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Design and implementation of hardware in the loop simulation for electric ducted fan rocket control system using 8-bit microcontroller and real-time open source middleware Yulnandi, Reza Aulia; Machbub, Carmadi; Prihatmanto, Ary Setijadi; Hidayat, Egi Muhammad Idris
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

Hardware in the Loop Simulation (HILS) is intended to reduce time and development cost of control system design. HILS systems are mostly built by integrating both controller hardware and simulator software where the software is not an open source. Moreover, implementing HILS by using manufactured system is costly. This paper describes the design and implementation of HILS for Electric Ducted Fan (EDF) rocket by using open-source platform for development with middleware. This middleware system is used to bridge the data flow between controller hardware and simulator software. A low-cost ATMEGA 2560 8-bit microcontroller is used to calculate rocketâ€™s attitude with Direction Cosine Matrix (DCM) algorithm and PID controller is employed to regulate rocketâ€™s dynamics based on desired specifications. X-Plane 10 simulator software is used for generating simulated sensory data. The test results validate that HILS design meets the defined specifications, i.e. angle difference of 0.3 degrees and rise time of 0.149 seconds on pitch angle.

Designing optimal speed control with observer using integrated battery-electric vehicle (IBEV) model for energy efficiency Ristiana, Rina; Rohman, Arief Syaichu; Rijanto, Estiko; Purwadi, Agus; Hidayat, Egi; Machbub, Carmadi
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 9, No 2 (2018)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

This paper develops an optimal speed control using a linear quadratic integral (LQI) control standard with/without an observer in the system based on an integrated battery-electric vehicle (IBEV) model. The IBEV model includes the dynamics of the electric motor, longitudinal vehicle, inverter, and battery. The IBEV model has one state variable of indirectly measured and unobservable, but the system is detectable. The objectives of this study were: (a) to create a speed control that gets the exact solution for a system with one indirect measurement and unobservable state variable; and (b) to create a speed control that has the potential to make a more efficient energy system. A full state feedback LQI controller without an observer is used as a benchmark. Two output feedback LQI controllers are designed; including one controller uses an order-4 observer and the other uses an order-5 observer. The order-4 observer does not include the battery state of charge as an observer state whereas the order-5 observer is designed by making all the state variable as the observer state and using the battery state of charge as an additional system output. An electric passenger minibus for public transport with 1500 kg weight was used as the vehicle model. Simulations were performed when the vehicle moves in a flat surface with the increased speed from stationary to 60 km/h and moves according to standard NEDC driving profile. The simulation results showed that both the output feedback LQI controllers provided similar speed performance as compared to the full state feedback LQI controller. However, the output feedback LQI controller with the order-5 observer consumed less energy than with the order-4 observer, which is about 10% for NEDC driving profile and 12% for a flat surface. It can be concluded that the LQI controller with order-5 observer gives better energy efficiency than the LQI controller with order-4 observer

Dialogue management using reinforcement learning Binashir Rofi’ah; Hanif Fakhrurroja; Carmadi Machbub
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 19, No 3: June 2021
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v19i3.18319

Dialogue has been widely used for verbal communication between human and robot interaction, such as assistant robot in hospital. However, this robot was usually limited by predetermined dialogue, so it will be difficult to understand new words for new desired goal. In this paper, we discussed conversation in Indonesian on entertainment, motivation, emergency, and helping with knowledge growing method. We provided mp3 audio for music, fairy tale, comedy request, and motivation. The execution time for this request was 3.74 ms on average. In emergency situation, patient able to ask robot to call the nurse. Robot will record complaint of pain and inform nurse. From 7 emergency reports, all complaints were successfully saved on database. In helping conversation, robot will walk to pick up belongings of patient. Once the robot did not understand with patient’s conversation, robot will ask until it understands. From asking conversation, knowledge expands from 2 to 10, with learning execution from 1405 ms to 3490 ms. SARSA was faster towards steady state because of higher cumulative rewards. Q-learning and SARSA were achieved desired object within 200 episodes. It concludes that RL method to overcome robot knowledge limitation in achieving new dialogue goal for patient assistant were achieved.

