Pub Date : 2018-10-01DOI: 10.1109/ICSENGT.2018.8606379
A. Aulia, Ngakan Putu Ariastu Krisnadi Rata, Mukhtar Amin, H. Hindersah, E. Hidayat
The need of train simulator in Indonesia arises from our necessity to improve mode of training of train drivers as our train usage grows. This paper explains about the design and implementation of throttle lever, motion cueing, and platform control systems of 3-DOF train/locomotive simulator. These components are parts of train/locomotive simulator’s input and movement control. Throttle lever system is a user-input system which informs the simulator system about the throttle level from the user. Motion cueing is the system which calculates the platform’s position to produce the feeling of real train/locomotive movement to the user while also considers the platform’s mechanical restrictions in its calculation and algorithm. The platform control receives required platform position from the motion cueing and moves the platform after the calculation of the platform’s inverse kinematics. These subsystems communicate to each other via MQTT with RabbitMQ as the Advance Message Queuing Protocol. After testing and verification the results show that that inverse kinematic have maximum error of 0.33 degree for pitch movement and 1.01 degree for roll movement. There is no measurable error on surge movement. Communication between sub-systems would run on zero congestion. Hence, the whole system runs in real-time. The force per mass input given to the user by the platform motion is calculated using human’s otolith system model and compared with the force per mass input given by the real train motion. Steady-state error for surge perception is 10%. The pitch and roll perception has error in the transient response.
{"title":"Throttle, Motion Cueing, and Platform Control Systems of 3-DOF Locomotive Simulator","authors":"A. Aulia, Ngakan Putu Ariastu Krisnadi Rata, Mukhtar Amin, H. Hindersah, E. Hidayat","doi":"10.1109/ICSENGT.2018.8606379","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606379","url":null,"abstract":"The need of train simulator in Indonesia arises from our necessity to improve mode of training of train drivers as our train usage grows. This paper explains about the design and implementation of throttle lever, motion cueing, and platform control systems of 3-DOF train/locomotive simulator. These components are parts of train/locomotive simulator’s input and movement control. Throttle lever system is a user-input system which informs the simulator system about the throttle level from the user. Motion cueing is the system which calculates the platform’s position to produce the feeling of real train/locomotive movement to the user while also considers the platform’s mechanical restrictions in its calculation and algorithm. The platform control receives required platform position from the motion cueing and moves the platform after the calculation of the platform’s inverse kinematics. These subsystems communicate to each other via MQTT with RabbitMQ as the Advance Message Queuing Protocol. After testing and verification the results show that that inverse kinematic have maximum error of 0.33 degree for pitch movement and 1.01 degree for roll movement. There is no measurable error on surge movement. Communication between sub-systems would run on zero congestion. Hence, the whole system runs in real-time. The force per mass input given to the user by the platform motion is calculated using human’s otolith system model and compared with the force per mass input given by the real train motion. Steady-state error for surge perception is 10%. The pitch and roll perception has error in the transient response.","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121258817","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/ICSENGT.2018.8606380
Aulia Hening Darmasti, Adinda Rana Trisanti, R. Darmakusuma, A. Prihatmanto
In recent years, face tracking has become a considerable interest in technology development. Generally, 3D face tracking utilized RGB and Depth Data as its source to detect faces. Thus, it needed to set an environment with ideal ambient for 3D face tracking to work well, or else the face tracking stability rate will degrade. In order to reduce error occurs in 3D face tracking implementation on varying ambient light conditions, this paper specifically deals with an explanation of color component effect analysis upon real-time 3D face tracking using Kinect. The experiment is conducted with projecting 24 different colors into user’s face and analyze the effect of R, G, B, H, S, and V component of each color. This experiment produces data which then analyzed with statistical method ANOVA and regression to determine the most significant component that affect the stability of face tracking with Kinect between R, G, B, H, S, and V. The result shows that face tracking with Kinect has stability above 80% to track face in darkness as the face covered with 91.66% varying colors from common colors palette. With the number of F value equal to 7.765, HSV obtained as the more significant classifier compared with RGB, with Value, or brightness level, as the most significant component that effects the system’s ability to detect faces in a dark room. The result of this research can be used as basic knowledge in choosing animation design background colors for 3D face projection mapping in a nearly complete dark room.
