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All Journal AUSTENIT Mechatronics, Electrical Power, and Vehicular Technology Jurnal INKOM Turbulen : Jurnal Teknik Mesin Teknologi Indonesia
Hendri Maja Saputra
Research Center for Electrical Power and Mechatronics, Indonesian Institute of Sciences, Komp. LIPI Bandung, Jl. Sangkuriang, Gd. 20. Lt. 2, Bandung 40135
Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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ANALISA RANGKA LOAD-FRAME DARI ALAT TRIAXIAL DIGITAL 50 KN Putera, Eka; Saputra, Hendri Maja; Ruchimat, Ruchimat
JURNAL TURBULEN Vol.1 No.2 (Des 2018)
Publisher : Universitas Tridinanti Palembang

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (18.922 KB)

Abstract

ABSTRACT An analysis of the strength of the material on the framework of the digital triaxial apparatus to increase the maximum working capability to 50 kN has been performed. A digital triaxial device is a test machine used to determine the properties of a soil sample. Analysis of the framework of this tool is needed to see the character of the material used so as to obtain maximum performance to support the performance of the digital triaxial device. The frame in question consists of a bottom base, two poles, and a beam rod positioned at the top of the pole. The analysis performed using 3D Solidworks software utilizes structural analysis features. Pressures of 50 kN are given in a vertical direction so as to press the midpoint of the bottom base and the beam rod, both of which are attached to the pole using a nut as anchoring. The analysis result shows that Stress Von Mises maximum vallue that works on parts is 1.664,7 kgf/cm2. 
THE EFFECT OF DIGITAL PWM STEADY STATE RESPONSE ON THE SPEED OF BLDC MOTOR Rahmayanti, Rifa; Utomo, Sapdo; Saputra, Hendri Maja
Teknologi Indonesia Vol 38, No 3 (2015)
Publisher : LIPI Press

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/jti.v38i3.244

Abstract

This research aims to analyze the work system of a brushless DC (BLDC) motor speed driver. The motor is controlled by a driver which receives speed command signal from a microcontroller. Effect of digital Pulse Width Modulation (PWM) command signal on the speed response of the motor is investigated by changing duty ratio from 30% to 100% and frequency between 500Hz?100kHz. Each speed response is compared against the speed response of the corresponding analog command signal. From the experimental results, it can be concluded that larger switching frequency provides smaller steady state error and smaller standard deviation in the speed response. More specifically, for the BLDC motor used in the experiments, steady state error of 5% rotational speed can be achieved only by a digital PWM command signal the duty cycle ratio of which is larger than 60% and the frequency of which is larger than 1 kHz.
ANALISIS KINEMATIK DAN DINAMIK MEKANISME PENGGERAK 2-DOF UNTUK ANTENA BERGERAK PADA KOMUNIKASI SATELIT Saputra, Hendri Maja; Rijanto, Estiko
Teknologi Indonesia Vol 32, No 1 (2009)
Publisher : LIPI Press

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/jti.v32i1.52

Abstract

Kinematic and dynamic analysis of a mechanism for mobile antennas used in positioning control system of mobile satellite communication (SATCOM) antennas has been conducted. This antenna driving mechanism has two degrees of freedom (2-DOF), they are azimuth and elevation directions. The antenna driving mechanism is put on a vehicle (either land or water), so that the analysis includes vehicle body disturbance in three directions (3-DOF), namely roll, pitch, and yaw. The dynamical model has been made using D-H notation which is common in robotics. Computer simulation has been conducted to analyze the relationship between the antenna movement velocity (azimuth and elevation direction) and the required actuator torque to control the mechanism so that the antenna always keeps pointing to a satellite 630 km above the earth surface. The simulation results show that antenna movement needs smaller actuator torque in smaller elevation and larger actuator torque in larger elevation. For the antenna dimension and the antenna driving mechanism used in this research, it is obtained that nominal value of actuator torque for pan (azimuth) direction is 30 Nm and for tilt (elevation) direction is 200 Nm.
Pengurangan Subsidi BBM dan Polusi Udara Melalui Kebijakan Program Konversi dari BBM ke BBG Untuk Kendaraan di Propinsi Jawa Barat Susanti, Vita; Hartanto, Agus; Subekti, Ridwan Arief; Saputra, Hendri Maja; Rijanto, Estiko; Hapid, Abdul
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 1, No 2 (2010)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (408.963 KB) | DOI: 10.14203/j.mev.2010.v1.43-52

