Pub Date : 2018-10-01DOI: 10.1109/ICSENGT.2018.8606361
J. S. Saputro, P. Rusmin, A. S. Rochman
This research aims to design and implement the motion planning and trajectory tracking on a mobile robot four-wheel skid steering system using Model Predictive Control (MPC). Motion planning is one of the fundamental problems in the navigation of autonomous robots. The main concern of this research is to find the paths that can guide the robot running from the initial position to the destination. The first thing to do was create a map of the environment that would be used, then the map result was used to find the path that was free from obstacles. The searching process used A* (A-star) algorithm, then the path was used as the robot reference path. The Design of Predictive Model Control aims to track the reference path by the robot, in designing this MPC used the dynamics of the Pioneer 3-AT robot model based on the current robot position against the reference robot position. Model Predictive Control could accommodate the limitation on control signals, while also predicting the subsequent system behavior along the specified horizon. Error tracking errors are a combination of MPC which was derived through the quadratic function of the error tracking system and advanced feed control. Designed control would be simulated first to see the system behavior. This simulation process used MobileSim software that was integrated with MATLAB to obtain appropriate system behavior. The results of the implementation showed that the Model Predictive Control could track to reach the destination on the reference path in the form of the number “8”, the path to the end of the LSKK Lane, and the path to the JCC LSKK ITB Room with an average tracking error of less than 10 cm (x, y) and 0,2 degree.
本研究旨在利用模型预测控制(MPC)设计并实现移动机器人四轮滑移转向系统的运动规划和轨迹跟踪。运动规划是自主机器人导航的基本问题之一。本研究主要关注的是如何找到能够引导机器人从初始位置运行到目的地的路径。首先要做的是创建将要使用的环境地图，然后使用地图结果来找到没有障碍物的路径。搜索过程采用A* (A-star)算法，然后将路径作为机器人参考路径。预测模型控制设计的目的是通过机器人跟踪参考路径，在设计该MPC时利用先锋3-AT机器人模型基于当前机器人位置相对于参考机器人位置的动力学特性。模型预测控制既能适应控制信号的局限性，又能预测系统在指定视界上的后续行为。误差跟踪误差是由误差跟踪系统的二次函数得到的MPC和高级进给控制相结合的结果。设计好的控制首先会被模拟，以观察系统的行为。仿真过程中使用了与MATLAB集成的MobileSim软件来获得适当的系统行为。实现结果表明，模型预测控制可以在数字“8”的形式的参考路径上跟踪到达目的地，跟踪到LSKK Lane的终点路径，跟踪到JCC LSKK ITB Room的路径，平均跟踪误差小于10 cm (x, y)和0.2度。
{"title":"Design and Implementation of Trajectory Tracking Motion in Mobile Robot Skid Steering Using Model Predictive Control","authors":"J. S. Saputro, P. Rusmin, A. S. Rochman","doi":"10.1109/ICSENGT.2018.8606361","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606361","url":null,"abstract":"This research aims to design and implement the motion planning and trajectory tracking on a mobile robot four-wheel skid steering system using Model Predictive Control (MPC). Motion planning is one of the fundamental problems in the navigation of autonomous robots. The main concern of this research is to find the paths that can guide the robot running from the initial position to the destination. The first thing to do was create a map of the environment that would be used, then the map result was used to find the path that was free from obstacles. The searching process used A* (A-star) algorithm, then the path was used as the robot reference path. The Design of Predictive Model Control aims to track the reference path by the robot, in designing this MPC used the dynamics of the Pioneer 3-AT robot model based on the current robot position against the reference robot position. Model Predictive Control could accommodate the limitation on control signals, while also predicting the subsequent system behavior along the specified horizon. Error tracking errors are a combination of MPC which was derived through the quadratic function of the error tracking system and advanced feed control. Designed control would be simulated first to see the system behavior. This simulation process used MobileSim software that was integrated with MATLAB to obtain appropriate system behavior. The results of the implementation showed that the Model Predictive Control could track to reach the destination on the reference path in the form of the number “8”, the path to the end of the LSKK Lane, and the path to the JCC LSKK ITB Room with an average tracking error of less than 10 cm (x, y) and 0,2 degree.","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"72 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":"129139721","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.2018.8606393
N. Saad, J. R. A. Hamid, N. M. Saraf, Maisarah Abdul Halim, A. N. Idris, N. Khalid
This paper intent to investigate the relationship of topographic elements and its effect on incoming solar radiation (insolation) value based on topographical surface model derived from LiDAR data and highlights on the comparison of DSM and DTM insolation value for direct, diffuse and global irradiance of the study area. The insolation is expected to somehow change in regard to the initial solar energy due to the differing surface types and materials. Modelling the pattern of insolation of the Sun’s rays as it interacts with the Earth’s atmosphere, surface, and its objects is thus vital for many applications including in the context of green building technology concept. In this study, to reconstruct the surface models that represent the surface, high resolution airborne LiDAR datasets were used to produce the DTM and DSMs. The reliability of these models was verified accordingly. The derived products were further structured as TIN and topographic analysis as well as modelling was performed within ArcGIS environment. Models of irradiance were derived and distinguished based on the direct, diffuse and global irradiance. Then, pattern correspond to the topographical elements was determined and the results were discussed.
