 40135

Author-ID : 360931

Aerospace Engineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Mechanical Engineering

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DC Brushless Motor Control Design and Preliminary Testing for Independent 4-Wheel Drive Rev-11 Robotic Platform Saputra, Roni Permana; Ardiansyah, Rizqi Andry; Mirdanies, Midriem; Santoso, Arif; Nugraha, Aditya Sukma; Muqorobin, Anwar; Saputra, Hendri Maja; Susanti, Vita; Rijanto, Estiko
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 2, No 2 (2011)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

This paper discusses the design of control system for brushless DC motor using microcontroller ATMega 16 that will be applied to an independent 4-wheel drive Mobile Robot LIPI version 2 (REV-11). The control system consists of two parts which are brushless DC motor control module and supervisory control module that coordinates the desired command to the motor control module. To control the REV-11 platform, supervisory control transmit the reference data of speed and direction of motor to control the speed and direction of each actuator on the platform REV-11. From the test results it is concluded that the designed control system work properly to coordinate and control the speed and direction of motion of the actuator motor REV-11 platform.Â

Accuracy analysis of geometrical and numerical approaches for two degrees of freedom robot manipulator Saputra, Hendri Maja; Mirdanies, Midriem; Rijanto, Estiko
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 7, No 2 (2016)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Analysis of algorithms to determine the accuracy of aiming direction using two inverse kinematic approaches i.e. geometric and numeric has been done. The best method needs to be specified to precisely and accurately control the aiming direction of a two degrees of freedom (TDOF) manipulator. The manipulator degrees of freedom are azimuth (Az) and elevation (El) angles. A program has been made using C language to implement the algorithm. Analysis of the two algorithms was done using statistical approach and circular error probable (CEP). The research proves that accuracy percentage of numerical method is better than geometrical method, those are 98.63% and 98.55%, respectively. Based on the experiment results, the numerical approach is the right algorithm to be applied in the TDOF robot manipulator.

IMU Application in Measurement of Vehicle Position and Orientation for Controlling a Pan-Tilt Mechanism Saputra, Hendri Maja; Abidin, Zainal; Rijanto, Estiko
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 4, No 1 (2013)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

This paper describes a modeling and designing of inertial sensor using Inertial Measurement Unit (IMU) to measure the position and orientation of a vehicle motion. Sensor modeling is used to derive the vehicle attitude models where the sensor is attached while the sensor design is used to obtain the data as the input to control the angles of a pan-tilt mechanism with 2 degrees of freedom. Inertial sensor Phidget Spatial 3/3/3, which is a combination of 3-axis gyroscope, 3-axis accelerometer and 3-axis magnetometer, is used as the research object. Software for reading the sensor was made by using Matlabâ„¢. The result shows that the software can be applied to the sensor in the real-time reading process. The sensor readings should consider several things i.e. (a) sampling time should not be less than 32 ms and (b) deviation ratio between measurement noise (r) and process noise (q) for the parameters of Kalman filter is 1:5 (i.e. r = 0.08 and q = 0.4).

Design of Vibration Absorber using Spring and Rubber for Armored Vehicle 5.56 mm Caliber Rifle Nugraha, Aditya Sukma; Budiwantoro, Bagus; Rijanto, Estiko
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 5, No 2 (2014)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

This paper presents a design of vibration absorber using spring and rubber for 5.56 mm caliber rifle armored vehicle. Such a rifle is used in a Remote-Controlled Weapon System (RCWS) or a turret where it is fixed using a two degree of freedom pan-tilt mechanism. A half car lumped mass dynamic model of armored vehicles was derived. Numerical simulation was conducted using fourth order Runge Kutta method. Various types of vibration absorbers using spring and rubber with different configurations are installed in the elevation element. Vibration effects on horizontal direction, vertical direction and angular deviation of the elevation element was investigated. Three modes of fire were applied i.e. single fire, semi-automatic fire and automatic fire. From simulation results, it was concluded that the parallel configuration of damping rubber type 3, which has stiffness of 980,356.04 (N/m2) and damping coefficient of 107.37 (N.s/m), and Carbon steel spring whose stiffness coefficient is 5.547 x 106 (N/m2) provides the best vibration absorption.Â

