This paper is to design an adaptive trajectory tracking controller for an Automatic Guided Vehicl... more This paper is to design an adaptive trajectory tracking controller for an Automatic Guided Vehicle (AGV) to track the desired reference trajectory with unknown slip. To do this task, the followings are done. Firstly, system description and mathematical modelings of a differential drive AGV system are presented. Kinematic model of AGV is derived based on the wheel configuration and the nonholonomic constraint. Dynamic model of AGV is obtained from the Lagrangian formula. Secondly, an adaptive backstepping trajectory tracking controller is designed. By choosing appropriate Lyapunov function based on its kinematic modeling of AGV system with unknown slip parameter stability is guaranteed, a control law and an update law to estimate the unknown slip parameter can be obtained. The simulation and experimental results show that the proposed controller successfully estimates the unknown parameters and tracks a reference trajectory.
This paper presents walking gait planning using a Central Pattern Generator (CPG) for a hexapod w... more This paper presents walking gait planning using a Central Pattern Generator (CPG) for a hexapod walking robot. Our CPG network model is introduced based on the Matsuoka’s neural oscillators, which is known as a neural network that generates rhythmic movements. Different output waveform can be obtained by setting the parameters of the model differently. To do this task, the followings are done. First, a CPGs network based on six Matsuoka oscillators to control the hip joint angle of the hexapod walking robot is built. Second, a mapping function to establish the relation between knee joint angle, ankle joint and hip joint is designed. Third, three kinds of gaits such as walking gait with five leg support, quadruped support gait and tripod support gait are generated by simulation. Finally, gait transition is presented by replacing the connection weight matrix of the model. Simulation results show that CPG can transition different gaits smoothly.
To make the pipe-inspection robot move inside the specific dimension pipeline, the crucial proble... more To make the pipe-inspection robot move inside the specific dimension pipeline, the crucial problem is to adjust the diameter of the robot inside the pipeline. This paper proposes a fuzzy logic controller design method for diameter control of a wheeled-type pipe inspection robot. To do this task, the following steps are executed. Firstly, a wheeled-type pipe inspection robot that can work in 150–250 mm radius pipeline is developed. The robot is developed with two modules: active module and passive module such that each module has three wheel configurations with different mechanism to expand the wheels. Secondly, kinematic models of 4 bar linkage of the robot and dc motor are presented. Thirdly, the PI controller and the fuzzy logic controller are presented for the robot to track the given robot diameter. Finally, simulation is performed to verify the performance of two proposed control methods. The results show that the proposed fuzzy logic controller can track the reference diameter better than using PI controller.
This paper presents a relatively new method for achieving better welding results of gas metal arc... more This paper presents a relatively new method for achieving better welding results of gas metal arc welding (GMAW) system by using a decentralized control method. The GMAW system is an arc welding process which incorporates the power source of GMAW (PS-GMAW) with the ...
International Journal of Control Automation and Systems, Apr 1, 2016
This paper presents an implementation and experimental validation of trajectory tracking and faul... more This paper presents an implementation and experimental validation of trajectory tracking and fault detection algorithm for sensors and actuators of Automatic Guided Vehicle (AGV) system based on multiple positioning modules. Firstly, the system description and the mathematical modeling of the differential drive AGV system are described. Secondly, a trajectory tracking controller based on the backstepping method is proposed to track the given trajectory. Thirdly, a fault detection algorithm based on the multiple positioning modules is proposed. The AGV uses encoders, laser scanner, and laser navigation system to obtain the position information. To understand the characteristics of each positioning module, their modeling are explained. The fault detection method uses two or more positioning systems and compares them using Extended Kalman Filter (EKF) to detect an unexpected deviation effected by fault. The pairwise differences between the estimated positions obtained from the sensors are called as residue. When the faults occur, the residue value is greater than the threshold value. Fault isolation is obtained by examining the biggest residue. Finally, to demonstrate the capability of the proposed algorithm, it is applied to the differential drive AGV system. The simulation and experimental results show that the proposed algorithm successfully detects the faults when the faults occur.
