Hilwadi Hindersah

UAV path planning using potential field and modified receding horizon A* 3D algorithm

Path planning is an important step to design autonomous flight system of UAV. This paper proposes method for designing path planning algorithm that can make UAV move autonomously. The algorithm used potential field method and A* Algorithm. A* algorithm will be created in a 3D environment, and developed to become hierarchical A* 3D algorithm, and receding horizon A*3D algorithm. These proposed algorithms will be tested in GUI simulation. The potential field and A* algorithm are combined, which the potential field is used for setting up environment, while A* algorithm is used to search the optimal path. Each proposed algorithm has advantages and weaknesses, in terms of time and distance travelled. In time viewpoint, the most optimal method is hierarchical A*3D algorithm, as it requires a short processing time but requires larger distance than the others, whereas the most optimal distance is the normal method of A* 3D, but it takes processing time longest, so that the most appropriate method to be implemented on the UAV is receding horizon A*3D algorithm, both in terms of processing time and distance, still visible to be implemented.

Prototype development of single phase prepaid kWh meter

The single phase prepaid kWh meter consists of energy metering and STS system, based on International Standard: IEC 62055-31, 62055-41, IEC 62055-51. The energy metering measure line voltage, current and calculates active, reactive apparent power, energy, power factor, and RMS voltage and current. There are two separate inputs to measure line, ground, and/or neutral current enabling the meter to detect tampering and to continue operating. Development of single phase based on needs of PLN, which is about 7 million units kWh meter up to year 2014, especially for new customer.

Gamification design of traffic data collection through social reporting

Congestion is a common problem faced by large cities. The ineffective implementation of control functions by road operator may contribute to produce this problem. To overcome it, road operators must be able to produce appropriate policies. But to make policy or the right traffic decisions, it require as much data as possible that can be obtained continuously. Where the quality or validity of these data will affect the quality of the decision obtained. This research proposed a concept of the form of digital activities for collecting traffic data through a kind of social networking that is focused on the transportation system. Where through this system the public can be involved in the collection and validation of data. Thereby collecting traffic data can take place faster with better results in quality and quantity. With the availability of good data, then the great concept of the Intelligent Transportation System will be achieved. Gamification is used in the design and implementation process to increase interest and public confidence towards the system.

Internet of things using publish and subscribe method cloud-based application to NFT-based hydroponic system

The integration Internet of Things (IoT) generally identical with Cloud computing. IoT aims to connect the heterogeneous objects/devices with each other, in order to communicate or exchange data/information. Development of the Cloud IoT system, have challenges to achieve these objectives, such as middleware, interoperability and scalability of system. In this paper, we will discuss the solution of the challenges, by applying the publish and subscriber method, using MQTT protocol. This paper, proposed of architecture model design, which is implemented in the form of system topology. This topology apply to monitor and control the provision of nutrition hydroponics, accessible as a Cloud SaaS. From the test results, average node response time needed to connect and communicate with IoT Cloud system (online) is 7.21 seconds. The time required to declare offline state of a node is 21.55 seconds. The test results of Cloud IoT (broker), obtained that number of nodes for each level QoS, affecting resource usage of CPU and throughput. The highest resource usage of CPU is 19% of 2.0GHz and throughput TX/RX is 34.68KBps/49.4KBps. This result obtained from 1000 nodes scheme testing with 1 messages/node, by using simulation application, on QoS level 2. The average of minimum bandwidth used is ± 0.90Kbps by 1 publisher, to send 1 message with 115 Bytes of payload size, on each 3 levels of QoS MQTT, and approximately ± 0.04Kbps on subscriber to receive that message.

Comparison of maximum torque per Ampere and Constant Torque Angle control for 30kw Interior Interior Permanent Magnet Synchronous Motor

In this paper the comparison of Maximum Torque per Ampere (MTPA) and Constant Torque Angle (CTA) control for 30kW Interior Interior Permanent Magnet Synchronous Motor (IPMSM) is presented. MTPA is usually used for IPMSM which has a large saliency ratio for optimum torque in the machine. But for a small saliency ratio machine, MTPA control may be not produce significant result. In order to verify the analytical results, the same sample motor is verified by using Finite Element Analysis (FEA). This verification shows that MTPA and CTA gives results as expected. It also can be shown that for small saliency motor, MTPA control has not significant extra torque compare to CTA, thus the selection of MTPA for IPMSM can be re-considered. This method is quite useful in IPMSM drive application to choose the best control for IPMSM, especially when the motors have a small saliency.