Comparison between RLS-GA and RLS-PSO for Li-ion battery SOC and SOH estimation: a simulation study Rozaqi, Latif; Rijanto, Estiko; Kanarachos, Stratis
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 8, No 1 (2017)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

This paper proposes a new method of concurrent SOC and SOH estimation using a combination of recursive least square (RLS) algorithm and particle swarm optimization (PSO). The RLS algorithm is equipped with multiple fixed forgetting factors (MFFF) which are optimized by PSO. The performance of the hybrid RLS-PSO is compared with the similar RLS which is optimized by single objective genetic algorithms (SOGA) as well as multi-objectives genetic algorithm (MOGA). Open circuit voltage (OCV) is treated as a parameter to be estimated at the same timewith internal resistance. Urban Dynamometer Driving Schedule (UDDS) is used as the input data. Simulation results show that the hybrid RLS-PSO algorithm provides little better performance than the hybrid RLS-SOGA algorithm in terms of mean square error (MSE) and a number of iteration. On the other hand, MOGA provides Pareto front containing optimum solutions where a specific solution can be selected to have OCV MSE performance as good as PSO.

Algorithm of 32-bit Data Transmission Among Microcontrollers Through an 8-bit Port Mirdanies, Midriem; Saputra, Hendri Maja; Rijanto, Estiko
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 6, No 2 (2015)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

This paper proposes an algorithm for 32-bit data transmission among microcontrollers through one 8-bit port. This method was motivated by a need to overcome limitations of microcontroller I/O as well as to fulfill the requirement of data transmission which is more than 10 bits. In this paper, the use of an 8-bit port has been optimized for 32-bit data transmission using unsigned long integer, long integer, and float types. Thirty-two bit data is extracted intobinary number, then sent through a series of 8-bit ports by transmitter microcontroller. At receiver microcontroller, the binary data received through 8-bit port is reconverted into 32 bits with the same data type. The algorithm has been implemented and tested using C language in ATMega32A microcontroller. Experiments have been done using two microcontrollers as well as four microcontrollers in the parallel, tree, and series connections. Based on the experiments, it is known that the data transmitted can be accurately received without data loss. Maximum transmission times among two microcontrollers for unsigned long integer, long integer, and float are 630 Î¼s, 1,880 Î¼s, and 7,830 Î¼s, respectively. Maximum transmission times using four microcontrollers in parallel connection are the same as those using two microcontrollers, while in series connection are 1,930 Î¼s for unsigned long integer, 5,640 Î¼s for long integer, and 23,540 Î¼s for float. The maximum transmission times of tree connection is close to those of the parallel connection. These results prove that the algorithm works well.

A Review of Atomic Layer Deposition for Nanoscale Devices Riyanto, Edy; Rijanto, Estiko; Prawara, Budi
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 3, No 2 (2012)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Atomic layer deposition (ALD) is a thin film growth technique that utilizes alternating, self-saturation chemical reactions between gaseous precursors to achieve a deposited nanoscale layers. It has recently become a subject of great interest for ultrathin film deposition in many various applications such as microelectronics, photovoltaic, dynamic random access memory (DRAM), and microelectromechanic system (MEMS). By using ALD, the conformability and extreme uniformity of layers can be achieved in low temperature process. It facilitates to be deposited onto the surface in many variety substrates that have low melting temperature. Eventually it has advantages on the contribution to the wider nanodevices.

Rancang Bangun Sistem Kontrol Mekanisme Pelacakan Matahari Beserta Fasilitas Telekontrol Hemat Energi Mirdanies, Midriem; Ardiansyah, Rizqi Andry; Saputra, Hendri Maja; Nugraha, Aditya Sukma; Rijanto, Estiko; Santoso, Adi
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 2, No 1 (2011)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Solar energy produced by concentrated solar heat collector panels requires tracking mechanisms for a more optimal direction. This paper presents the design and construction of a low energy solar tracking control system with telecontrol facilities. To accelerate the movement of the panel in always adjusting itself to the direction of the sun, a combination of the timer and light sensor was used. In this control system, the reference signal is taken from two pieces of light sensors while the feedback is taken from the position and temperature sensors. The program has been developed using C language and was implemented on the microcontroller ATMega8535 as the brain of the system. Telecontrol facilities for monitoring the data to a computer uses transceiver modules via RS-232 connection. A DC motor having power capacity of 0.74 watts was used and was clutched with 1:7,300 gearbox ratio. Experiments on light sensor characteristics and simulated movement of the panel were carried out. From the light sensor experiment it can be concluded that the sensor produces 0-4 volt output signal when bright 3.3-3.9 volts, when cloudy and 1.5-3.3 volts when sunny. From the simulation of panel movement, it is known that the solar tracking control system moves the panel and tracks the direction of the sun movement.Â