An agriculture machines such as electric vehicle which is used in the agricultural field are subj... more An agriculture machines such as electric vehicle which is used in the agricultural field are subjected to different loads and vibration. Due to this vibration there will be certain deformations which affect the performance of the electric vehicle in adverse manner. This paper proposed a vibration analysis of four wheel drive agricultural electric vehicle using ANSYS. The Finite Element Method (FEM) analysis is carried out to study the effect of vibration on the cart in order to ensure the safety. This work helps the electric vehicle developer make a better product at the early design stage with lower cost and faster development time. To do this, firstly, using CATIA, a CAD model is prepared. Secondly, the analysis is to be carried out using ANSYS 15. The modal analysis and random vibration analysis of the frame was conducted. The analysis shows that the proposed design was successfully shows the minimum deformation when the vibration was applied in normal condition.
This paper investigated the effect of fermented Aloe saponaria species cortex residues as an alte... more This paper investigated the effect of fermented Aloe saponaria species cortex residues as an alternative dietary supplement on pig's growth.In this research, The growth of one group of pigs fed by diets food containing general foodwere compared to another group fed by diets food containing fermented aloe.The diet food was fed once every 10 days up to 70 days, and then once every 20 days up to 152 day. During the experimental period, the feed amount, feed efficiency, daily weight gain and total weight gainof both groups was analyzed. The experimental results shows that the growth of pigs fed by fermented aloe is almost similar with the pigs fed by general food. This shows that fermented Aloe saponaria could be an alternative solution for dietary supplement.
In this study, the feasibility of using Aloe saponaria species cortex residues as a dietary suppl... more In this study, the feasibility of using Aloe saponaria species cortex residues as a dietary supplement for pigs by feeding the aloe fermentation treatments was investigated.Two groups of pigs were became a subject in this research. One group of pigs was fed by diets food containing general food and the other group was fed by diets food containing fermented aloe.The diet food was fed once every 10 days up to 70 days, and then once every 20 days up to 152 day. In the end of experimental period, the meat qualityof both groups was analyzed. The storage weight lossat 4 ± 1 ℃, pH, water retention, and flesh colorwere measured. The experimental results shows that the meat quality of pigs fed by fermented aloe is similar with the pigs fed by general food. Therefore, the fermented Aloe saponaria cortex residues could be an alternative solution for dietary supplement food.
A hardness-checking machine is a crucial tool in engineering studies, especially in mechanical an... more A hardness-checking machine is a crucial tool in engineering studies, especially in mechanical and manufacturing processes. It is usually used to measure, calibrate, and standardize the quality of products. This study is based on the field problem in Akebono Brake Astra, Indonesia, where more manual tools are used to meet product demands. In consideration of this issue, a modified hardness checking tool with automatic operation has been developed. Using automatic operation is beneficial in terms of time and cost efficiency in comparison with other manual tools. Automatic tools apply the 3-axis system mechanism, using a Festo linear actuator with a servo motor. The testing capacity of automatic devices is equal to more manual devices. The frame of the auto checking hardness machine is assessed in this study by applying load variations. Drawing on other similar work on auto checking hardness machines, this paper provides a comparison of various aluminum frame types based on different ...
Journal of the Korean Society of Industry Convergence, 2016
This paper investigates the possibility to increase the economic value of the thinned young apple... more This paper investigates the possibility to increase the economic value of the thinned young apple trough fermentation process. It is studies the optimal fermentation condition of thinned young apple by manipulating preparation treatment and sugar content. To do this following steps are done. Firstly, different preparation treatment for thinned young apple such as whole apple, cutting apple, and blending apple were done. The different sugar content such as 24° Brix, 15° Brix and 4° Brix was added. Secondly, the sugar contents and pH level were measured during fermentation process. Finally, statistical analysis was used to examine the relation between the preparation treatment, sugar content and pH level during the fermentation process. The experimental result shows that the different preparation treatment influences to the fermentation process. The blending apple treatment gave lower pH level compared to other kind treatments. The sugar content of thinned young apple was decrease during the fermentation process. The statistical analysis shows that the manipulation preparation treatment and sugar content affect the final pH level and whole fermentation process. Experimental result shows that the thinned young apple fermentation could be proposed as new alternative product in the market. The best fermentation process was obtained from blending thinned young apple treatment with 24° Brix.
