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Implementation of Pneumatic Air Muscle for Actuating Knee Exoskeleton Using Four-Bar Linkage 四杆机构驱动膝关节外骨骼气动肌肉的实现
Pub Date : 2019-02-13 DOI: 10.33555/iconiet.v2i3.27
E. Budiarto, Dimas Anindito Widjanarko, L. Kidarsa
The knee exoskeleton is a device that assists users with weak knees to walk. It consists of a mechanical construction put around the human knee which is equipped with an actuator for movement. One mechanism that can be used to mimic movement of the real knee is the four-bar linkage. This research explores the possibility of using pneumatic air muscles as actuators for a knee exoskeleton with four-bar linkage implementation. A pneumatic air muscle is a single-acting linear actuator that contracts when filled with pressurized air, mimicking muscle contraction. It is much lighter than electrical motors, but—according to characterization done in this research—is difficult to control due to its inconsistent torque output. Nevertheless, this research shows that simple gait movements can be simulated using a knee exoskeleton actuated by pneumatic air muscles with an on-off control scheme. 
膝关节外骨骼是一种帮助膝盖虚弱的用户行走的设备。它由一个环绕在人膝盖周围的机械结构组成,该结构配备了一个用于运动的驱动器。一种可以用来模拟真实膝盖运动的机制是四杆联动。本研究探讨了使用气动空气肌肉作为四杆联动膝关节外骨骼执行器的可能性。气动空气肌是一种单作用的线性执行器,当充满加压空气时,它会收缩,模仿肌肉收缩。它比电动机轻得多,但根据本研究的特性,由于其扭矩输出不一致,很难控制。尽管如此,这项研究表明,简单的步态运动可以通过一个带有开关控制方案的气动空气肌肉驱动的膝关节外骨骼来模拟。
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引用次数: 0
Implementation of Distance-Measuring System Using Ultrasonic to be used in an Autonomous Human-Following Luggage Robot 超声波测距系统在自主跟随人的行李机器人中的实现
Pub Date : 2019-02-13 DOI: 10.33555/ICONIET.V2I3.40
E. Sinaga, Suryanto Wangsa Mulya, E. Budiarto
In this research, ultrasonic sensors are implemented to measure distances for anautonomous human-following luggage robot. The system consists of the luggage robot and thewireless transmitter device which is held by the person acting as a target. The robot is equippedwith two ultrasonic sensors mounted on the top of it, acting only as receivers, two DC motors todrive the robot, and an Arduino board acting as microcontroller. Meanwhile, the transmitterdevice has one ultrasonic sensor. The luggage robot is designed to follow the person byfollowing the signals sent by the transmitter device. In order to determine the direction of thetarget, a microcontroller is used to measure time difference of the signals received by thereceivers mounted on the top of the luggage. A program is developed to compute the directionand distance to where the robot should move according to the transmitter device. Themicrocontroller then controls the motors through the H Bridge to make speed adjustment onboth motors according to the direction of movement.
在本研究中,采用超声波传感器来测量自动跟随人类的行李机器人的距离。该系统由行李机器人和无线发射器组成,无线发射器由作为目标的人持有。机器人的顶部安装了两个超声波传感器,仅作为接收器,两个直流电机驱动机器人,Arduino板作为微控制器。同时,传输装置具有一个超声波传感器。行李机器人被设计成跟随发送装置发出的信号来跟随人。为了确定目标的方向,使用微控制器测量安装在行李箱顶部的接收器接收到的信号的时间差。开发了一个程序,根据发射装置计算机器人应该移动的方向和距离。然后单片机通过H桥控制电机,根据运动方向对两个电机进行速度调节。
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引用次数: 0
Evaluation of Resistant Starch Quality from Different Types of Banana in Batter Coating Formulation to Reduce Oil Absorption in Fried Food 降低油炸食品吸油率的香蕉糊包衣配方中不同品种香蕉抗性淀粉品质的评价
Pub Date : 2019-02-13 DOI: 10.33555/ICONIET.V2I2.21
Karissha Fritzi Della, Mutiara Pratiwi, Purwa Tri Cahyana, M. Gunawan-Puteri
Fried food is convenient for many people due to its pleasant texture and taste. On the other hand, it comes with the risk of high oil absorption which might lead to certain health problems. Resistant starch (RS) has been known to have a functionality of reducing oil absorption. Three different types of banana: Kepok (Musa paradisiaca formatypica), Raja Bulu (Musa paradisiaca L.) and Ambon (Musa paradisiaca L. var sapientum) were evaluated on its performance when utilized as source of resistant starch especially on their application in reducing oil absorption in fried food. Tempeh was used as the food model. Banana starch (RS2) was isolated through water alkaline extraction process, continued with modification process through three repeated cycles of autoclaving-cooling process to obtain the RS3. RS3 was added into the batter coating formulation at three substitution ratios (10%, 30% and 50%) and then used to coat tempeh before frying. Evaluation of resistant starch in batter and battered productwas conducted on the following parameters: fat content, water retention capacity (WRC), coating pick up and sensory analysis. The result of this study revealed that Raja Bulu showed the most effective result on reducing oil absorption in the food tested. In the three bananas used, the ratio of 50% performed best in coating pick up (highest), WRC (highest) and fat content(lowest) parameters, but not significantly different with the 30% ratio. In terms of sensory acceptance, using Raja Bulu as the selected banana type, 30% of substitution ratio was significantly more preferable by the panelists in crispness, oiliness, and overall acceptance attributes compared to control and other substitution ratios.