Design and Implementation of Controller for Boost DC-DC Converter Using PI-LPF Based on Small Signal Model Kasbi, Slamet; Rijanto, Estiko; Abd Ghani, Rasli bin
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 6, No 2 (2015)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Boost DC-DC converters are used in many renewable energy sources including photovoltaic and fuel cell. They are also used in Uninterrupted Power Supply, inverters, electric vehicles and robots. In this paper a boost converter was built and its controller was developed using proportional integral (PI) action for current loop and low pass filter (LPF) for voltage loop. The controller was derived analytically based on small signal model. Experiment results show that the boost controller functions well in regulating the output voltage under a variation of load. During the start up without any load it can elevate input voltage from 119.6V to output voltage of 241.6V. The developed controller can regulate the output voltage smoothly under load variation from no load to sudden load of 352W. When a large sudden load change happens from 0W to 1042W the output voltage experiences small drop before it is recovered to 241.6V. It can be concluded that the developed control system satisfies the design specification.

Analysis of Inverse Angle Method for Controlling Two Degree of Freedom Manipulator Saputra, Hendri Maja; Abidin, Zainal; Rijanto, Estiko
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 3, No 1 (2012)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Driver mechanism with two degree of freedom (MP 2-DK) is a robotic device that can be used for various applications such as turret drive system, gutling gun, launcher, radar antennas, and communications satellite antennas. The precision and the speed of a MP 2-DK are determined by its control system. The calculation inverse angle due to interference in six degree of freedom is necessary to control a MP 2 DK. This paper analyses three calculation methods of inverse angle which are iteration method using Jacobian matrix, reduction of matrix equations using positioning geometry, and an analytical derivation using a rotation matrix. The simulation results of the three methods showed that the first and the third methods could visually demonstrate three rotational disturbances, whereas the second method could only demonstrate the pitch and yaw (PY) disturbances. The third method required less processing time than the first and the second methods. The best method based on this research was the method of rotation matrix.

Co-Authors A.A. Ketut Agung Cahyawan W adang badru jaman,anggun fergina, adang badru jaman,anggun fergina Agus Hartanto agus Purwadi Anwar Muqorobin Apriza Muttaqien, Muhamad Arief Syaichu Rohman, Arief Syaichu Arif Santoso Ary Setijadi Prihatmanto Atin, Sufa Bagus Budiwantoro Baskoro, Catur Hilman Adritya Haryo Bhakti Budi Prawara Carmadi Machbub Changgraini, Nelson Darus, Intan Zaurah Mat Diana Effendi Dwiguna Sumitra, Irfan Edwar Yazid Edy Riyanto Hendri Maja Saputra Heryandi, Andri Hidayat, Egi Irawan Afrianto Irmayanti, Hani Jamhari Jamhari Kanarachos, Stratis Kurnia, Yales Midriem Mirdanies Mira Kania Sabariah Muhaimin, Mimin Muhamad Haddin Nanang Ismail Nita Mirantika Nor, Nur Safwati Mohd Pahrurrozi, Ahmad Pamungkas, Tri Dedi Putri Dewintari Rakhmanuddin, Iid Rasli bin Abd Ghani, Rasli bin Ridwan Arief Subekti Ristiana, Rina Rizqi Andry Ardiansyah Roni Permana Saputra Rozaqi, Latif Rozaqi, Latif Sarotama, Afrias Slamet Kasbi, Slamet Sri Nurhayati Sukma Aditya Sumitra, Irfan Dwiguna Vita Susanti Wibowo, Addy Yusup, Ramdhan Maulana Zain, Mohd Zarhamdy Md Zainal Abidin

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