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Sistem Kontrol Swarm untuk Flocking Wahana NR-Awak Quadrotor dengan Optimasi Algoritma Genetik Endra Joelianto; Winarendra Satya Rajasa; Agus Samsi
Jurnal Teknologi Informasi dan Ilmu Komputer Vol 8 No 6: Desember 2021
Publisher : Fakultas Ilmu Komputer, Universitas Brawijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25126/jtiik.2021863467

Quadrotor merupakan wahana udara nir-awak jenis lepas landas atau pendaratan vertikal berbentuk silang dan memiliki sebuah rotor pada setiap ujung lengannya dengan kemampuan manuver yang tinggi. Swarm quadrotor yang terdiri dari sekumpulan quadrotor akan menjadi suatu swarm yang baik, sesuai dengan kriteria swarm oleh Reynold yaitu dapat menghindari tumbukan, menyamakan kecepatan, dan pemusatan swarm. Pengontrolan swarm quadrotor memiliki tingkat kerumitan yang tinggi karena melibatkan banyak agen. Riset pengembangan swarm quadrotor masih belum banyak dilakukan dan masih membuka peluang untuk meneliti dengan metoda lain yang lebih baik dalam menghasilkan swarm. Makalah ini mengusulkan pengontrolan swarm quadrotor yang terdiri dari dua tingkat lup kontrol. Lup pertama adalah pengontrol sistem model swarm untuk membangkitkan lintasan swarm dan lup kedua merupakan pengontrol pada quadrotor untuk melakukan penjejakan lintasan swarm. Pengontrol pertama menggunakan pengontrol proporsional derivatif (PD), sedangkan pengontrol kedua menggunakan regulator linier kuadratik (RLK). Pengontrol yang dirancang memiliki parameter yang banyak, sehingga pemilihan parameter yang optimal sangat sulit. Pencarian parameter optimal pada pengontrol model swarm quadrotor membutuhkan teknik optimasi seperti algoritma genetik (AG) untuk mengarahkan pencarian menuju solusi yang menghasilkan kinerja terbaik. Pada makalah ini, penalaan dengan optimasi AG hanya dilakukan pada pengontrol PD untuk menghasilkan lintasan swarm terbaik, sedangkan matrik bobot RLK dilakukan secara uji coba. Hasil simulasi swarm pada model quadrotor menunjukkan parameter , . , dan yang diperoleh menggunakan AG menghasilkan pergerakan swarm yang baik dengan kesalahan RMS pelacakan 0,0094 m terhadap fungsi obyektif. Sedangkan ketika parameter , dan dicari menggunakan AG, tidak berpengaruh banyak dalam memperbaiki hasil simulasi swarm quadrotor. AbstractThe quadrotor is a type of take-off or vertical landing unmanned aerial vehicles with a cross shape and has one rotor at each end of its arm with high maneuverability. A quadrotor swarm consisting of a group of quadrotors leads to a good swarm, according to Reynold's swarm criteria, which accomplishes collision avoidance, velocity matching, and flock centering. Quadrotor swarm control has a high level of complexity because it involves many agents. Research on the development of quadrotor swarm has received insignificant attention and it still opens opportunities to research other methods that are better at producing swarm. The paper proposes the control of a quadrotor swarm consisted of two levels of control loops. The first loop controls the swarm model system to generate the swarm trajectory and the second loop is the controller on the quadrotor to track the swarm path. The first controller uses a proportional derivative controller (PD), while the second controller uses the linear quadratic regulator (LQR). The controller that is designed has many parameters, so the optimal parameter selection is very difficult. The search for optimal parameters in the swarm model controller requires optimization techniques such as the genetic algorithm (GA) to direct the search for solutions that produce the best performance. In this paper, tuning with the optimization of GA is only done for the PD controller in order to produce the best swarm trajectory, while the weight matrices of the LQR are done on a trial error basis. Swarm simulation results of a quadrotor model system show the parameters , . , and obtained using GA produce a good swarm movement with RMS error 0.0094 m of the objective function. Whereas when parameters , and are searched using GA, it does not have much effect in improving the quadrotor swarm simulation results.