{"title":"The Effect of RGB and HSV component to 3D Face Tracking Stability Analysis for Digital Makeup","authors":"Aulia Hening Darmasti, Adinda Rana Trisanti, R. Darmakusuma, A. Prihatmanto","doi":"10.1109/ICSENGT.2018.8606380","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606380","url":null,"abstract":"In recent years, face tracking has become a considerable interest in technology development. Generally, 3D face tracking utilized RGB and Depth Data as its source to detect faces. Thus, it needed to set an environment with ideal ambient for 3D face tracking to work well, or else the face tracking stability rate will degrade. In order to reduce error occurs in 3D face tracking implementation on varying ambient light conditions, this paper specifically deals with an explanation of color component effect analysis upon real-time 3D face tracking using Kinect. The experiment is conducted with projecting 24 different colors into user’s face and analyze the effect of R, G, B, H, S, and V component of each color. This experiment produces data which then analyzed with statistical method ANOVA and regression to determine the most significant component that affect the stability of face tracking with Kinect between R, G, B, H, S, and V. The result shows that face tracking with Kinect has stability above 80% to track face in darkness as the face covered with 91.66% varying colors from common colors palette. With the number of F value equal to 7.765, HSV obtained as the more significant classifier compared with RGB, with Value, or brightness level, as the most significant component that effects the system’s ability to detect faces in a dark room. The result of this research can be used as basic knowledge in choosing animation design background colors for 3D face projection mapping in a nearly complete dark room.","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"548 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125393558","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/ICSENGT.2018.8606372
Putri Norlyana Mustafa Kamal, N. Buniyamin
This paper presents the result of a preliminary investigation to evaluate the possibility of using piezoelectric element to harvest energy from footsteps. A prototype piezoelectric floor tile was built to study the amount of energy that could be harvested. Using this prototype, the energy harvested was recorded and discussed. After the energy had been harvested, methods to store the energy were looked into. Two experiments were conducted to investigate harvesting performance. In the first experiment, connection between each piezoelectric element was varied and in the second experiment the distance between each column of piezoelectric element was varied. Rechargeable batteries were used as storage, where the energy harvested from the piezoelectric array will charge the battery. By conducting these experiments, it was found that the prototype floor mat produced the highest current of 48.5μA, when the piezoelectric array was connected in parallel, with a distance that matches the average foot size.
{"title":"Using Piezoelectric Elements as Footsteps Energy Harvester: an Investigation","authors":"Putri Norlyana Mustafa Kamal, N. Buniyamin","doi":"10.1109/ICSENGT.2018.8606372","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606372","url":null,"abstract":"This paper presents the result of a preliminary investigation to evaluate the possibility of using piezoelectric element to harvest energy from footsteps. A prototype piezoelectric floor tile was built to study the amount of energy that could be harvested. Using this prototype, the energy harvested was recorded and discussed. After the energy had been harvested, methods to store the energy were looked into. Two experiments were conducted to investigate harvesting performance. In the first experiment, connection between each piezoelectric element was varied and in the second experiment the distance between each column of piezoelectric element was varied. Rechargeable batteries were used as storage, where the energy harvested from the piezoelectric array will charge the battery. By conducting these experiments, it was found that the prototype floor mat produced the highest current of 48.5μA, when the piezoelectric array was connected in parallel, with a distance that matches the average foot size.","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130667356","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/ICSENGT.2018.8606374
Jhonson Lee, B. Yogatama, Hans Christian
Humanoid robots are seen as perfect education partners for students these days. Many researchers are working on educational humanoid robots to make them more effective in educating students. One of many approaches to realize it is to make the robots educate children in two-way communication. In this case, robots can recognize students’ progress and provide suitable learning materials according to their progress. In a simple scenario for basic mathematics learning, the robot educates a student on how to solve mathematical expressions. As the student understand the concepts, the robot gives some simple exercises to further improve student’s ability. While completing the exercise, the partner robot supervises each mathematical expression solved by the student, acknowledges mistakes and provides correct solutions. Thus, the robot must be equipped with a system which can recognize mathematical expressions and give the solutions. Such system is an inherent foundation to build much smarter robots in delivering education to students. This paper covers detail design and implementation of the system which recognizes handwritten mathematical equations and provides the corresponding solutions. Testing results show that the system performs quite well with 97.4% accuracy with slight errors for characters with similar shapes.