{"title":"Insolation Model from LiDAR-Derived Topographical Surface Models","authors":"N. Saad, J. R. A. Hamid, N. M. Saraf, Maisarah Abdul Halim, A. N. Idris, N. Khalid","doi":"10.1109/ICSENGT.2018.8606393","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606393","url":null,"abstract":"This paper intent to investigate the relationship of topographic elements and its effect on incoming solar radiation (insolation) value based on topographical surface model derived from LiDAR data and highlights on the comparison of DSM and DTM insolation value for direct, diffuse and global irradiance of the study area. The insolation is expected to somehow change in regard to the initial solar energy due to the differing surface types and materials. Modelling the pattern of insolation of the Sun’s rays as it interacts with the Earth’s atmosphere, surface, and its objects is thus vital for many applications including in the context of green building technology concept. In this study, to reconstruct the surface models that represent the surface, high resolution airborne LiDAR datasets were used to produce the DTM and DSMs. The reliability of these models was verified accordingly. The derived products were further structured as TIN and topographic analysis as well as modelling was performed within ArcGIS environment. Models of irradiance were derived and distinguished based on the direct, diffuse and global irradiance. Then, pattern correspond to the topographical elements was determined and the results were discussed.","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"70 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":"126058069","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.2018.8606365
Amin Sabirin Tajudin, I. Isa, Z. H. C. Soh, S. N. Sulaiman, N. Karim, I. Shuaib
The flow voids is the condition occurs when the MRI image has lost its signal due to flow of bloods and other fluids such as cerebrospinal fluid (CSF) and urine. Generally, the MRI images particularly the vessels that contain vigorously flowing blood is seen low signal and this may reflect to vascular patency. Moreover, the manual delineation method to visually detect the flow voids is tedious and time consuming. Recently, an image processing technique such as watershed segmentation is most recommended technique to segment the MRI images of flow voids. A common watershed transformation used for segmentation is the marker-controlled segmentation, but the application of such method is limited particularly due to over-segmentation and sensitivity to the noise. Therefore, in order to overcome such limitations, this study is proposed a new scheme of improved technique to segment flow voids image based on watershed and k-means segmentation algorithms. The proposed technique that involves pre-processing process and the improved watershed segmentation algorithm is used to capture the flow voids in the MRI images. The performance of the proposed technique is measured by evaluating its accuracy to detect flow-voids and hence the results are compared to the golden standard results provided by manual delineation method. The proposed segmentation technique reveals that it is has highly suffice to reduce over-segmentation detection of flow voids in the MRI images with accuracy up to 90%. From the comparison results, it is also shows that the new proposed has potential to be used as pre-processing tools for radiologists in the future.