油炸食品由于其令人愉悦的质地和味道,对许多人来说都很方便。另一方面,它带来了高油吸收的风险,这可能会导致某些健康问题。抗性淀粉(RS)具有减少油脂吸收的功能。以三种不同类型的香蕉:Kepok (Musa paradisiaca formatypica)、Raja Bulu (Musa paradisiaca L. var sapientum)和Ambon (Musa paradisiaca L. var sapientum)作为抗性淀粉的来源,特别是在减少油炸食品吸油方面的应用进行了评价。豆豉被用作食物模型。采用水碱提取法分离香蕉淀粉(RS2),再经过3次反复蒸压-冷却工艺进行改性,得到香蕉淀粉(RS3)。将RS3以10%、30%、50%的替代比例加入到糊包衣配方中,用于煎炸前的豆豉包衣。通过脂肪含量、保水能力(WRC)、涂膜率和感官分析等参数对面糊和糊制品中的抗性淀粉进行了评价。本研究结果显示,拉加布鲁显示出最有效的结果,以减少油的吸收在食品测试。在3种香蕉中,50%配比在包衣量(最高)、WRC(最高)和脂肪含量(最低)方面表现最好,但与30%配比差异不显著。在感官接受度方面,选用Raja Bulu作为香蕉品种,30%的替代比例比对照和其他替代比例在脆度、油度和整体接受度属性上明显更受小组成员的青睐。
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引用次数: 0
Building an Electronic Auction Platform for Recyclable Waste Trading with Gamification Implementation 建立一个可回收废物电子拍卖交易平台,并实施游戏化
Pub Date : 2019-02-13 DOI: 10.33555/iconiet.v2i3.31
Jayadi Taslim, James Purnama, Randy Anthony
Waste is becoming a prevalent problem in Indonesia. Waste is overproduced to thepoint that waste landfills are constantly struggling to keep up, and are forced to do destructive,polluting methods. Recycling campaigns have been organized and socialized into the society topromote and motivate recycling in order to tackle waste problems, but failed to do anysignificant impact. Difficulties in finding recyclable waste buyers and insufficient informationof recyclable waste market price further demotivates society to recycle. This paper introduceseLDUS, an electronic auction for recyclable waste auctions, as a solution to attract and motivatesociety to recycle their waste. A prototype is developed in the form of mobile applications and aweb service to facilitate e-auctions for prospective sellers and buyers. To further engage andretain users in continuing the usage of eLDUS, gamification is implemented into the systemwith the help of the Octalysis framework. A closed beta test involving ten respondents are thenconducted. Respondents’ responses are analyzed to find insights and draw conclusions. Theconcept is well-received and can attract and motivate respondents to recycle. The prototype hasbeen evaluated to be very intuitive, easy to use, safe, and convenient in general. Theimplementation of gamification has been found to provide positive impact to the respondents’experience.