{"title":"Optical Character Recognition for Handwritten Mathematical Expressions in Educational Humanoid Robots","authors":"Jhonson Lee, B. Yogatama, Hans Christian","doi":"10.1109/ICSENGT.2018.8606374","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606374","url":null,"abstract":"Humanoid robots are seen as perfect education partners for students these days. Many researchers are working on educational humanoid robots to make them more effective in educating students. One of many approaches to realize it is to make the robots educate children in two-way communication. In this case, robots can recognize students’ progress and provide suitable learning materials according to their progress. In a simple scenario for basic mathematics learning, the robot educates a student on how to solve mathematical expressions. As the student understand the concepts, the robot gives some simple exercises to further improve student’s ability. While completing the exercise, the partner robot supervises each mathematical expression solved by the student, acknowledges mistakes and provides correct solutions. Thus, the robot must be equipped with a system which can recognize mathematical expressions and give the solutions. Such system is an inherent foundation to build much smarter robots in delivering education to students. This paper covers detail design and implementation of the system which recognizes handwritten mathematical equations and provides the corresponding solutions. Testing results show that the system performs quite well with 97.4% accuracy with slight errors for characters with similar shapes.","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"143 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121191091","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/ICSENGT.2018.8606363
R. Ristiana, A. S. Rohman, A. Purwadi, C. Machbub, E. Rijanto, Hanif F. Prasetyo, M. Santabudi
Several speed controls for an electric vehicle (EV) system were designed. The EV system was modelled as an integrated battery electric vehicle (IBEV) model with the battery dynamics clearly belonging to the model. The integrated model was tested on a testbed platform with the speed controllers to find out which one achieves the highest energy efficiency. To get precise measurement results from the sensor, the experiment was done twice. From the results, the energy consumption for each controller was calculated with a number of energy formulations. The speed controllers that were tested in this study can be developed further based on the performance index in order to achieve more energy efficiency.
{"title":"Energy Efficient Speed Control using IBEV Model in an EV Testbed Platform","authors":"R. Ristiana, A. S. Rohman, A. Purwadi, C. Machbub, E. Rijanto, Hanif F. Prasetyo, M. Santabudi","doi":"10.1109/ICSENGT.2018.8606363","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606363","url":null,"abstract":"Several speed controls for an electric vehicle (EV) system were designed. The EV system was modelled as an integrated battery electric vehicle (IBEV) model with the battery dynamics clearly belonging to the model. The integrated model was tested on a testbed platform with the speed controllers to find out which one achieves the highest energy efficiency. To get precise measurement results from the sensor, the experiment was done twice. From the results, the energy consumption for each controller was calculated with a number of energy formulations. The speed controllers that were tested in this study can be developed further based on the performance index in order to achieve more energy efficiency.","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132492197","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/ICSENGT.2018.8606364
Zatul Iffah Abd Latiff, N. M. Anuar, M. H. Jusoh, Siti Amalina Ence Ab Rahim
Geomagnetically induced current (GIC) is one of the natural threat driven by solar activity. The geomagnetic disturbances causes high fluctuating current in ionosphere and magnetosphere. As described by Faraday Law of Induction, high variation of magnetic field induces electric field that responsible for driving GIC in our technological system. In this paper, latitudinal investigation is performed to examine the variation of solar wind parameter and geomagnetic indices during the G4 severe geomagnetic storm occurred on 7–8 September 2017. In addition, the resulting time derivative Horizontal Component of geomagnetic field (dH/dt) as indicator of GIC in response to the variation of solar wind parameter is observed. From the study, highest dH/dt value was observed at high latitude region, followed by mid-latitude region while the lowest value dH/dt obtained by low latitude region.