{"title":"A New Technique of Flow Voids Segmentation on MRI Image for Cerebrovascular Disease","authors":"Amin Sabirin Tajudin, I. Isa, Z. H. C. Soh, S. N. Sulaiman, N. Karim, I. Shuaib","doi":"10.1109/ICSENGT.2018.8606365","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606365","url":null,"abstract":"The flow voids is the condition occurs when the MRI image has lost its signal due to flow of bloods and other fluids such as cerebrospinal fluid (CSF) and urine. Generally, the MRI images particularly the vessels that contain vigorously flowing blood is seen low signal and this may reflect to vascular patency. Moreover, the manual delineation method to visually detect the flow voids is tedious and time consuming. Recently, an image processing technique such as watershed segmentation is most recommended technique to segment the MRI images of flow voids. A common watershed transformation used for segmentation is the marker-controlled segmentation, but the application of such method is limited particularly due to over-segmentation and sensitivity to the noise. Therefore, in order to overcome such limitations, this study is proposed a new scheme of improved technique to segment flow voids image based on watershed and k-means segmentation algorithms. The proposed technique that involves pre-processing process and the improved watershed segmentation algorithm is used to capture the flow voids in the MRI images. The performance of the proposed technique is measured by evaluating its accuracy to detect flow-voids and hence the results are compared to the golden standard results provided by manual delineation method. The proposed segmentation technique reveals that it is has highly suffice to reduce over-segmentation detection of flow voids in the MRI images with accuracy up to 90%. From the comparison results, it is also shows that the new proposed has potential to be used as pre-processing tools for radiologists in the future.","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"23 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":"127414530","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.2018.8606383
{"title":"ICSET 2018 Copyright Page","authors":"","doi":"10.1109/icsengt.2018.8606383","DOIUrl":"https://doi.org/10.1109/icsengt.2018.8606383","url":null,"abstract":"","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"119 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":"121361767","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.2018.8606394
Zaleha Salamon, R. A. Rahman, C. Yahaya, A. R. Mahmud, M. I. Yusof
This paper presents the deployment of the security testing and evaluation (ST&E), and classifications of common internal threats on a network access layer. Many kinds of research were conducted to find the best technique to test security on the network since the internal threats are the foremost in security breaches and hazardous of eligible insider user [6,7,8]. Therefore, this paper highlights two techniques to test the network security, especially on the very limited permission access in order to identify the characteristic of threats on the access layer network. The empirical studies result achieved by syslog and (Switched Port Analyzer) SPAN protocol configuration technique. It is demonstrated that the attack can be done on the access layer. The findings on vulnerability testing also found that the severity of security threat on the network requires further action. The results which are studied will help the administrator to plan the mitigation of security threats on the access layer network.
{"title":"Security Testing and Evaluation on Access Layer Network","authors":"Zaleha Salamon, R. A. Rahman, C. Yahaya, A. R. Mahmud, M. I. Yusof","doi":"10.1109/ICSENGT.2018.8606394","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606394","url":null,"abstract":"This paper presents the deployment of the security testing and evaluation (ST&E), and classifications of common internal threats on a network access layer. Many kinds of research were conducted to find the best technique to test security on the network since the internal threats are the foremost in security breaches and hazardous of eligible insider user [6,7,8]. Therefore, this paper highlights two techniques to test the network security, especially on the very limited permission access in order to identify the characteristic of threats on the access layer network. The empirical studies result achieved by syslog and (Switched Port Analyzer) SPAN protocol configuration technique. It is demonstrated that the attack can be done on the access layer. The findings on vulnerability testing also found that the severity of security threat on the network requires further action. The results which are studied will help the administrator to plan the mitigation of security threats on the access layer network.","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"61 2 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":"115518939","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.2018.8606368
Jhonson Lee, Deddy Welsan, E. Hidayat, B. Trilaksono
This paper covers design and implementation of monitoring system using unmanned vehicle to monitor the spread of hazardous chemical gas. This system is applicable to wide variety of unmanned vehicles ranging from ground vehicles to aerial vehicles. It can also be implemented with multi-vehicle concept. In a simple scenario, the system uses chemical sensor to measure and monitor level of hazardous chemical gas in a specified region explored by the unmanned vehicles. Then the measurement is sent to a computer in Ground Control Station (GCS) to be visualized on 2D virtual map in real-time. In addition to data visualization, the system also provides data logging saved in a CSV file for further data processing. Users can control the vehicles remotely with a user interface in the GCS as well. This monitoring system is developed and implemented in Robot Operating System (ROS) and open source software QgroundControl (QGC). Data acquisition and communication between the vehicle and the GCS are implemented in ROS, whereas the visualization system is developed from well-known flight control user interface named QGC. Implementation of this system shows that it is successfully tested to visualize hazardous chemical gas on a 2D virtual map in real-time.