Design and implementation of hardware in the loop simulation for electric ducted fan rocket control system using 8-bit microcontroller and real-time open source middleware Reza Aulia Yulnandi; Carmadi Machbub; Ary Setijadi Prihatmanto; Egi Muhammad Idris Hidayat
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 8, No 1 (2017)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2017.v8.60-69

Hardware in the Loop Simulation (HILS) is intended to reduce time and development cost of control system design. HILS systems are mostly built by integrating both controller hardware and simulator software where the software is not an open source. Moreover, implementing HILS by using manufactured system is costly. This paper describes the design and implementation of HILS for Electric Ducted Fan (EDF) rocket by using open-source platform for development with middleware. This middleware system is used to bridge the data flow between controller hardware and simulator software. A low-cost ATMEGA 2560 8-bit microcontroller is used to calculate rocket’s attitude with Direction Cosine Matrix (DCM) algorithm and PID controller is employed to regulate rocket’s dynamics based on desired specifications. X-Plane 10 simulator software is used for generating simulated sensory data. The test results validate that HILS design meets the defined specifications, i.e. angle difference of 0.3 degrees and rise time of 0.149 seconds on pitch angle.

Designing optimal speed control with observer using integrated battery-electric vehicle (IBEV) model for energy efficiency Rina Ristiana; Arief Syaichu Rohman; Estiko Rijanto; Agus Purwadi; Egi Hidayat; Carmadi Machbub
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 9, No 2 (2018)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2018.v9.89-100

This paper develops an optimal speed control using a linear quadratic integral (LQI) control standard with/without an observer in the system based on an integrated battery-electric vehicle (IBEV) model. The IBEV model includes the dynamics of the electric motor, longitudinal vehicle, inverter, and battery. The IBEV model has one state variable of indirectly measured and unobservable, but the system is detectable. The objectives of this study were: (a) to create a speed control that gets the exact solution for a system with one indirect measurement and unobservable state variable; and (b) to create a speed control that has the potential to make a more efficient energy system. A full state feedback LQI controller without an observer is used as a benchmark. Two output feedback LQI controllers are designed; including one controller uses an order-4 observer and the other uses an order-5 observer. The order-4 observer does not include the battery state of charge as an observer state whereas the order-5 observer is designed by making all the state variable as the observer state and using the battery state of charge as an additional system output. An electric passenger minibus for public transport with 1500 kg weight was used as the vehicle model. Simulations were performed when the vehicle moves in a flat surface with the increased speed from stationary to 60 km/h and moves according to standard NEDC driving profile. The simulation results showed that both the output feedback LQI controllers provided similar speed performance as compared to the full state feedback LQI controller. However, the output feedback LQI controller with the order-5 observer consumed less energy than with the order-4 observer, which is about 10% for NEDC driving profile and 12% for a flat surface. It can be concluded that the LQI controller with order-5 observer gives better energy efficiency than the LQI controller with order-4 observer

Perancangan Sistem Lokalisasi Sumber Suara Berdasarkan Metode TDOA dan DTOF Resti Fauziah; Carmadi Machbub; Egi Muhammad Idris Hidayat
JTERA (Jurnal Teknologi Rekayasa) Vol 5, No 2: December 2020
Publisher : Politeknik Sukabumi

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31544/jtera.v5.i2.2020.295-302

Pada penelitian ini dibahas perancangan sistem lokalisasi sumber suara dengan menggunakan metode Time Difference of Arrival (TDOA) dan metode Difference of Time of Flight (DTOF). TDOA merupakan metode penentuan posisi sumber suara berdasarkan pada persamaan hiperbola pada bidang koordinat dan hubungan selisih titik fokus hiperbola dari sinyal-sinyal yang diperoleh pada beberapa sensor berupa mikrofon dengan waktu kedatangan yang menggunakan waktu mutlak tiba di mikrofon tertentu. DTOF merupakan metode penentuan posisi sumber suara yang diturunkan berdasarkan perbedaan waktu propagasi sinyal dari sumber suara ke setiap mikrofon saat mikrofon dipicu. Sebagai pembuktiannya dilakukan dengan dua cara. Pertama, simulasi dengan waktu setiap mikrofon ialah jarak mikrofon terhadap sumber suara dibagi dengan kecepatan suara. Kedua, eksperimen dengan waktu setiap mikrofon ialah hasil rekaman suara yang waktu tundanya diperoleh dengan membandingkan Korelasi Silang dan Korelasi Silang Umum. Berdasarkan simulasi dan eksperimen dapat disimpulkan bahwa metode TDOA menghasilkan akurasi yang lebih baik.