{"title":"Latitudinal Investigation on the Variation of Solar Wind Parameters towards Geomagnetically Induced Currents during 7–8 September 2017 Disturbed Period","authors":"Zatul Iffah Abd Latiff, N. M. Anuar, M. H. Jusoh, Siti Amalina Ence Ab Rahim","doi":"10.1109/ICSENGT.2018.8606364","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606364","url":null,"abstract":"Geomagnetically induced current (GIC) is one of the natural threat driven by solar activity. The geomagnetic disturbances causes high fluctuating current in ionosphere and magnetosphere. As described by Faraday Law of Induction, high variation of magnetic field induces electric field that responsible for driving GIC in our technological system. In this paper, latitudinal investigation is performed to examine the variation of solar wind parameter and geomagnetic indices during the G4 severe geomagnetic storm occurred on 7–8 September 2017. In addition, the resulting time derivative Horizontal Component of geomagnetic field (dH/dt) as indicator of GIC in response to the variation of solar wind parameter is observed. From the study, highest dH/dt value was observed at high latitude region, followed by mid-latitude region while the lowest value dH/dt obtained by low latitude region.","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133409548","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/ICSENGT.2018.8606371
Z. H. Murat, Amira Nur Syahidah binti Abdul Halim, R. Kadir
The study focuses on the effect of Horizontal Rotation (HR) intervention on the brainwaves and sleeping quality. HR system is a custom-engineered rotating bed, designed to relax the physical body and to synchronize the electrical activity of the brain. It is known to enhance sleeping quality which resulted in a more relax and focus condition leading to healthier lifestyle. Electroencephalogram (EEG) is used to measure the brainwave electrical activity after being picked up by the metal electrodes connected at the scalp surface of a human. The brainwave signal is recorded before and after the intervention of HR undergoing for three sessions. The result shows that most participants experienced an improvement in sleeping pattern and sleeping quality. In addition, participants achieved higher Beta and Alpha brainwaves showing better focus and relaxation.
{"title":"The Effect of Horizontal Rotation Intervention on Brainwaves and Sleeping Quality","authors":"Z. H. Murat, Amira Nur Syahidah binti Abdul Halim, R. Kadir","doi":"10.1109/ICSENGT.2018.8606371","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606371","url":null,"abstract":"The study focuses on the effect of Horizontal Rotation (HR) intervention on the brainwaves and sleeping quality. HR system is a custom-engineered rotating bed, designed to relax the physical body and to synchronize the electrical activity of the brain. It is known to enhance sleeping quality which resulted in a more relax and focus condition leading to healthier lifestyle. Electroencephalogram (EEG) is used to measure the brainwave electrical activity after being picked up by the metal electrodes connected at the scalp surface of a human. The brainwave signal is recorded before and after the intervention of HR undergoing for three sessions. The result shows that most participants experienced an improvement in sleeping pattern and sleeping quality. In addition, participants achieved higher Beta and Alpha brainwaves showing better focus and relaxation.","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"416 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117306241","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/ICSENGT.2018.8606397
M. Kassim, Niknafs Ali, A. Idris, S. Shahbudin, R. A. Rahman
This paper presents a development of a mobile health aid personal system to alert dengue attack disease. Dengue disease happened in Malaysia where many death cases detected in an urban area which impacts Malaysian society. Many steps have been taken in action to identify patients and alert of dengue attacks but lack of cares and actions. Human dengue attacks are analyzed through body temperature levels and blood test on a human. Currently, patients face problems to meet doctors due to a long queue at hospitals and it takes time to identify the dengue attacks. A design of the mobile system on dengue alert and patient’s alert to their condition is developed. This system helps patients to alert their condition on dengue attack. The method involves a system that using apps that users have to register and fill out the form that provided in the apps. The temperature level and the blood test is tested manually using dengue kit. Then users need to enter the data in the apps to check their health status. The results than save on the website and then send to the users and hospitals. The system benefits society as an easy and time saved in tracking possible dengue attack. It is also significant to medical officers in managing patients easier and faster where an Internet of Things system concept is designed and proposed which is valuable to Malaysian society.
