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International Journal of Science and Engineering (IJSE)

ijse
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Published by Universitas Diponegoro

ISSN : - EISSN : - DOI : -

Core Subject : Engineering,

Engineering

The scope of journal covers all area in the application on chemical, physical, mathematical, biological, agricultural, corrossion, and computer science to solve the engineering problems.

Arjuna Subject : -

Articles 7 Documents

Search results for , issue "Vol 4, No 1 (2013)" : 7 Documents clear

Sliding Wear Modeling of Artificial Rough Surfaces Imam Syafa’at; Budi Setiyana; Muchammad Muchammad; Jamari Jamari
International Journal of Science and Engineering Vol 4, No 1 (2013)
Publisher : Chemical Engineering Diponegoro University

Surface roughness plays an important role in machine design. In the micro-scale when two engineering surfaces are brought into contact, the real contact area occurs at isolated point of asperity. Wear is one of some effects of contacting surfaces. This paper presents a modeling of sliding wear at asperity level on the artificial rough surfaces. The surface roughness is represented by spherical asperities at the hemispherical pin that is developed from the existing model. The wear model is based on the simple analytical solution. The combination of Archard’s wear equation and finite element simulation is performed to predict the wear. Results show that the increasing of sliding distance give the increasing of wear depth, wear scar diameter and wear volume of the asperity. Wear at the center of the contacting rough surface is higher than the its surrounding. [Keywords: Rough Surface; Sliding Wea; Wear Scar Diameter; Wear Volume]

Path Tracking Controller of Quadruped Robot for Obstacle Avoidance Using Potential Functions Method Giang Hoang; Hak Kyeong Kim; Sang Bong Kim
International Journal of Science and Engineering Vol 4, No 1 (2013)
Publisher : Chemical Engineering Diponegoro University

This paper proposes a tracking controller for obstacle avoidance of a quadruped robot using potential functions method. The followings are done for this task. At first, a ceiling-mounted camera system is installed for image processing. The goal point and obstacles are separated and recognized by a color recognition method. Second, a path planning algorithm using potential functions method is proposed to generate the path to avoid obstacles and to plan a path for the quadruped robot to reach from start point to goal point. Third, a quadruped robot is chosen as the mobile platform for this study and the kinematic model for the robot is presented. Fourth, a tracking controller is designed for the quadruped robot to track the trajectory based on the backstepping method using Lyapunov function. Finally, the simulation results are presented to show the effectiveness of the proposed trajectory planning algorithm and the tracking controller. [Keywords— Path tracking; back stepping; obstacles avoidance; potential functions; quadruped robot].

3D Room Visualization on Android Based Mobile Device (with Philips™’ Surround Sound Music Player) Durio Etgar; Wahyul Amien Syafei; Jack Zijlmans; Zhaorui Yuan
International Journal of Science and Engineering Vol 4, No 1 (2013)
Publisher : Chemical Engineering Diponegoro University

This project’s specifically purposed as a demo application, so anyone can get the experience of a surround audio room without having to physically involved to it, with a main idea of generating a 3D surround sound room scenery coupled with surround sound in a handier package, namely, a “Virtual Listen Room”. Virtual Listen Room set a foundation of an innovative visualization that later will be developed and released as one of way of portable advertisement. This application was built inside of Android environment. Android device had been chosen as the implementation target, since it leaves massive development spaces and mostly contains essential components needed on this project, including graphic processor unit (GPU). Graphic manipulation can be done using an embedded programming interface called OpenGL ES, which is planted in all Android devices generally. Further, Android has a Accelerometer Sensor that is needed to be coupled with scene to produce a dynamic movement of the camera. Surround sound effect can be reached with a decoder from Phillips called MPEG Surround Sound Decoder. To sum the whole project, we got an application with sensor-dynamic 3D room visualization coupled with Philips’ Surround Sound Music Player. We can manipulate several room’s properties; Subwoofer location, Room light, and how many speakers inside it, the application itself works well despite facing several performance problems before, later to be solved. [Keywords : Android,Visualization,Open GL; ES; 3D; Surround Sensor]

Diethyl Ether Production Process with Various Catalyst Type Widayat Widayat; Achmad Roesyadi; Muhammad Rachimoellah
International Journal of Science and Engineering Vol 4, No 1 (2013)
Publisher : Chemical Engineering Diponegoro University

Several H-zeolite and HZSM-5 catalysts was preparated and their characters have also been investigated. H-zeolit Catalyst was preparated from Natural Zeolite that obtained from Malang District and Gunung Kidul District. Diethyl ether was produced by Ethanol with concentration of 95%. This research use fixed bed reactor that 1 gram of catalyst as bed catalyst, atmospheric pressure and temperature 140oC as the operating condition. Ethanol vapor from vaporization tank was driven by 200 ml/min Nitrogen stream. The responds in this research is liquid product concentration; diethyl ether, ethanol, methanol and water concentration. The results showed that the largest ethanol conversion was produced by the use of 56.44% HZSM-5 and the largest yield of diethyl ether diethyl was produced by the use of alumina and H-zeolite catalyst. The larger ratio between natural zeolite with HCl solvent will produce the larger surface area of catalyst and ethanol conversion. The largest ethanol conversion was produced at reactan ratio 1:20. [Keywords: catalyst; ethanol conversion; dehydration process; yield of diethyl ether; natural zeolite].