垃圾正在成为印度尼西亚一个普遍存在的问题。垃圾生产过剩,以至于垃圾填埋场一直在努力跟上,并被迫采取破坏性和污染的方法。为了解决垃圾问题,在社会上组织和社会化了回收运动,以促进和激励回收,但未能产生重大影响。寻找可回收垃圾买家的困难和可回收垃圾市场价格信息的不足进一步削弱了社会的回收动力。本文介绍了eldus,一种可回收废物拍卖的电子拍卖,作为一种吸引和激励社会回收废物的解决方案。原型以移动应用程序和网络服务的形式开发,以促进潜在卖家和买家的电子拍卖。为了进一步吸引和留住用户继续使用eLDUS,在Octalysis框架的帮助下,系统实现了游戏化。然后对10名受访者进行了封闭测试。对受访者的回答进行分析,以找到见解并得出结论。这个概念很受欢迎,可以吸引和激励受访者进行回收。该原型被评估为非常直观,易于使用,安全和方便。游戏化的实施对受访者的体验产生了积极的影响。
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引用次数: 1
Design comparison of wind turbines for low wind speed 低风速下风力发电机的设计比较
Pub Date : 2019-02-13 DOI: 10.33555/iconiet.v2i3.36
D. Hendriana, E. Budiarto, Alexander Clements, Arko Djajadi
Wind energy is one of the potential renewable energy, but the applications have to beadjusted to the available wind characteristic in the area. In Indonesia, the wind speed is inaverage not very high, only around 4 m/s. Therefore the wind turbine design have to be adjustedfor usage in Indonesia. In this research, two wind turbine designs are compared. One design isof the form Horizontal-Axis Wind Turbine (HAWT) and the other is of the form Vertical-AxisWind Turbine (VAWT). Both designs are optimized for wind speed of 4 m/s. The comparisonsare done using computer simulation software OpenFOAM. The result shows VAWT design canproduce similar power with smaller turbine dimension than the HAWT design.
风能是一种潜在的可再生能源,但其应用必须根据该地区可用的风力特性进行调整。在印度尼西亚,平均风速不是很高,只有4米/秒左右。因此,风力涡轮机的设计必须根据印尼的使用情况进行调整。在本研究中,比较了两种风力机的设计。一种设计形式是水平轴风力发电机(HAWT),另一种是垂直轴风力发电机(VAWT)。两种设计都针对4米/秒的风速进行了优化。采用计算机仿真软件OpenFOAM进行比较。结果表明,VAWT设计可以在涡轮尺寸较小的情况下产生与HAWT设计相似的功率。
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引用次数: 2
Function of a Sewage Treatment Plant in Rodgau, Germany 德国罗德高污水处理厂的功能
Pub Date : 2019-02-12 DOI: 10.33555/iconiet.v2i1.9
Robin Bialdiga
Rodgau has nearly 50.000 citizens and have their own sewage treatment plant. The wastewater of the whole town has to be treated to the point where it can be released in the back which gives the town its name, the Rodgau. There are two main sources of wastewater, municipal and industrial waste water. (www.rodgau.de 8.9.17) The objective of Sewage Treatment in Rodgau especially is that the waste water after beingprocess can go directly to Rodau river. The drinking water of Rodgau is not coming from thesewage treatment plant. (Bundesministerium der Justiz und für Verbraucherschutz) The sewage Treatment Plant in Rodgau has the capacity up to 75.000 citizen value (EW). In this sewage treatment there are physical, chemical and biological processes. In the chemical processes there are neutralization, oxidation and reduction processes. The physical treatment including sedimentation, extraction, and adsorption process. Then main steps of the sewage treatment are screening and filtration of the bigger pollutants, transforming of elements and separating the sludge.( ATV-Handbuch (1999)) Different options can be seen which were used in the Rodgau plant. The Rodgau sewagetreatment plant is at state of the art, very efficient and can be a great example for sewagetreatment plants of other cities.
罗德高有近5万居民,并拥有自己的污水处理厂。整个城镇的废水都必须经过处理,才能排放到后面,因此这个城镇得名“罗高”。有两种主要的废水来源,城市和工业废水。(www.rodgau.de 8.9.17)特别是罗道污水处理的目标是废水经过处理后可以直接进入罗道河。罗高的饮用水不是来自这些污水处理厂。罗德高的污水处理厂的处理能力高达75000市民价值(EW)。在这种污水处理中有物理、化学和生物过程。在化学过程中有中和、氧化和还原过程。物理处理包括沉淀、萃取和吸附过程。污水处理的主要步骤是对较大污染物的筛选过滤、元素转化和污泥分离。(ATV-Handbuch(1999))在罗德高工厂可以看到不同的选择。罗高污水处理厂是最先进的,效率很高,可以成为其他城市污水处理厂的一个很好的例子。
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引用次数: 0
Are High Renewable Energy Shares In Large Power Grids In Indonesia Too Expensive? 印尼大型电网中可再生能源的高份额是否过于昂贵?