Sistem Kontrol Hibrida Sinyal Rujukan Berbasis Logika Fuzzy untuk Peningkatan Kinerja Transien Pengontrol PID Endra Joelianto; oberli tansri
Journal of Mathematical and Fundamental Sciences Vol. 39 No. 1-2 (2007)
Publisher : Institute for Research and Community Services (LPPM) ITB

Show Abstract | Download Original | Original Source | Check in Google Scholar

Makalah ini membahas suatu metoda kontrol yang disebut kontrol sinyal rujukan (set-point) dengan pengambilan keputusan menggunakan logika fuzzy. Metoda ini dirancang untuk mengurangi keterbatasan sistem kontrol umpan balik yang harus mempunyai penguatan pengontrol tinggi untuk menghasilkan kinerja transien yang cepat. Metoda kontrol sinyal rujukan dapat memperbaiki kinerja transien dengan tanpa mempengaruhi karakteristik dinamik sistem kontrol lup tertutupnya. Pada makalah ini, pengontrol umpan balik yang digunakan adalah pengontrol PID dan kontrol sinyal rujukan menggunakan pengambilan keputusan dengan sistem fuzzy berdasarkan sinyal kesalahan. Kinerja metoda kontrol sinyal rujukan dengan sistem logika fuzzy dan sistem kontrol umpan balik dengan pengontrol PID diperlihatkan oleh beberapa hasil simulasi pada model umum sistem berorde satu dan dua dengan waktu mati.

Swarm control of an unmanned quadrotor model with LQR weighting matrix optimization using genetic algorithm Endra Joelianto; Daniel Christian; Agus Samsi
Journal of Mechatronics, Electrical Power, and Vehicular Technology Vol 11, No 1 (2020)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2020.v11.1-10

Unmanned aerial vehicle (UAV) quadrotors have developed rapidly and continue to advance together with the development of new supporting technologies. However, the use of one quadrotor has many obstacles and compromises the ability of a UAV to complete complex missions that require the cooperation of more than one quadrotor. In nature, one interesting phenomenon is the behaviour of several organisms to always move in flocks (swarm), which allows them to find food more quickly and sustain life compared with when they move independently. In this paper, the swarm behaviour is applied to drive a system consisting of six UAV quadrotors as agents for flocking while tracking a swarm trajectory. The swarm control system is expected to minimize the objective function of the energy used and tracking errors. The considered swarm control system consists of two levels. The first higher level is a proportional – derivative type controller that produces the swarm trajectory to be followed by UAV quadrotor agents in swarming. In the second lower level, a linear quadratic regulator (LQR) is used by each UAV quadrotor agent to follow a tracking path well with the minimal objective function. A genetic algorithm is applied to find the optimal LQR weighting matrices as it is able to solve complex optimization problems. Simulation results indicate that the quadrotors' tracking performance improved by 36.00 %, whereas their swarming performance improved by 17.17 %.

Analisis Pengaruh Waktu Latensi Terhadap Akurasi Sistem SCADA Bacaan Metering Listrik Waktu Nyata Melalui Jaringan Internet Endra Joelianto; Fuady Ramdhani; Eko Mursito Budi
Jurnal Rekayasa Elektrika Vol 16, No 3 (2020)
Publisher : Universitas Syiah Kuala

SCADA (Supervisory Control and Data Acquisition) system of electricity metering using the internet network aims to monitor electrical energy remotely by utilizing internet services. The system consists of a meter that measures electric quantities acquired by a server located close to the meter. The client reads data acquired by the server through the internet network. The use of internet networks for data transmission generally results in latency time, which affects the validity of the data read by the client, resulting in reduced cumulative power calculation accuracy. In this article, energy calculations using current, voltage and power factor data on the client are compared with the energy value calculated by the power meter. Errors that occur are used to calculate the accuracy of the system. The experiment resulted in latency times ranging from 110 ms - 11219 ms with an average of 572.3025 ms with valid data ranging from 93% of population data and accuracy values ranging from 99.2974% to 99.8648%. The resulting accuracy is within the ANSI C12.20 standard.