Designing gamification for taxi booking system (Case study: Bandung smart transportation system)

Traffic congestion is one of the main problems in the transportation system. This continues to happen because road capacity is no longer able to accommodate the number of vehicles, while the number of vehicles continues to increase every year. Based on statistical data sourced from the Indonesian National Police, the number of private vehicles increased significantly each year. People prefer to use private vehicles to travel. Security issues, comfort, and travel expenses flexibility are the reason they prefer to use private vehicles. Taxi should be a solution for them, because taxi is more flexible, convenient, and safe compared to other public transportation. But the problems of security and ease of access that back into obstacles. Bandung Smart Transportation System (BSTS) is present as one of technology Intelligent Transportation System (ITS) use Bandung City as a case study. BSTS is a system developed with the aim to collect all traffic information integrated with the transport system infrastructure and manage information centrally. This research discusses the designing of gamification system in a taxi booking service. Aims to increase the interest, motivation, loyalty and further the public to continue using BSTS and use public transportation. If peoples more interested in public transportation, expected to reduce the use of private vehicles. So the number of vehicles can be reduced and traffic arrangements can be run better as it can be ascertained that the drivers on the road is a professional driver.

Controls of BLDC motors in electric vehicle Testing Simulator

Brushless direct current (BLDC) motor is one of the popular motors in theindustry and automotive. In automotive, this motor is often used in anelectric vehicle (EV) due to its high efficiency. As part of the EV testing phase, EV Testing Simulator is built here by employing two BLDC motors that are mechanically coupled through their axis. One motor simulates an electric motor that drivesthe EV and the other simulatesthe mechanical loads on the driving motor such as frictional, drag, and gravitational forces in the downhill and uphill conditions. A control module of BLDC motor is devised and consists of two sub-modules, namely test-motor control sub-moduleand load-motor control sub-module. Thefirstsub-modulecontrols the speed of the test-motor (i.e. the driving motor of the EV)to simulate a prescribed EV driving cycle. Meanwhile, the second sub-module controls the torque or current of the load-motorto simulate the loading effects on the test-motor. Both sub-moduleshaveBLDC driverswith fixed Direct Torque Control (DTC) and closed loop schemes are therefore required especially for speed control of test-motor control sub-module. When simulating uphill road in which load-motor acts as a generator,load-motor sub-module performs closed loop torque control with a feedback obtained froma simple steady-state estimation of electric torque of the load-motor. Experiment results show thatthe test-motor sub-moduleproduces relatively small speed oscillation around the reference value with a maximum speed of 1800 RPM.The load-motor sub-modulecan simulate load disturbance which generates10-18 A load current for uphill mode and about 9A for downhill mode.

Analysis of power converters for high frequency resonant inductive electric vehicle charging system

The concern for the supporting power converters is unavoidable in the development of inductive power charging system technology for electric vehicle application. In both the primary and secondary sides, power converters are needed to both generate and harvest the high frequency AC power which is transferred wirelessly in a resonant frequency. In his paper, we develop the power converters that are suitable for a given resonant circuit with a series-parallel compensating topology and a given operating frequency of 50,752 Hz. In the primary circuit, the need of high frequency switching requires the soft switching states for achieving better efficiency. AC-AC converter with DC link and direct AC-AC converter will be simulated, analysed and compared. In the secondary side, the high frequency power will be rectified and injected into the battery. The power converters are simulated,, modelled and analysed by using Simulink®. At the end of the project, the AC-AC converter with DC link is proposed for the primary circuit whereas full-bridge rectifier, Buck converter and Buck-Boost converter are combined and proposed for the secondary circuit. The AC-DC converter operates with two-steps charging scheme, comprising a hysteresis current control and a duty cycle-based voltage control.

Implementation of Real-Time Fuzzy logic control for NFT-based hydroponic system on Internet of Things environment

Nutrient Film Technique (NFT) is one of the methods of hydroponic system which use a circulated water containing nutrient as a growing media of plant. The important parameter in NFT that affect the plant growth are electrical conductivity (EC) and pH that should be maintain in prescribed range that depend on plant types. In this study, we implement the fuzzy logic to control the EC and pH condition of the NFT-based hydroponic system in Internet of Things (IoT) system environment. By using IoT consist of wireless sensor network, data logger, machine-to-machine and actuator (pump), we can remotely controlling and monitoring all parameters through internet network, that can be applied to scattered area. The experiment based on proportional small scale process which consist of four controlled tanks (nutrient A, nutrient B, acid solution, and alkaline solution) and one mixing tank with adjustable flow pump by using 12 rules fuzzy logic. Parameter EC and pH are maintained in range defined according to the input range given. The required time to recover the EC and pH from outside range to within the defined range is about 15 minutes.

Design and implementation of data logger using lossless data compression method for Internet of Things

Internet of Things (IoT) has the ability to monitor and control various electronic devices. This technology need M2M device that serves as the middleware. The data logger can be developed into M2M devices on the IoT. These devices have limited external data storage memory, which can be useful as a data storage when a transmission failure due to limited network. In the monitoring process with a lot of sensors, data logger capable of transmitting and storing data in memory with limited data. The memory capacity of the data logger limited size can increase the size by using the method of data compression. Compression method used in this device is lossless. Lossless compression method used for data compression in the data logger. This method can restore the size of data that has been compressed to the size of the original. In this study, we obtained the compression ratio (CR) is 50% for the compression method used in the data logger. Time sampling that can be set in data logger is more than ± 1518ms