International Journal of Control, Automation and Systems, 2016
This paper presents a new type of four wheel independent steering automatic guided vehicle (4WIS-... more This paper presents a new type of four wheel independent steering automatic guided vehicle (4WIS-AGV) for carrying heavy baggage and proposes a controller for the 4WIS-AGV to track reference trajectories. To do this task, the followings are done. Firstly, a 4WIS-AGV is designed and manufactured for experimental purpose. Secondly, a kinematic modeling for the 4WIS-AGV is introduced based on a single track vehicle model. Thirdly, based on the modeling, a controller is designed based on Backstepping method for the 4WIS-AGV to track reference trajectories. Fourthly, a control system is developed using industrial PC and AVR ATmega128 microcontrollers to implement the designed controller. Finally, simulations and experiments are conducted to verify the effectiveness and performances of the proposed controller in tracking two types of reference trajectories: a trajectory with sharp edges for parallel steering maneuver and a circular trajectory for zero-sideslip maneuver. The results show that the proposed controller can make the 4WIS-AGV track the trajectory with sharp edges and the circular trajectory very well.
International Journal of Control, Automation and Systems, 2016
This paper presents an implementation and experimental validation of trajectory tracking and faul... more This paper presents an implementation and experimental validation of trajectory tracking and fault detection algorithm for sensors and actuators of Automatic Guided Vehicle (AGV) system based on multiple positioning modules. Firstly, the system description and the mathematical modeling of the differential drive AGV system are described. Secondly, a trajectory tracking controller based on the backstepping method is proposed to track the given trajectory. Thirdly, a fault detection algorithm based on the multiple positioning modules is proposed. The AGV uses encoders, laser scanner, and laser navigation system to obtain the position information. To understand the characteristics of each positioning module, their modeling are explained. The fault detection method uses two or more positioning systems and compares them using Extended Kalman Filter (EKF) to detect an unexpected deviation effected by fault. The pairwise differences between the estimated positions obtained from the sensors are called as residue. When the faults occur, the residue value is greater than the threshold value. Fault isolation is obtained by examining the biggest residue. Finally, to demonstrate the capability of the proposed algorithm, it is applied to the differential drive AGV system. The simulation and experimental results show that the proposed algorithm successfully detects the faults when the faults occur.
This paper proposes a controller design method for the multi-input multi-output robust servo syst... more This paper proposes a controller design method for the multi-input multi-output robust servo system based on the internal model principle using polynomial differential operator. To do this task, the followings are done. Firstly, the basic idea of internal model principle is described. Secondly, the extended system by operating the polynomial differential operator to a given system with disturbance under the given conditions of reference and disturbance expressed into polynomial differential equation form and an output error is introduced. Thirdly, the controllability checking of the extended systems is done. Fourthly, a state feedback law is obtained by solving the pole assignment problem with all the poles of the extended system. Fifthly, a full observer is designed to estimate unknown states. Sixthly, the proposed control method is applied to a four steering wheel vehicle. Simulation results show that the proposed method can successfully make the system with a step and ramp type of disturbance track three references such as step, ramp and parabola types.
This paper presents a vision-based object following four wheel independent steering automatic gui... more This paper presents a vision-based object following four wheel independent steering automatic guided vehicle (4WIS-AGV) system using Kinect camera sensor. To do this task, the following steps are executed. Firstly, an image processing is done for object detection using Kinect camera sensor. A candidate colored object is detected using color-based object detection method and its position in local coordinates is obtained. NAV200 navigation sensor is used to obtain global position of the detected object and the 4WIS-AGV. Secondly, the position of the detected moving object is estimated using Kalman filter algorithm. Kalman filter is used to estimate the global position of the detected moving object. Thirdly, a backstepping controller based on Lyapunov stability is proposed to achieve object following task. Finally, the effectiveness of the proposed system is verified by using simulation and experimental results. The results show that the proposed controller makes the 4WIS-AGV follow the detected moving object well with an acceptable error.