Internet Congestion Control System Rusmin, Pranoto Hidaya; Machbub, Carmadi; Harsoyo, Agung; Hendrawan, Hendrawan
Makara Journal of Technology Vol. 12, No. 1
Publisher : UI Scholars Hub

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

Internet Congestion Control System. Internet congestion occurs when resource demands exceeds the network capacity. But, it is not the only reason. Congestion can happen on some users because some others user has higher sending rate. Then some users with lower sending rate will experience congestion. This partial congestion is caused by inexactly feedback. At this moment congestion are solved by the involvement of two controlling mechanisms. These mechanisms are flow/congestion control in the TCP source and Active Queue Management (AQM) in the router. AQM will provide feedback to the source a kind of indication for the occurrence of the congestion in the router, whereas the source will adapt the sending rate appropriate with the feedback. These mechanisms are not enough to solve internet congestion problem completely. Therefore, this paper will explain internet congestion causes, weakness, and congestion control technique that researchers have been developed. To describe congestion system mechanisms and responses, the system will be simulated by Matlab.

Kombinasi Deteksi Objek, Pengenalan Wajah dan Perilaku Anomali menggunakan State Machine untuk Kamera Pengawas NURYASIN, MUHAMMAD FAUZI; MACHBUB, CARMADI; YULIANTI, LENNI
ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika Vol 11, No 1: Published January 2023
Publisher : Institut Teknologi Nasional, Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26760/elkomika.v11i1.86

ABSTRAKSaat ini sistem kamera pengawas mengandalkan manusia dalam melakukan penerjemahan pada rekaman gambar yang terjadi. Perkembangan computer vision, machine learning, dan pengolahan citra dapat dimanfaatkan untuk membantu peran manusia dalam melakukan pengawasan. Penelitian ini merancang sistem kerja kamera yang terdiri dari tiga modul yaitu deteksi objek, pengenalan wajah, dan perilaku anomali. Deteksi objek memakai HOG-SVM, pengenalan wajah menggunakan CNN dengan arsitektur VGG-16 memanfaatkan transfer learning, dan perilaku anomali memakai spatiotemporal autoencoder berdasarkan threshold. Ketiga modul tersebut diuji menggunakan metrik akurasi, presisi, recall, dan f1-score. Ketiga modul diintegrasikan dengan state machine menjadi satu kesatuan sistem. Kinerja modul memiliki akurasi 88% untuk deteksi objek, 98% untuk pengenalan wajah, dan 78% untuk perilaku anomali. Hasil tampilan riil dapat diakses secara sederhana dan nirkabel melalui web.Kata kunci: HOG-SVM, CNN, VGG-16, spatiotemporal autoencoder, state machineABSTRACTNowadays, the surveillance camera system relies on human to interpret the recorded images. Computer vision, machine learning, and image processing can be utilized to assist the human role in supervising. This study designed a camera work system consisting of three main modules, namely object detection, face recognition, and anomaly behavior. Object detection used the HOG-SVM combination. Facial recognition used CNN with the VGG-16 architecture that utilized transfer learning. Anomalous behavior used spatiotemporal autoencoder based on threshold. Modules are tested using the metrics of accuracy, precision, recall, and f1-score. The three modules are integrated using a state machine into one system. The performance of the module had 88% accuracy for objectÂ detection, 98% for facial recognition, and 78% for anomalous behavior. Real time video recording can be accessed wireless via web-based.Keywords: HOG-SVM, CNN, VGG-16, spatiotemporal autoencoder, state machine

Longitudinal Train Dynamics Model for CC203/CC206 Locomotive Simulator Hindersah, Hilwadi; Rohman, Arief Syaichu; Bayuwindra, Anggera; Rusmin, Pranoto H.; Kinasih, Fabiola M.T.R.; Machbub, Carmadi
Journal of Engineering and Technological Sciences Vol. 56 No. 3 (2024)
Publisher : Directorate for Research and Community Services, Institut Teknologi Bandung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.5614/j.eng.technol.sci.2024.56.3.10

This paper presents train modeling used in a simulator platform for driver training. It was developed for the CC203/CC204 locomotive. The driver will gain experience as in a real locomotive from the perceived platform movements if the movements match real conditions as accurately as possible, including the distance travelled. To this aim, a longitudinal model of the train was developed based on measurement data obtained from the Argo Parahyangan train traveling from Bandung to Jakarta. A second-order linear time invariant model was obtained by a black box identification approach, in which the input and the output of the model are the resultant force (a traction and a slope-friction force) and the train’s position, respectively. While the speed is directly obtained from measurement data, the traction force of the locomotive is predicted using the traction characteristic of the locomotive, train’s measured speed, and latitude time history during a train trip. The model is then validated by running a simulation for one complete trip of the train. In the simulation, the same input as in the model identification is applied and the mileage obtained from simulation result is compared to data of the real train trip with a fitness level of 94.09%.

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