{"title":"Implementation of Real-Time Monitoring System for Hazardous Chemical Gas Distribution","authors":"Jhonson Lee, Deddy Welsan, E. Hidayat, B. Trilaksono","doi":"10.1109/ICSENGT.2018.8606368","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606368","url":null,"abstract":"This paper covers design and implementation of monitoring system using unmanned vehicle to monitor the spread of hazardous chemical gas. This system is applicable to wide variety of unmanned vehicles ranging from ground vehicles to aerial vehicles. It can also be implemented with multi-vehicle concept. In a simple scenario, the system uses chemical sensor to measure and monitor level of hazardous chemical gas in a specified region explored by the unmanned vehicles. Then the measurement is sent to a computer in Ground Control Station (GCS) to be visualized on 2D virtual map in real-time. In addition to data visualization, the system also provides data logging saved in a CSV file for further data processing. Users can control the vehicles remotely with a user interface in the GCS as well. This monitoring system is developed and implemented in Robot Operating System (ROS) and open source software QgroundControl (QGC). Data acquisition and communication between the vehicle and the GCS are implemented in ROS, whereas the visualization system is developed from well-known flight control user interface named QGC. Implementation of this system shows that it is successfully tested to visualize hazardous chemical gas on a 2D virtual map in real-time.","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"1 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":"133949708","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.2018.8606360
Ahmad Safwan Jamaluddin, Abdul Rauf Abdul Rasam, N. Khalid, Maisarah Abdul Halim
Drug addiction or drug abuse is a complex brain disease that will cause the addict is dependent on drugs. The addiction is one of the most major matters in Malaysia. The number of addiction is increasing every year that it will lead to commit a crime and therefore the issue need to develop a creative method to control this social problem. The aim of the study is to examine the capabilities of Open Source Geographical Information System (GIS) in mapping and analysing drug addiction cases in Klang, Selangor. The objectives are i) to create maps and database of the drug addiction, ii) to analyse the distribution pattern of the drug addicts, iii) and to produce a hotspot map of the drug addiction. The methodology consists of four phases; systematic review, data collection, data processing and data analysis. The mapping and analysis of the cases were processed using Nearest Neighbour Analysis tool, Mean Coordinate and population patterns in Quantum GIS (QGIS). The result showed that the pattern and hotspot area of the cases was clustered especially in populous (aged 21–30) urban areas such as rapid housing and road activities. QGIS has demonstrated its capabilities for general GIS operations and the hotspot maps could be utilised by the authority to control the cases at the risk areas of drug in Malaysia.
{"title":"Exploring Open Source GIS for Drug Mapping and Analysis in Malaysia","authors":"Ahmad Safwan Jamaluddin, Abdul Rauf Abdul Rasam, N. Khalid, Maisarah Abdul Halim","doi":"10.1109/ICSENGT.2018.8606360","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606360","url":null,"abstract":"Drug addiction or drug abuse is a complex brain disease that will cause the addict is dependent on drugs. The addiction is one of the most major matters in Malaysia. The number of addiction is increasing every year that it will lead to commit a crime and therefore the issue need to develop a creative method to control this social problem. The aim of the study is to examine the capabilities of Open Source Geographical Information System (GIS) in mapping and analysing drug addiction cases in Klang, Selangor. The objectives are i) to create maps and database of the drug addiction, ii) to analyse the distribution pattern of the drug addicts, iii) and to produce a hotspot map of the drug addiction. The methodology consists of four phases; systematic review, data collection, data processing and data analysis. The mapping and analysis of the cases were processed using Nearest Neighbour Analysis tool, Mean Coordinate and population patterns in Quantum GIS (QGIS). The result showed that the pattern and hotspot area of the cases was clustered especially in populous (aged 21–30) urban areas such as rapid housing and road activities. QGIS has demonstrated its capabilities for general GIS operations and the hotspot maps could be utilised by the authority to control the cases at the risk areas of drug in Malaysia.","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":"125701626","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.2018.8606398
Fachrur Razy Rahman, A. S. Rohman, Iyas Munawar, Sarin Sereyvatha