This paper is to design an adaptive trajectory tracking controller for an Automatic Guided Vehicl... more This paper is to design an adaptive trajectory tracking controller for an Automatic Guided Vehicle (AGV) to track the desired reference trajectory with unknown slip. To do this task, the followings are done. Firstly, system description and mathematical modelings of a differential drive AGV system are presented. Kinematic model of AGV is derived based on the wheel configuration and the nonholonomic constraint. Dynamic model of AGV is obtained from the Lagrangian formula. Secondly, an adaptive backstepping trajectory tracking controller is designed. By choosing appropriate Lyapunov function based on its kinematic modeling of AGV system with unknown slip parameter stability is guaranteed, a control law and an update law to estimate the unknown slip parameter can be obtained. The simulation and experimental results show that the proposed controller successfully estimates the unknown parameters and tracks a reference trajectory.
This paper presents walking gait planning using a Central Pattern Generator (CPG) for a hexapod w... more This paper presents walking gait planning using a Central Pattern Generator (CPG) for a hexapod walking robot. Our CPG network model is introduced based on the Matsuoka’s neural oscillators, which is known as a neural network that generates rhythmic movements. Different output waveform can be obtained by setting the parameters of the model differently. To do this task, the followings are done. First, a CPGs network based on six Matsuoka oscillators to control the hip joint angle of the hexapod walking robot is built. Second, a mapping function to establish the relation between knee joint angle, ankle joint and hip joint is designed. Third, three kinds of gaits such as walking gait with five leg support, quadruped support gait and tripod support gait are generated by simulation. Finally, gait transition is presented by replacing the connection weight matrix of the model. Simulation results show that CPG can transition different gaits smoothly.
To make the pipe-inspection robot move inside the specific dimension pipeline, the crucial proble... more To make the pipe-inspection robot move inside the specific dimension pipeline, the crucial problem is to adjust the diameter of the robot inside the pipeline. This paper proposes a fuzzy logic controller design method for diameter control of a wheeled-type pipe inspection robot. To do this task, the following steps are executed. Firstly, a wheeled-type pipe inspection robot that can work in 150–250 mm radius pipeline is developed. The robot is developed with two modules: active module and passive module such that each module has three wheel configurations with different mechanism to expand the wheels. Secondly, kinematic models of 4 bar linkage of the robot and dc motor are presented. Thirdly, the PI controller and the fuzzy logic controller are presented for the robot to track the given robot diameter. Finally, simulation is performed to verify the performance of two proposed control methods. The results show that the proposed fuzzy logic controller can track the reference diameter better than using PI controller.
This paper presents a relatively new method for achieving better welding results of gas metal arc... more This paper presents a relatively new method for achieving better welding results of gas metal arc welding (GMAW) system by using a decentralized control method. The GMAW system is an arc welding process which incorporates the power source of GMAW (PS-GMAW) with the ...
International Journal of Control Automation and Systems, Apr 1, 2016
This paper presents an implementation and experimental validation of trajectory tracking and faul... more This paper presents an implementation and experimental validation of trajectory tracking and fault detection algorithm for sensors and actuators of Automatic Guided Vehicle (AGV) system based on multiple positioning modules. Firstly, the system description and the mathematical modeling of the differential drive AGV system are described. Secondly, a trajectory tracking controller based on the backstepping method is proposed to track the given trajectory. Thirdly, a fault detection algorithm based on the multiple positioning modules is proposed. The AGV uses encoders, laser scanner, and laser navigation system to obtain the position information. To understand the characteristics of each positioning module, their modeling are explained. The fault detection method uses two or more positioning systems and compares them using Extended Kalman Filter (EKF) to detect an unexpected deviation effected by fault. The pairwise differences between the estimated positions obtained from the sensors are called as residue. When the faults occur, the residue value is greater than the threshold value. Fault isolation is obtained by examining the biggest residue. Finally, to demonstrate the capability of the proposed algorithm, it is applied to the differential drive AGV system. The simulation and experimental results show that the proposed algorithm successfully detects the faults when the faults occur.