Pub Date : 2019-02-12 DOI: 10.33555/ICONIET.V2I1.8
Matthias Günther
High shares of power from renewable resources in large power supply grids do not imply insurmountable technical problem anymore. A question is rather whether, besides the technical feasibility, it is also economically viable to go for a high share of power from sun, wind, water, geothermal resources and biomass. This paper scrutinizes the costs of a renewable-energy based power supply in the Java-Bali grid, by far the largest grid in Indonesia. The study refers to a challenging power supply scenario in which 100% of the power in the Java-Bali grid comes from renewable resources. This scenario is expressed in a one-year modeling of the load and the respective power supply in the grid. The modeling identifies possible sets of installed capacities of the different power plant types and storage systems that allow the supply of the required electricity. A cost scenario is applied to these sets, which renders the system costs, and finally the power generation costs. All scenarios refer to the year 2050. The results show that, assuming moderate financing costs, the cost of the electricity generation in the possible supply systems would not be higher than that in currently existing systems in developed countries; and it would even not be far away from the power generation cost in the current Java-Bali grid. A secondary result of the study is that the usage of special long-term storage systems for the balancing of seasonal power supply fluctuations, additionally to pumped storages and batteries, is not economically necessary in the considered grid.
可再生能源电力在大型电网中的高份额不再意味着不可逾越的技术问题。问题是,除了技术上的可行性外,从太阳能、风能、水能、地热资源和生物质能中获取高份额的电力在经济上是否可行。本文详细分析了爪哇-巴厘岛电网的可再生能源电力供应成本,该电网是迄今为止印尼最大的电网。该研究提到了一个具有挑战性的电力供应方案,其中Java-Bali电网中100%的电力来自可再生资源。这一场景是通过对电网中负载和各自电源进行为期一年的建模来表示的。该模型确定了不同电厂类型和存储系统的装机容量的可能集合,以提供所需的电力。将成本场景应用于这些集合,从而呈现系统成本,最后是发电成本。所有的情景都是指2050年。结果表明,在融资成本适中的情况下,可能的供电系统的发电成本不会高于发达国家现有系统的发电成本;它甚至与目前爪哇-巴厘岛电网的发电成本相差不远。该研究的第二个结果是,在考虑的电网中,除了抽水蓄能和电池外,使用特殊的长期存储系统来平衡季节性电力供应波动在经济上是不必要的。
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引用次数: 0
Development of Lower Cost Monolithic Dye-Sensitized Solar Cell with Carbon Counter-Electrode 低成本碳对极单片染料敏化太阳能电池的研制
Pub Date : 2019-02-12 DOI: 10.33555/ICONIET.V2I1.7
Daniel Agaphela, M. Günther, S. Kusumocahyo, N. Nursam
Dye-sensitized solar cells (DSSCs) were developed as low-cost and environmentally friendly alternatives to other types of solar cells. However, due to efficiency and stability shortcomings, and also because of the cost reductions in crystalline Si cells, DSSCs are not yet commercially successful. Several parameters have to be improved, one of which is the cost that should be reduced further. There are two ideas to achieve this: the platinum electrode can be substituted by a cheaper carbon electrode, and the sandwich structure of the cells, with two glass substrates with a transparent conducting oxide (TCO) layer on them, can be changed to a monolithic structure, in which only one TCO-coated glass substrate is used. In the present project the performance of such monolithic cells with carbon counter-electrode is compared to the performance of cells with sandwich structure that are otherwise identically constructed. The performance assessment was done by means of an I-V curve measurement. The main result is that monolithic cells have a lower efficiency. The data indicate that the internal serial resistance of the monolithic cells was higher than in the sandwich cells. In a further step, three monolithic cells were interconnected in series in a submodule, and the performance of this submodule was assessed. The result indicates that the serial resistance of the three cells that were interconnected in the submodule, including the contacts, was lower than three times the serial resistance of the individual cells including the contacts. This shows that there is a potential for a more efficient usage of monolithic cells by means of a module design that allows for lower resistances in the interconnection of the cells within the module as well as in the module contacts. This should be pursued in further research, as well as the reduction of the internal resistance of the monolithic cells.
