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All Journal Jurnal Teknik Elektro Jurnal Teknik Mesin Jurnal Teknik ITS JAREE (Journal on Advanced Research in Electrical Engineering) Electrician : Jurnal Rekayasa dan Teknologi Elektro
Zulkifli Hidayat
Institut Teknologi Sepuluh Nopember
Aerospace Engineering Automotive Engineering Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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Pustaka Communication Thread for Java (CTJ) Ferdinando, Hany; Hidayat, Zulkifli
Jurnal Teknik Elektro Vol 4, No 2 (2004): SEPTEMBER 2004
Publisher : Institute of Research and Community Outreach

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (261.743 KB) | DOI: 10.9744/jte.4.2.

Abstract

The Communicating Thread for Java (CTJ) is part of the Communicating Thread (CT) Library developed by Control Engineering group, University of Twente, the Netherlands. One can write software based on Communicating Sequential Process (CSP) concept on PC with this library. Before, CSP programming can only implemented through Occam programming with transputer as its target. Inside the CT Library, the hardware independent and hardware dependent concept are proposed. As examples for the hardware independent part of the program are arithmetic operation, logic operation, etc. Examples from the hardware dependent are to read data from ADC, to send data via a fieldbus, etc. This concept enables one to move one system to another by changing the hardware dependent part of the program. The goal of this paper is to introduce the CT Library for embedded system and distributed control system application. The experiments done in this paper is emphasized on the hardware dependent part, since it relates to embedded system and distributed control system application. Abstract in Bahasa Indonesia : Pustaka Communication Thread for Java (CTJ) merupakan bagian dari pustaka (the CT Library) yang dikembangkan oleh Control Engineering group di University of Twente. Dengan menggunakan pustaka ini, seseorang dapat melakukan pemrograman berbasis Communication Sequential Process (CSP) pada PC. Sebelumnya, pemrograman CSP hanya dapat diimplementasikan lewat Occam dan diaplikasikan pada transputer. Pada pustaka ini, dikembangkan konsep hardware independent dan hardware dependent. Bagian yang hardware independent adalah program-program seperti perhitungan aritmatika, operasi logika, dll. Control bagian yang hardware dependent adalah pembacaan data dari ADC, proses pengiriman data lewat fieldbus, dll. Dengan menggunakan konsep ini, seorang dapat dengan mudah melakukan migrasi program ke platform yang lain dengan hanya mengubah bagian program yang hardware dependent. Paper ini bertujuan untuk memperkenal pustaka CT yang dapat diaplikasikan pada system embedded dan system kendali terdistribusi. Secara khusus, percobaan akan dilakukan pada bagian program yang hardware dependent, karena bagian ini yang sangat terkait dengan aplikasi pada system embedded dan system kendali terdistribusi. Kata kunci: pustaka CT, CSP.
Estimasi Parameter Aerodinamika Model Roket Menggunakan Computational Fluid Dynamics Dimas Agung Prabowo; Rusdhianto Effendi AK; Zulkifli Hidayat
Jurnal Teknik ITS Vol 9, No 2 (2020)
Publisher : Direktorat Riset dan Pengabdian Masyarakat (DRPM), ITS

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j23373539.v9i2.53422

Abstract

Dalam dunia militer, roket adalah sebuah senjata yang dapat dikendalikan secara langsung atau otomatis untuk mengenai targetnya. Untuk memastikan roket tersebut mampu bergerak mengenai target yang telah ditentukan, roket harus mampu dikendalikan untuk selalu mendekati target yang diatur oleh aturan pengendalian dan pemanduan. Pengendalian dan pemanduan sebuah roket membutuhkan sebuah model matematika dari roket tersebut. Semakin akurat model roket dengan keadaan nyata, maka akan semakin akurat pula pengendalian yang akan dicapai. Agar model matematika roket akurat diperlukan parameter-parameter roket untuk membuat model matematika roket. Terdapat parameter terukur yang diperoleh dari hasil pengukuran dimensi fisik roket. Dan terdapat parameter tidak terukur yang diperoleh melalui estimasi. Salah satu parameter yang diperoleh melalui estimasi adalah parameter aerodinamika roket. Agar didapatkan model yang baik parameter terukur dan parameter tidak terukur perlu didapatkan sehingga parameter aerodinamika roket perlu untuk diestimasi. Pada penelitian ini dilakukan estimasi parameter aerodinamika roket. Estimasi dilakukan dengan metode CFD. Dengan parameter hasil estimasi model matematika lengkap roket dapat diperoleh.
Attic Hatch Model Implementation Using the Bondgraph Zulkifli Hidayat; Hany Ferdinando
Jurnal Teknik Mesin Vol. 6 No. 1 (2004): APRIL 2004
Publisher : Institute of Research and Community Outreach - Petra Christian University