An agriculture machines such as electric vehicle which is used in the agricultural field are subj... more An agriculture machines such as electric vehicle which is used in the agricultural field are subjected to different loads and vibration. Due to this vibration there will be certain deformations which affect the performance of the electric vehicle in adverse manner. This paper proposed a vibration analysis of four wheel drive agricultural electric vehicle using ANSYS. The Finite Element Method (FEM) analysis is carried out to study the effect of vibration on the cart in order to ensure the safety. This work helps the electric vehicle developer make a better product at the early design stage with lower cost and faster development time. To do this, firstly, using CATIA, a CAD model is prepared. Secondly, the analysis is to be carried out using ANSYS 15. The modal analysis and random vibration analysis of the frame was conducted. The analysis shows that the proposed design was successfully shows the minimum deformation when the vibration was applied in normal condition.
This paper investigated the effect of fermented Aloe saponaria species cortex residues as an alte... more This paper investigated the effect of fermented Aloe saponaria species cortex residues as an alternative dietary supplement on pig's growth.In this research, The growth of one group of pigs fed by diets food containing general foodwere compared to another group fed by diets food containing fermented aloe.The diet food was fed once every 10 days up to 70 days, and then once every 20 days up to 152 day. During the experimental period, the feed amount, feed efficiency, daily weight gain and total weight gainof both groups was analyzed. The experimental results shows that the growth of pigs fed by fermented aloe is almost similar with the pigs fed by general food. This shows that fermented Aloe saponaria could be an alternative solution for dietary supplement.
In this study, the feasibility of using Aloe saponaria species cortex residues as a dietary suppl... more In this study, the feasibility of using Aloe saponaria species cortex residues as a dietary supplement for pigs by feeding the aloe fermentation treatments was investigated.Two groups of pigs were became a subject in this research. One group of pigs was fed by diets food containing general food and the other group was fed by diets food containing fermented aloe.The diet food was fed once every 10 days up to 70 days, and then once every 20 days up to 152 day. In the end of experimental period, the meat qualityof both groups was analyzed. The storage weight lossat 4 ± 1 ℃, pH, water retention, and flesh colorwere measured. The experimental results shows that the meat quality of pigs fed by fermented aloe is similar with the pigs fed by general food. Therefore, the fermented Aloe saponaria cortex residues could be an alternative solution for dietary supplement food.
A hardness-checking machine is a crucial tool in engineering studies, especially in mechanical an... more A hardness-checking machine is a crucial tool in engineering studies, especially in mechanical and manufacturing processes. It is usually used to measure, calibrate, and standardize the quality of products. This study is based on the field problem in Akebono Brake Astra, Indonesia, where more manual tools are used to meet product demands. In consideration of this issue, a modified hardness checking tool with automatic operation has been developed. Using automatic operation is beneficial in terms of time and cost efficiency in comparison with other manual tools. Automatic tools apply the 3-axis system mechanism, using a Festo linear actuator with a servo motor. The testing capacity of automatic devices is equal to more manual devices. The frame of the auto checking hardness machine is assessed in this study by applying load variations. Drawing on other similar work on auto checking hardness machines, this paper provides a comparison of various aluminum frame types based on different ...
Journal of the Korean Society of Industry Convergence, 2016
This paper investigates the possibility to increase the economic value of the thinned young apple... more This paper investigates the possibility to increase the economic value of the thinned young apple trough fermentation process. It is studies the optimal fermentation condition of thinned young apple by manipulating preparation treatment and sugar content. To do this following steps are done. Firstly, different preparation treatment for thinned young apple such as whole apple, cutting apple, and blending apple were done. The different sugar content such as 24° Brix, 15° Brix and 4° Brix was added. Secondly, the sugar contents and pH level were measured during fermentation process. Finally, statistical analysis was used to examine the relation between the preparation treatment, sugar content and pH level during the fermentation process. The experimental result shows that the different preparation treatment influences to the fermentation process. The blending apple treatment gave lower pH level compared to other kind treatments. The sugar content of thinned young apple was decrease during the fermentation process. The statistical analysis shows that the manipulation preparation treatment and sugar content affect the final pH level and whole fermentation process. Experimental result shows that the thinned young apple fermentation could be proposed as new alternative product in the market. The best fermentation process was obtained from blending thinned young apple treatment with 24° Brix.