Abstract

The  number  of  vehicle  that  use  oil  (BBM)  is  increasing  every  year  in  Indonesia  while  national  oil  reserve become smaller, so that the oil should be imported. The impact of using oil are increasing subsidy and air pollution.  Thus, it is now becoming important to replace oil with another environmentally friendly energy, one of them is gas (BBG). Based on the number of vehicle and infrastructure in gas pipeline, part of northern West Java potentially can  be  chosen  for  the  implementation  of  conversion  program  to  gas  (BBG).  The number  of  vehicle  in  potential regions  such  as  Depok,  Cibinong,  Bogor,  Bekasi,  Cikarang,  Karawang,  Purwakarta,  Cirebon,  and  Bandung  are around 875,505 units. From these data, we simulated the potential profit to be gained each year by converting 10% for the first year and increasing it to 5% for every year. By investing 3.16 trillion for conversion, 14.9 trillion can be achieved in  the  form  of  fuel  subsidy  savings.  In  addition,  emission  reduction  converted  to  a  CDM  (clean development  mechanism)  can  become  local  revenues.  Total CDM generated during 5 years predicted is of U.S $ 772,385. From this study, it can be concluded that converting oil (BBM) to gas (BBG) is highly beneficial. 
DC Brushless Motor Control Design and Preliminary Testing for Independent 4-Wheel Drive Rev-11 Robotic Platform Saputra, Roni Permana; Ardiansyah, Rizqi Andry; Mirdanies, Midriem; Santoso, Arif; Nugraha, Aditya Sukma; Muqorobin, Anwar; Saputra, Hendri Maja; Susanti, Vita; Rijanto, Estiko
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 2, No 2 (2011)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (714.52 KB) | DOI: 10.14203/j.mev.2011.v2.85-94

Abstract

This paper discusses the design of control system for brushless DC motor using microcontroller ATMega 16 that will be applied to an independent 4-wheel drive Mobile Robot LIPI version 2 (REV-11). The control system consists of two parts which are brushless DC motor control module and supervisory control module that coordinates the desired command to the motor control module. To control the REV-11 platform, supervisory control transmit the reference data of speed and direction of motor to control the speed and direction of each actuator on the platform REV-11. From the test results it is concluded that the designed control system work properly to coordinate and control the speed and direction of motion of the actuator motor REV-11 platform. 
Accuracy analysis of geometrical and numerical approaches for two degrees of freedom robot manipulator Saputra, Hendri Maja; Mirdanies, Midriem; Rijanto, Estiko
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 7, No 2 (2016)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (2319.664 KB) | DOI: 10.14203/j.mev.2016.v7.105-112

Abstract

Analysis of algorithms to determine the accuracy of aiming direction using two inverse kinematic approaches i.e. geometric and numeric has been done. The best method needs to be specified to precisely and accurately control the aiming direction of a two degrees of freedom (TDOF) manipulator. The manipulator degrees of freedom are azimuth (Az) and elevation (El) angles. A program has been made using C language to implement the algorithm. Analysis of the two algorithms was done using statistical approach and circular error probable (CEP). The research proves that accuracy percentage of numerical method is better than geometrical method, those are 98.63% and 98.55%, respectively. Based on the experiment results, the numerical approach is the right algorithm to be applied in the TDOF robot manipulator.
IMU Application in Measurement of Vehicle Position and Orientation for Controlling a Pan-Tilt Mechanism Saputra, Hendri Maja; Abidin, Zainal; Rijanto, Estiko
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 4, No 1 (2013)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1030.099 KB) | DOI: 10.14203/j.mev.2013.v4.41-50

Abstract

This paper describes a modeling and designing of inertial sensor using Inertial Measurement Unit (IMU) to measure the position and orientation of a vehicle motion. Sensor modeling is used to derive the vehicle attitude models where the sensor is attached while the sensor design is used to obtain the data as the input to control the angles of a pan-tilt mechanism with 2 degrees of freedom. Inertial sensor Phidget Spatial 3/3/3, which is a combination of 3-axis gyroscope, 3-axis accelerometer and 3-axis magnetometer, is used as the research object. Software for reading the sensor was made by using Matlabâ„¢. The result shows that the software can be applied to the sensor in the real-time reading process. The sensor readings should consider several things i.e. (a) sampling time should not be less than 32 ms and (b) deviation ratio between measurement noise (r) and process noise (q) for the parameters of Kalman filter is 1:5 (i.e. r = 0.08 and q = 0.4).
Algorithm of 32-bit Data Transmission Among Microcontrollers Through an 8-bit Port Mirdanies, Midriem; Saputra, Hendri Maja; Rijanto, Estiko
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 6, No 2 (2015)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (458.849 KB) | DOI: 10.14203/j.mev.2015.v6.75-82

