Teguh Herlambang

Estimate and control position autonomous Underwater Vehicle based on determined trajectory using Fuzzy Kalman Filter method

Unmanned Underwater Vehicle (UUV), known as underwater drones, are any vehicle that are able to operate underwater without human occupant. AUV (Autonomous Underwater Vehicle) are one of categories of these vehicles which operate independently of direct human input. This AUV is required to have a navigation system that can manoeuvred 6 Degree of Freedom (DOF) and able to estimate the exact position based on the determined trajectory. Fuzzy Kalman Filter (FKF) method is used to estimate the position of the AUV. This process is used to maintain the accuracy of the trajectory. The performance of FKF algorithm on some several trajectory cases show that this method has relatively small Root Means Square Error (RSME), which is less than 10%.

Navigation and guidance control system of AUV with trajectory estimation of linear modelling

This paper put forwards a study on the development of navigation and guidance systems for AUV. The restriction in AUV model and estimation on the degree of freedom are recognized as the common problem in AUVs navigation and guidance systems. In this respect a linear model, derived from the linearization using the Jacobian matrix, will be utilized. The so obtained linear model is then estimated by the Ensemble Kalman Filter (EnKF). The implementation of EnKF algorithm on the linear model is carried out by establishing two simulations, namely by generating 300 and 400 ensembles, respectively. The simulations exhibit that the generation of 400 ensembles will give more accurate results in comparison to the generation of 300 ensembles. Furthermore, the best simulation yields the tracking accuracy between the real and simulated trajectories, in translational modes, is in the order of 99.88%, and in rotational modes is in the order of 99.99%.

Design of Autonomous Underwater Vehicle motion control using Sliding Mode Control method

This paper presents a study of the Autonomous Underwater Vehicle (AUV). Nonlinear model of AUV which has six degrees of freedom being linearized using Jacobian matrix. In this paper, Sliding Mode Control law as a method is applied Autonomous Underwater Vehicle and the simulation obtained a stable performance.

Preliminary Numerical Study on Designing Navigation and Stability Control Systems for ITS AUV

In this paper, the numerical study of designing on navigation and stability control system for AUV is studied. The study started by initiating hydrostatic forces, added masses, lift force, drag forces and thrust forces. Determining the hydrodynamic force which is the basic need to know the numerical case study on designing on navigation and stability control system for AUV where Autonomous Underwater vehicles (AUV). AUV is capably underwater vehicle in moving automatically without direct control by humans according to the trajectory. The result of numerical study is properly to be the reference for the next developing for AUV.

Optimisasi Masalah Transportasi Distribusi Semen Menggunakan Algoritma Artificial Bee Colony

Pertumbuhan penduduk yang pesat dapat meningkatkan permintaan akan kebutuhan material bangunan yaitu semen. Menurut data salah satu pabrik produsen semen, permintaan semen meningkat. Peningkatan permintaan semen baik oleh individu maupun instansi mengakibatkan peningkatan proses distribusi. Dalam proses distribusi tersebut, pabrik produsen semen juga mengeluarkan biaya transportasi yang dipengaruhi oleh biaya bahan bakar dan muatan. Model optimisasi masalah transportasi adalah menentukan jumlah semen yang harus didistribusikan dari pabrik sumber ke gudang tujuan supaya biaya transportasi minimum dengan kendala jumlah persediaan dan jumlah permintaan. Dalam penelitian ini pabrik sumber direpresentasikan oleh alat transportasi yang mengangkut semen ke gudang tujuan dengan jumlah persediaan adalah jumlah muatan maksimum semen yang dapat diangkut. Metode yang digunakan dalam penelitian ini adalah metode heuristik yaitu algoritma Artificial Bee Colony (ABC) yang menyerupai perilaku lebah dalam menemukan nektar. Lebah yang digunakan berupa matriks dimana elemennya adalah variabel keputusan jumlah unit semen yang harus didistribusikan. Dari hasil yang diperoleh melalui algoritma ABC, diperoleh pendekatan solusi optimum yang meminimumkan biaya distribusi dengan memenuhi kendala jumlah persediaan dan jumlah permintaan unit semen.