International Journal of Control, Automation and Systems, 2016
This paper presents a new type of four wheel independent steering automatic guided vehicle (4WIS-... more This paper presents a new type of four wheel independent steering automatic guided vehicle (4WIS-AGV) for carrying heavy baggage and proposes a controller for the 4WIS-AGV to track reference trajectories. To do this task, the followings are done. Firstly, a 4WIS-AGV is designed and manufactured for experimental purpose. Secondly, a kinematic modeling for the 4WIS-AGV is introduced based on a single track vehicle model. Thirdly, based on the modeling, a controller is designed based on Backstepping method for the 4WIS-AGV to track reference trajectories. Fourthly, a control system is developed using industrial PC and AVR ATmega128 microcontrollers to implement the designed controller. Finally, simulations and experiments are conducted to verify the effectiveness and performances of the proposed controller in tracking two types of reference trajectories: a trajectory with sharp edges for parallel steering maneuver and a circular trajectory for zero-sideslip maneuver. The results show that the proposed controller can make the 4WIS-AGV track the trajectory with sharp edges and the circular trajectory very well.
International Journal of Control, Automation and Systems, 2016
This paper presents an implementation and experimental validation of trajectory tracking and faul... more This paper presents an implementation and experimental validation of trajectory tracking and fault detection algorithm for sensors and actuators of Automatic Guided Vehicle (AGV) system based on multiple positioning modules. Firstly, the system description and the mathematical modeling of the differential drive AGV system are described. Secondly, a trajectory tracking controller based on the backstepping method is proposed to track the given trajectory. Thirdly, a fault detection algorithm based on the multiple positioning modules is proposed. The AGV uses encoders, laser scanner, and laser navigation system to obtain the position information. To understand the characteristics of each positioning module, their modeling are explained. The fault detection method uses two or more positioning systems and compares them using Extended Kalman Filter (EKF) to detect an unexpected deviation effected by fault. The pairwise differences between the estimated positions obtained from the sensors are called as residue. When the faults occur, the residue value is greater than the threshold value. Fault isolation is obtained by examining the biggest residue. Finally, to demonstrate the capability of the proposed algorithm, it is applied to the differential drive AGV system. The simulation and experimental results show that the proposed algorithm successfully detects the faults when the faults occur.
This paper proposes a controller design method for the multi-input multi-output robust servo syst... more This paper proposes a controller design method for the multi-input multi-output robust servo system based on the internal model principle using polynomial differential operator. To do this task, the followings are done. Firstly, the basic idea of internal model principle is described. Secondly, the extended system by operating the polynomial differential operator to a given system with disturbance under the given conditions of reference and disturbance expressed into polynomial differential equation form and an output error is introduced. Thirdly, the controllability checking of the extended systems is done. Fourthly, a state feedback law is obtained by solving the pole assignment problem with all the poles of the extended system. Fifthly, a full observer is designed to estimate unknown states. Sixthly, the proposed control method is applied to a four steering wheel vehicle. Simulation results show that the proposed method can successfully make the system with a step and ramp type of disturbance track three references such as step, ramp and parabola types.
This paper presents a vision-based object following four wheel independent steering automatic gui... more This paper presents a vision-based object following four wheel independent steering automatic guided vehicle (4WIS-AGV) system using Kinect camera sensor. To do this task, the following steps are executed. Firstly, an image processing is done for object detection using Kinect camera sensor. A candidate colored object is detected using color-based object detection method and its position in local coordinates is obtained. NAV200 navigation sensor is used to obtain global position of the detected object and the 4WIS-AGV. Secondly, the position of the detected moving object is estimated using Kalman filter algorithm. Kalman filter is used to estimate the global position of the detected moving object. Thirdly, a backstepping controller based on Lyapunov stability is proposed to achieve object following task. Finally, the effectiveness of the proposed system is verified by using simulation and experimental results. The results show that the proposed controller makes the 4WIS-AGV follow the detected moving object well with an acceptable error.
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