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

Abstract

The Bondgraph had been used widely in building and simulating a model. This paper solves a problem in an attic hatch (planar mechanism problem) using Bondgraph approach. Planar mechanisms are idealized systems that can translate and rotate in one plane. In the same way as linear translation or uni-axial rotation, planar motions can be considered as a special case of spatial motions of mechanisms. In the attic hatch system, people have to push with lot of power to open it. Then came up an idea to add a mass-pulley mechanism in order to open and close it easily. Before implementing this idea, it needs to simulate it first, because it needs to adjust many parameter combinations. This will also prevent someone to make unnecessary hole while implementing this idea (such as trial and error). This paper only dealt with building and simulating this idea, not going further in the real implementation. The simulation result shows that several parameters should be chosen carefully in order to achieve the final goal, i.e. to open the hatch easily and fast. The 20-Sim simulation package is used to verify the model. Abstract in Bahasa Indonesia : Bondgraph sudah dipergunakan secara luas untuk mensimulasikan sebuah model dari plant. Makalah ini akan membahas permasalahan yang terjadi dalam membuat sebuah attic hatch (pintu ke atap yang biasanya terdapat di rumah-rumah Eropa) dengan menggunakan bondgraph. Attic hatch merupakan suatu permasalahan dalam planar mechanism. Planar mechanism ada system ideal yang dapat bertranslasi dan berotasi dalam satu bidang datar. Seperti pada translasi linier atau rotasi pada satu sumbu, gerakan planar dapat digolongkan sebaagai kasus khusus dalam mekanik. Pada attic hatch,orang harus mendorong pintu untuk membukanya. Sehingga muncul suatu ide untuk menambahkan katrol dan beban untuk memudahkan proses buka dan tutupnya. Untuk menambahkan katrol dan beban ini, perlu dilakukan suatu simulasi untuk menghindari pembuatan lobang yang tidak perlu. Makalah ini hanya membahas simulasi dari sistemnya tanpa memasukkan implementasi secara nyata. Dari hasil simulasi, didapatkan bahwa beberapa parameter harus dipilih secara hati-hati untuk dapat membuka dan menutup pintu dengan mudah. Dalam simulasi ini dipergunakan software 20-Sim. Bond graph, simulation, 20-Sim. Kata kunci: bondgraph, simulasi, 20-Sim
Obstacle Tracking on Unmanned Surface Vehicle Using Kalman Filter Rusdhianto Effendi Abdul Kadir; Mochammad Sahal; Yusuf Bilfaqih; Zulkifli Hidayat; Gaung Jagad
JAREE (Journal on Advanced Research in Electrical Engineering) Vol 5, No 2 (2021): October
Publisher : Department of Electrical Engineering ITS and FORTEI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/jaree.v5i2.157

Abstract

Unmanned Surface Vehicles (USV) are self-driving vehicles that operate on the water surface. In order to be operated autonomously, USV has a guidance system designed for path planning to reach its destination. The ability to detect obstacles in its paths is one of the important factors to plan a new path in order to avoid obstacles and reach its destination optimally. This research designed an obstacle tracking system which integrates USV perception sensors such as camera and Light Detection and Ranging (LiDaR) to gain information of the obstacle’s relative position in the surrounding environment to the ship. To improve the relative position estimation of the obstacles to the ship, Kalman filter is applied to reduce the measurements noises. The results of the system design are simulated using MATLAB software so that results can be analyzed to see the performance of the system design. Results obtained using the Kalman filter show 12% noise reduction. Keywords: filter kalman, obstacle tracking, unmanned surface vehicle.
Comparison of Gradient Estimation in Cooperative Multi-Agent Source Seeking Mochammad Sahal; Zulkifli Hidayat; Abdullah Alkaff
JAREE (Journal on Advanced Research in Electrical Engineering) Vol 1, No 2 (2017): October
Publisher : Department of Electrical Engineering ITS and FORTEI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j25796216.v1.i2.21