This study uses an antiwindup PI controller as a BLDC motor speed controller to eliminate windup phenomena due to the accumulation of integral signals when saturation occurs. In its design, the BLDC motor is first modeled using SysId MATLAB by looking at the system response when it is run with PWM values that are directed linearly from the desired motor speed. Once it is known that the system response is graphically in the form of a straight line, then the next is to provide input in the form of a setpoint value that changes randomly to the BLDC motor. The setpoint value is the input value and the measured RPM value is the output for SysId MATLAB. Determination of kp and ki values is carried out analytically in ideal conditions (no saturation) and in accordance with the desired design specifications. The next step is to do a simulation using the PI – anti windup control structure using kp and ki values that have been previously obtained. Based on the results of the simulation and implementation it was found that the PI control system – antiwindup works well in overcoming the saturation problems in the actuator and is able to make the system provide a fast response to the given control signal. In this case, the percent overshoot and steady state errors are made to zero and settling time is several times faster than open loop conditions or by using PI control only.
本研究采用反绕组PI控制器作为无刷直流电动机速度控制器，以消除饱和时积分信号积累引起的绕组现象。在其设计中，首先使用SysId MATLAB对无刷直流电机进行建模，通过观察系统响应，当它与所需电机速度线性定向的PWM值一起运行时。一旦知道系统响应以直线的形式图形化，那么下一步就是以随机变化的设定值的形式提供输入给无刷直流电机。设定点值是输入值，测量的RPM值是SysId MATLAB的输出值。kp和ki值的测定是在理想条件下(无饱和)和按照期望的设计规范进行的。下一步是利用先前获得的kp和ki值，使用PI - anti - windup控制结构进行仿真。仿真和实现结果表明，PI控制系统-反卷绕能很好地克服执行器的饱和问题，并能使系统对给定的控制信号做出快速响应。在这种情况下，超调和稳态误差的百分比为零，稳定时间比开环条件或仅使用PI控制快几倍。
{"title":"Speed Control System of BLDC Motor using PI Anti – Windup Controller on an Autonomous Vehicle Prototype (AVP)","authors":"Fachrur Razy Rahman, A. S. Rohman, Iyas Munawar, Sarin Sereyvatha","doi":"10.1109/ICSENGT.2018.8606398","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606398","url":null,"abstract":"This study uses an antiwindup PI controller as a BLDC motor speed controller to eliminate windup phenomena due to the accumulation of integral signals when saturation occurs. In its design, the BLDC motor is first modeled using SysId MATLAB by looking at the system response when it is run with PWM values that are directed linearly from the desired motor speed. Once it is known that the system response is graphically in the form of a straight line, then the next is to provide input in the form of a setpoint value that changes randomly to the BLDC motor. The setpoint value is the input value and the measured RPM value is the output for SysId MATLAB. Determination of kp and ki values is carried out analytically in ideal conditions (no saturation) and in accordance with the desired design specifications. The next step is to do a simulation using the PI – anti windup control structure using kp and ki values that have been previously obtained. Based on the results of the simulation and implementation it was found that the PI control system – antiwindup works well in overcoming the saturation problems in the actuator and is able to make the system provide a fast response to the given control signal. In this case, the percent overshoot and steady state errors are made to zero and settling time is several times faster than open loop conditions or by using PI control only.","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"18 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":"132815280","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.2018.8606391
F. Kasran, M. H. Jusoh, Siti Amalina Ence Ab Rahim, N. Abdullah
GICs is a ground end manifestation associated with the space weather perturbations that should be greatly taken into account by the society. Even though the GICs implication to the power system is not regularly happened, it can cause large scale of system failure. In equatorial, the power system is considered safe since the most intense of geomagnetic storm happened in high latitude. However, the internal damage due to GICs which finally led to the South African power system failure has totally changed the normal perception. Therefore, a preliminary investigation on the GICs activity in equatorial region is performed to understand the space weather impact to the power system. Time derivative of the horizontal magnetic field component (dB/dt) is done to indicate the GICs activity value based on Faraday’s law. All the reported power failures are compiled to produce the threshold value of dB/dt, which possibly cause the harmful effect to the system. Then, dB/dt analysis is extended to show the pattern of GICs activity in function of magnetic latitude and local time. The results reveal that power network in equatorial region has possibly suffered by GIC. Plus, high number of intense GIC activity in this region occurred during dayside.