Manufacturing of Electrolyte and Cathode Layers SOFC Using Atmospheric Spraying Method and Its Characterization S. Sulistyo; S. Ariffin; S. Mahzan
International Journal of Science and Engineering Vol 4, No 1 (2013)
Publisher : Chemical Engineering Diponegoro University

The use of Solid Oxide Fuel Cell (SOFC) has created various interest in many parties, due to its capability to convert gases into electricity. The main requirement of SOFC cell components is to be produced as thin as possible to minimize the losses of electrical resistance, as well as able to support internal and external loads. This paper discusses the procedure of making a thin electrolyte layer, as well as a porous thin layer cathode using atmospheric spraying technique. The procedure of spraying was in room temperature with the process of sintering at temperature of 13500 C held for 3 hours. The SOFC characterization of electrolyte and cathode microstructure was determined by using the SEM, FESEM, XRD and impedance spectroscopy, to measure the impedance of SOFC cells. The results show that the thickness of thin layer electrolyte and porous cathode obtained of about 20 µm and 4 µm, respectively. Also the SOFC cell impedance was measured of 2.3726 x 106 Ω at room temperature. The finding also demonstrated that although the materials (anode, cathode and electrolyte) possess different coefficient thermal expansion, there was no evidence of flaking layers which seen the materials remain intact. Thus, the atmospheric spraying method can offer an alternative method to manufacturing of SOFC thin layer electrolyte and cathode. [Key words: SOFC; spraying method; electrolyte; cathode]

Moving Object Tracking and Avoidance Algorithm for Differential Driving AGV Based on Laser Measurement Technology Pandu Sandi Pratama; Sang Kwun Jeong; Soon Sil Park; Sang Bong Kim
International Journal of Science and Engineering Vol 4, No 1 (2013)
Publisher : Chemical Engineering Diponegoro University

This paper proposed an algorithm to track the obstacle position and avoid the moving objects for differential driving Automatic Guided Vehicles (AGV) system in industrial environment. This algorithm has several abilities such as: to detect the moving objects, to predict the velocity and direction of moving objects, to predict the collision possibility and to plan the avoidance maneuver. For sensing the local environment and positioning, the laser measurement system LMS-151 and laser navigation system NAV-200 are applied. Based on the measurement results of the sensors, the stationary and moving obstacles are detected and the collision possibility is calculated. The velocity and direction of the obstacle are predicted using Kalman filter algorithm. Collision possibility, time, and position can be calculated by comparing the AGV movement and obstacle prediction result obtained by Kalman filter. Finally the avoidance maneuver using the well known tangent Bug algorithm is decided based on the calculation data. The effectiveness of proposed algorithm is verified using simulation and experiment. Several examples of experiment conditions are presented using stationary obstacle, and moving obstacles. The simulation and experiment results show that the AGV can detect and avoid the obstacles successfully in all experimental condition. [Keywords— Obstacle avoidance, AGV, differential drive, laser measurement system, laser navigation system].

AGV Trajectory Control Based on Laser Sensor Navigation Thanh Luan Bui; Phuc Thinh Doan; Soon Sil Park; Hak Kyeong Kim; Sang Bong Kim
International Journal of Science and Engineering Vol 4, No 1 (2013)
Publisher : Chemical Engineering Diponegoro University

Autonomous Guided Vehicle Systems (AGVs) are used to transport goods and products in manufacturing fields where navigation can be done in a structured environment. In order to track the given trajectory, a tracking control based on Lyapunov stability theory is introduced. The use of the nonlinear Lyapunov technique provides robustness for load disturbance and sensor noise. To apply Lyapunov's theorem, the kinematic model of AGV is given. To recognize its position in indoor environment, in this paper, a laser sensor device NAV200 is used to detect the AGV position in real-time. For simulation and experiment, software and hardware are described. The AGV consists of 4 wheels with two passive wheels and two driving wheels. A controller is developed based on industrial computer. The effectiveness of the proposed controller is proved by simulation and experimental results.[AGV Trajectory Control, Laser Sensor Navigation]

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