染料敏化太阳能电池(DSSCs)是一种低成本、环保的太阳能电池替代品。然而,由于效率和稳定性的缺点,也因为晶体硅电池的成本降低,DSSCs尚未在商业上取得成功。有几个参数需要改进,其中之一是成本应该进一步降低。实现这一目标有两种思路:可以用更便宜的碳电极取代铂电极,并且可以将电池的三明治结构(两块带有透明导电氧化物(TCO)层的玻璃基板)更改为单片结构,其中只使用一块TCO涂层的玻璃基板。在本项目中,这种带有碳反电极的单片电池的性能与具有三明治结构的电池的性能进行了比较,否则结构相同。通过I-V曲线测量方法进行性能评价。主要结果是单片电池的效率较低。数据表明,单片电池的内部串联电阻高于夹层电池。在进一步的步骤中,三个单片单元串联在一个子模块中,并对该子模块的性能进行了评估。结果表明,包括触点在内的子模块中互连的三个单元的串联电阻小于包括触点在内的单个单元的串联电阻的三倍。这表明,通过模块设计,可以在模块内单元的互连以及模块触点中降低电阻,从而有可能更有效地使用单片单元。这应该在进一步的研究中进行,以及减少单片电池的内阻。
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引用次数: 0
Net Energy Analysis of Molasses Based Bioethanol Production in Indonesia 印尼糖蜜生物乙醇生产的净能量分析
Pub Date : 2019-02-12 DOI: 10.33555/ICONIET.V2I1.6
Carrin Aprinada, I. Kartawiria, Evita H. Legowo
Molasses is mostly used as feedstock for the bioethanol production in Indonesia. Bioethanol industries has the potential to be more developed if the mandate of blending gasoline with 5% bioethanol is implemented. However, some previous studies abroad have shown that mostly the net energy for producing bioethanol is negative. The main purpose of this research is to analyze the net energy requirement if a bioethanol conversion plant from scenario of a bioethanol producer in East Java. Bioethanol conversion processes inside the plant are pre-fermentation, fermentation, evaporation, distillation and dehydration. Method which was used in this research are modelling and calculation made on monthly basis for plant capacity of 30,000 KL/ year ethanol of 99.5% purity. The result shows that the total energy required to produce 1 L of ethanol is 4.55 MJ. The energy content of 1 L ethanol is 23.46 MJ. The largest energy requirement is for evaporation process (62%) followed by distillation process (33%). Thus, the net energy requirement for bioethanol production process is positive.
糖蜜在印度尼西亚主要用作生物乙醇生产的原料。如果在汽油中加入5%的生物乙醇的规定得以实施,生物乙醇工业有可能得到更大的发展。然而,国外先前的一些研究表明,生产生物乙醇的净能量大多是负的。本研究的主要目的是分析净能源需求,如果一个生物乙醇转化厂从情景中的生物乙醇生产商在东爪哇。植物内部的生物乙醇转化过程包括预发酵、发酵、蒸发、蒸馏和脱水。本研究采用的方法是按月对99.5%纯度的3万KL/年乙醇的生产能力进行建模和计算。结果表明,生产1 L乙醇所需的总能量为4.55 MJ。1l乙醇的能量含量为23.46 MJ。能量需求最大的是蒸发过程(62%),其次是蒸馏过程(33%)。因此,生物乙醇生产过程的净能量需求是正的。
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引用次数: 0
Potential of Palm Oil Empty Fruit Bunch as Biogas Substrate 棕榈油空果串作为沼气基质的潜力
Pub Date : 2019-02-12 DOI: 10.33555/ICONIET.V2I1.11
Vincentius Vincentius, Evita H. Legowo, I. Kartawiria
Natural gas is a source of energy that comes from the earth which is depleting every day, an alternative source of energy is needed and one of the sources comes from biogas. There is an abundance of empty fruit bunch (EFB) that comes from palm oil plantation that can become a substrate for biogas production. A methodology of fermentation based on Verein Deutscher Ingenieure was used to utilize EFB as a substrate to produce biogas using biogas sludge and wastewater sludge as inoculum in wet fermentation process under mesophilic condition. Another optimization was done by adding a different water ratio to the inoculum mixture. In 20 days, an average of 6gr from 150gr of total EFB used in each sample was consumed by the microbes. The best result from 20 days of experiment with both biogas sludge and wastewater sludge as inoculum were the one added with 150gr of water that produced 2910ml and 2185ml of gas respectively. The highest CH 4 produced achieved from biogas sludge and wastewater sludge with an addition of 150gr of water to the inoculum were 27% and 22% CH 4 respectively. This shows that biogas sludge is better in term of volume of gas that is produced and CH percentage.
天然气是一种来自地球的能源,地球每天都在消耗,需要一种替代能源,其中一种能源来自沼气。有大量来自棕榈油种植园的空果束(EFB)可以成为沼气生产的基质。采用基于Verein Deutscher Ingenieure的发酵方法,在中温条件下,以EFB为底物,以沼气污泥和污水污泥为接种物,进行湿式发酵生产沼气。另一种优化方法是在接种液中加入不同的水比。在20天内,每个样品中使用的150克EFB中平均有6克被微生物消耗。在以沼气污泥和废水污泥为接种物的20天试验中,以150g水为接种物的效果最好,分别产生2910ml和2185ml的气体。在接种物中添加150g水时,沼气污泥和废水污泥产生的最高甲烷含量分别为27%和22%。这表明,沼气污泥在产生的气体体积和CH百分比方面更好。
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引用次数: 0
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