Abstract

Agent-based source seeking problem is addressed in this paper. This problem is relevant in, e.g., in hazardous gas leak in a chemical disaster.  In the cooperative search, agents develop a formation to effectively search the source by communicating one to another via a communication topology. The source, or the search target, is represented by a scalar field y which might describe a temperature level, hazardous concentration of substances or vapor. Every agent has the information on its own position and the value of y at any instance. The agents are identical modeled as single and double integrator. Consensus filter is used to control the agent formation and comparison three types of gradient estimation are employed to search the source.  Experiments show that the proposed schemes give good performance to solve cooperative search for source seeking problem Keywords: cooperative source seeking, source seeking, formation control, gradient estimation
Designing an Optimal Control LQT for Controlling and Guidance of Missile Rusdhianto Effendie AK; Muhamad Rafif Prasetyo; Zulkifli Hidayat
JAREE (Journal on Advanced Research in Electrical Engineering) Vol 2, No 1 (2018): April
Publisher : Department of Electrical Engineering ITS and FORTEI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j25796216.v2.i1.36

Abstract

Missile has to be controlled and follow the commanded guidance in order to make its flight hit the target. Since missile has a nonlinear characteristic and coupled dynamic equation, controlling a missile has become more complex. Linear Quadratic Tracking (LQT) is one of optimal control theory where its objective is to make the output of a system tracks its reference as close as possible while minimize or maximize a desired performance index. In this paper, an autopilot for missile is designed which consists nonlinear state feedback decoupler and LQT controller. Pursuit Guidance is used for the guidance law. A missile-target engagement simulation is created using 2 kinds of target; static target and dynamic target. By using static target, the mean of the closest distance between missile and the target is 0.45 meters and by using dynamic target the mean of the closest distance between missile and the target is 2.562 meters. Keywords: guided missile, Linear Quadratic Tracking, Nonlinear State Feedback Decoupler, Pursuit Guidance
Perancangan Jaringan Saraf Tiruan Untuk Menyelesaikan Kinematika Balik Manipulator Robot Denso 6-DoF Zulkifli Hidayat; Mohammad Sahal; Yusuf Bilfaqih; Rusdhianto Effendi Abdul Kadir; Daniel Cristover Sirait
Electrician : Jurnal Rekayasa dan Teknologi Elektro Vol. 17 No. 2 (2023)
Publisher : Department of Electrical Engineering, Faculty of Engineering, Universitas Lampung

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.23960/elc.v17n2.2442

Abstract

Pada artikel ini, dibahas tentang kinematika balik (inverse kinematics) untuk manipulator robot denso 6-DoF. Kinematika balik adalah metode menentukan konfigurasi sendi dengan mengetahui posisi end-effector yang diinginkan. Kesulitan dari kinematika balik adalah penyelesaiannya yang tidak tunggal. Untuk satu titik end-effector, ada banyak konfigurasi sendi yang mungkin sehingga tidak ada penyelesaian yang unik. Untuk menyelesaikan kinematika balik ini, diusulkan penyelesaian menggunakan jaringan saraf tiruan untuk mendapatkan salah satu penyelesaian berupa posisi dan orientasi dari end-effector.
Co-Authors Abdullah Alkaff Daniel Cristover Sirait Dimas Agung Prabowo Gaung Jagad Hany Ferdinando Hany Ferdinando Mochammad Sahal Mohammad Sahal Muhamad Rafif Prasetyo Rusdhianto Effendi Abdul Kadir Rusdhianto Effendi Abdul Kadir Rusdhianto Effendi AK Rusdhianto Effendie AK Yusuf Bilfaqih