Failure assessment in lithium-ion battery packs in electric vehicles using the failure modes and effects analysis (FMEA) approach Rizky Cahya Kirana; Nicco Avinta Purwanto; Nadana Ayzah Azis; Endra Joelianto; Sigit Puji Santosa; Bentang Arief Budiman; Le Hoa Nguyen; Arjon Turnip
Journal of Mechatronics, Electrical Power, and Vehicular Technology Vol 14, No 1 (2023)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2023.v14.94-104

The use of batteries in electric cars comes with inherent risks. As the crucial component of these vehicles, batteries must possess a highly dependable safety system to ensure the safety of users. To establish such a reliable safety system, a comprehensive analysis of potential battery failures is carried out. This research examines various failure modes and their effects, investigates the causes behind them, and quantifies the associated risks. The failure modes and effect analysis (FMEA) method is employed to classify these failures based on priority numbers. By studying 28 accident reports involving electric vehicles, data is collected to identify potential failure modes and evaluate their risks. The results obtained from the FMEA assessment are used to propose safety measures, considering the importance of the potential failure modes as indicated by their risk priority number (RPN). The design incorporates safeguards against mechanical stress, external short circuits, and thermal runaway incidents. The findings of this study enhance our understanding of electric vehicle (EV) battery safety and offer valuable insights to EV manufacturers, regulators, and policymakers, aiding them in the development of safer and more reliable electric vehicles.

Analisis Pengaruh Waktu Latensi Terhadap Akurasi Sistem SCADA Bacaan Metering Listrik Waktu Nyata Melalui Jaringan Internet Endra Joelianto; Fuady Ramdhani; Eko Mursito Budi
Jurnal Rekayasa Elektrika Vol 16, No 3 (2020)
Publisher : Universitas Syiah Kuala

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17529/jre.v16i3.16465

SCADA (Supervisory Control and Data Acquisition) system of electricity metering using the internet network aims to monitor electrical energy remotely by utilizing internet services. The system consists of a meter that measures electric quantities acquired by a server located close to the meter. The client reads data acquired by the server through the internet network. The use of internet networks for data transmission generally results in latency time, which affects the validity of the data read by the client, resulting in reduced cumulative power calculation accuracy. In this article, energy calculations using current, voltage and power factor data on the client are compared with the energy value calculated by the power meter. Errors that occur are used to calculate the accuracy of the system. The experiment resulted in latency times ranging from 110 ms - 11219 ms with an average of 572.3025 ms with valid data ranging from 93% of population data and accuracy values ranging from 99.2974% to 99.8648%. The resulting accuracy is within the ANSI C12.20 standard.

Static Structural Analysis of Checking Fixture Frame of Car Interior Using Finite Element Method Hanandita, Hanif Setya; Ubaidillah, Ubaidillah; Prabowo, Aditya Rio; Lenggana, Bhre Wangsa; Turnip, Arjon; Joelianto, Endra
Automotive Experiences Vol 6 No 3 (2023)
Publisher : Automotive Laboratory of Universitas Muhammadiyah Magelang in collaboration with Association of Indonesian Vocational Educators (AIVE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31603/ae.9860

An inspection is the most important step for the manufacturers producing their cars. This ensures the seamless compatibility of each car part, as even minor errors can lead to user discomfort during operation. To achieve that goal, the utilization of inspection tools, such as a checking fixture is essential. In this research, we will study the structure analysis of a checking fixture with Ansys software. This study aims to examine the structural strength by analyzing the impact of various design variations on the overall strength outcomes. The requirement for checking fixture is that it must meet the datum tolerance of the car with value of ± 2mm. Due to that factor, a rigid checking fixture is needed for inspecting the part without experiencing significant deformation. In static loading, the result of the first variation frame has a stress of 5.71 MPa and deformation of 0.051 mm, the second variation frame has a stress of 6.16 MPa and deformation of 0.049 mm and the third variation frame has a stress of 5.63 MPa and deformation 0.042 mm. In terms of weight, the first variation structure has 2470.48 kg, the second variation structure has 2179.93 kg and the third variation structure has 2210 kg. The second variation frame has the highest stress but it has the lightest weight, and the third variation frame has lower stress and deformation but it has a heavier weight than the second variation model. The study results that the second variation model is superior because it has the lightest weight while the three designs have small stress and deformation that still satisfy the requirement of the fixture.

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