{"title":"Dengue Attack Analysis System on Mobile Application","authors":"M. Kassim, Niknafs Ali, A. Idris, S. Shahbudin, R. A. Rahman","doi":"10.1109/ICSENGT.2018.8606397","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606397","url":null,"abstract":"This paper presents a development of a mobile health aid personal system to alert dengue attack disease. Dengue disease happened in Malaysia where many death cases detected in an urban area which impacts Malaysian society. Many steps have been taken in action to identify patients and alert of dengue attacks but lack of cares and actions. Human dengue attacks are analyzed through body temperature levels and blood test on a human. Currently, patients face problems to meet doctors due to a long queue at hospitals and it takes time to identify the dengue attacks. A design of the mobile system on dengue alert and patient’s alert to their condition is developed. This system helps patients to alert their condition on dengue attack. The method involves a system that using apps that users have to register and fill out the form that provided in the apps. The temperature level and the blood test is tested manually using dengue kit. Then users need to enter the data in the apps to check their health status. The results than save on the website and then send to the users and hospitals. The system benefits society as an easy and time saved in tracking possible dengue attack. It is also significant to medical officers in managing patients easier and faster where an Internet of Things system concept is designed and proposed which is valuable to Malaysian society.","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128433656","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/icsengt.2018.8606376
{"title":"ICSET 2018 Cover Page","authors":"","doi":"10.1109/icsengt.2018.8606376","DOIUrl":"https://doi.org/10.1109/icsengt.2018.8606376","url":null,"abstract":"","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129101745","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-10-01DOI: 10.1109/ICSENGT.2018.8606399
Meti Megayanti, Y. P. Nugraha, Indri Purwita Sary, E. Hidayat, B. Trilaksono
Recently, research in Unmanned Aerial Vehicle (UAV) field is growing rapidly due to their evolving needs in many implemented sectors. In this research, we use hexacopter for monitoring contaminated chemical-radioactive-nuclear (CRN ) area. The hexacopter need high altitude and attitude stabilization to tracking way point precisely. The PID guidance system with FLC intervention is used to produce correction signal to improve the tracking performance of the hexacopter. Software in the loop (SITL) simulation using Matlab and Robotic Operating System (ROS) was conducted to verify Fuzzy-PID intervention guidance performance before implementation. Based on simulation and experimental result, it shown that the tracking performance of the hexacopter in terms faster transient response, smaller error steay state, faster settling time, better static and dynamics performance and robust under wind disturbance for altitude and attitude have been improved by using Fuzzy-PID intervention algorithm.
{"title":"Modeling and Implementation of Hexacopter Guidance System Using Fuzzy Logic Control Under Wind Disturbance","authors":"Meti Megayanti, Y. P. Nugraha, Indri Purwita Sary, E. Hidayat, B. Trilaksono","doi":"10.1109/ICSENGT.2018.8606399","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606399","url":null,"abstract":"Recently, research in Unmanned Aerial Vehicle (UAV) field is growing rapidly due to their evolving needs in many implemented sectors. In this research, we use hexacopter for monitoring contaminated chemical-radioactive-nuclear (CRN ) area. The hexacopter need high altitude and attitude stabilization to tracking way point precisely. The PID guidance system with FLC intervention is used to produce correction signal to improve the tracking performance of the hexacopter. Software in the loop (SITL) simulation using Matlab and Robotic Operating System (ROS) was conducted to verify Fuzzy-PID intervention guidance performance before implementation. Based on simulation and experimental result, it shown that the tracking performance of the hexacopter in terms faster transient response, smaller error steay state, faster settling time, better static and dynamics performance and robust under wind disturbance for altitude and attitude have been improved by using Fuzzy-PID intervention algorithm.","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125723080","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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