{"title":"Geomagnetically Induced Currents (GICs) in Equatorial Region","authors":"F. Kasran, M. H. Jusoh, Siti Amalina Ence Ab Rahim, N. Abdullah","doi":"10.1109/ICSENGT.2018.8606391","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606391","url":null,"abstract":"GICs is a ground end manifestation associated with the space weather perturbations that should be greatly taken into account by the society. Even though the GICs implication to the power system is not regularly happened, it can cause large scale of system failure. In equatorial, the power system is considered safe since the most intense of geomagnetic storm happened in high latitude. However, the internal damage due to GICs which finally led to the South African power system failure has totally changed the normal perception. Therefore, a preliminary investigation on the GICs activity in equatorial region is performed to understand the space weather impact to the power system. Time derivative of the horizontal magnetic field component (dB/dt) is done to indicate the GICs activity value based on Faraday’s law. All the reported power failures are compiled to produce the threshold value of dB/dt, which possibly cause the harmful effect to the system. Then, dB/dt analysis is extended to show the pattern of GICs activity in function of magnetic latitude and local time. The results reveal that power network in equatorial region has possibly suffered by GIC. Plus, high number of intense GIC activity in this region occurred during dayside.","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"74 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":"123244535","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.2018.8606395
R. Siswanto, F. S. Suwita, A. Prihatmanto, R. Darmakusuma, Harits Ar Rosyid, Ardianto Satriawan
The line capacity of fixed block signalling is reciprocal of the minimum headway and is defined as the maximum number of the train that can pass through a stretch of track per unit time for safety reason. By using the Communication Based Train Control (CBTC) technology all trains continuously communicating their exact position. Therefore, the safety distance was no longer a static entity but an adjustable distance (moving block) based on a real-time calculation of the train speed. There will no longer wasted space so the line capacity will increase. The prototype form implemented in three sub-systems, the first one is signal generating system consisting of an oscillator circuit and amplifiers to generate AC signals and flow it to the loop cable produce electromagnetic waves, the signal processing sub-system which serves to read the oscillator signal on the loop cable by using the coil, and data processing and communication sub-system processing signal output and send data to the server. The output of this implementation is sequence number of blocks that have been passed by the train. By using that information we can determine the position of the train.
{"title":"Moving Block Signalling System Prototype Utilizing Magnetic Field to Determine Position of a Train","authors":"R. Siswanto, F. S. Suwita, A. Prihatmanto, R. Darmakusuma, Harits Ar Rosyid, Ardianto Satriawan","doi":"10.1109/ICSENGT.2018.8606395","DOIUrl":"https://doi.org/10.1109/ICSENGT.2018.8606395","url":null,"abstract":"The line capacity of fixed block signalling is reciprocal of the minimum headway and is defined as the maximum number of the train that can pass through a stretch of track per unit time for safety reason. By using the Communication Based Train Control (CBTC) technology all trains continuously communicating their exact position. Therefore, the safety distance was no longer a static entity but an adjustable distance (moving block) based on a real-time calculation of the train speed. There will no longer wasted space so the line capacity will increase. The prototype form implemented in three sub-systems, the first one is signal generating system consisting of an oscillator circuit and amplifiers to generate AC signals and flow it to the loop cable produce electromagnetic waves, the signal processing sub-system which serves to read the oscillator signal on the loop cable by using the coil, and data processing and communication sub-system processing signal output and send data to the server. The output of this implementation is sequence number of blocks that have been passed by the train. By using that information we can determine the position of the train.","PeriodicalId":111551,"journal":{"name":"2018 IEEE 8th International Conference on System Engineering and Technology (ICSET)","volume":"52 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":"124550320","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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