Abstract

This paper proposes an algorithm for 32-bit data transmission among microcontrollers through one 8-bit port. This method was motivated by a need to overcome limitations of microcontroller I/O as well as to fulfill the requirement of data transmission which is more than 10 bits. In this paper, the use of an 8-bit port has been optimized for 32-bit data transmission using unsigned long integer, long integer, and float types. Thirty-two bit data is extracted intobinary number, then sent through a series of 8-bit ports by transmitter microcontroller. At receiver microcontroller, the binary data received through 8-bit port is reconverted into 32 bits with the same data type. The algorithm has been implemented and tested using C language in ATMega32A microcontroller. Experiments have been done using two microcontrollers as well as four microcontrollers in the parallel, tree, and series connections. Based on the experiments, it is known that the data transmitted can be accurately received without data loss. Maximum transmission times among two microcontrollers for unsigned long integer, long integer, and float are 630 μs, 1,880 μs, and 7,830 μs, respectively. Maximum transmission times using four microcontrollers in parallel connection are the same as those using two microcontrollers, while in series connection are 1,930 μs for unsigned long integer, 5,640 μs for long integer, and 23,540 μs for float. The maximum transmission times of tree connection is close to those of the parallel connection. These results prove that the algorithm works well.
Control of Pan-tilt Mechanism Angle using Position Matrix Method Saputra, Hendri Maja; Santoso, Arif; Mirdanies, Midriem; Windarwati, Vikita; Nayanti, Riastus; Maulana, Lukni
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 4, No 2 (2013)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (395.278 KB) | DOI: 10.14203/j.mev.2013.v4.109-116

Abstract

Control of a Pan-Tilt Mechanism (PTM) angle for the bomb disposal robot Morolipi-V2 using inertial sensor measurement unit, x-IMU, has been done. The PTM has to be able to be actively controlled both manually and automatically in order to correct the orientation of the moving Morolipi-V2 platform. The x-IMU detects the platform orientation and sends the result in order to automatically control the PTM. The orientation is calculated using the quaternion combined with Madwick and Mahony filter methods. The orientation data that consists of angles of roll (α), pitch (β), and yaw (γ) from the x-IMU are then being sent to the camera for controlling the PTM motion (pan & tilt angles) after calculating the reverse angle using position matrix method. Experiment results using Madwick and Mahony methods show that the x-IMU can be used to find the robot platform orientation. Acceleration data from accelerometer and flux from magnetometer produce noise with standard deviation of 0.015 g and 0.006 G, respectively. Maximum absolute errors caused by Madgwick and Mahony method with respect to Xaxis are 48.45º and 33.91º, respectively. The x-IMU implementation as inertia sensor to control the Pan-Tilt Mechanism shows a good result, which the probability of pan angle tends to be the same with yaw and tilt angle equal to the pitch angle, except a very small angle shift due to the influence of roll angle..
Rancang Bangun Sistem Kontrol Mekanisme Pelacakan Matahari Beserta Fasilitas Telekontrol Hemat Energi Mirdanies, Midriem; Ardiansyah, Rizqi Andry; Saputra, Hendri Maja; Nugraha, Aditya Sukma; Rijanto, Estiko; Santoso, Adi
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 2, No 1 (2011)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (678.862 KB) | DOI: 10.14203/j.mev.2011.v2.31-40

Abstract

Solar energy produced by concentrated solar heat collector panels requires tracking mechanisms for a more optimal direction. This paper presents the design and construction of a low energy solar tracking control system with telecontrol facilities. To accelerate the movement of the panel in always adjusting itself to the direction of the sun, a combination of the timer and light sensor was used. In this control system, the reference signal is taken from two pieces of light sensors while the feedback is taken from the position and temperature sensors. The program has been developed using C language and was implemented on the microcontroller ATMega8535 as the brain of the system. Telecontrol facilities for monitoring the data to a computer uses transceiver modules via RS-232 connection. A DC motor having power capacity of 0.74 watts was used and was clutched with 1:7,300 gearbox ratio. Experiments on light sensor characteristics and simulated movement of the panel were carried out. From the light sensor experiment it can be concluded that the sensor produces 0-4 volt output signal when bright 3.3-3.9 volts, when cloudy and 1.5-3.3 volts when sunny. From the simulation of panel movement, it is known that the solar tracking control system moves the panel and tracks the direction of the sun movement. 
Co-Authors A.A. Ketut Agung Cahyawan W Agus Hartanto Anwar Muqorobin Arif Santoso Dalmasius Ganjar Subagio Estiko Rijanto Jamhari Jamhari Lukni Maulana Midriem Mirdanies Putera, Eka Rahmayanti, Rifa Rajani, Ahmad Riastus Nayanti Ridwan Arief Subekti Rizqi Andry Ardiansyah Roni Permana Saputra Ruchimat, Ruchimat Sanjaya, Kadek Heri Sukma Aditya Utomo, Sapdo Vikita Windarwati Vita Susanti Zainal Abidin