Control of a Pan-Tilt Mechanism (PTM) angle for the bomb disposal robot Morolipi-V2 using inertia... more Control of a Pan-Tilt Mechanism (PTM) angle for the bomb disposal robot Morolipi-V2 using inertial sensor measurement unit, x-IMU, has been done. The PTM has to be able to be actively controlled both manually and automatically in order to correct the orientation of the moving Morolipi-V2 platform. The x-IMU detects the platform orientation and sends the result in order to automatically control the PTM. The orientation is calculated using the quaternion combined with Madwick and Mahony filter methods. The orientation data that consists of angles of roll (α), pitch (β), and yaw (γ) from the x-IMU are then being sent to the camera for controlling the PTM motion (pan & tilt angles) after calculating the reverse angle using position matrix method. Experiment results using Madwick and Mahony methods show that the x-IMU can be used to find the robot platform orientation. Acceleration data from accelerometer and flux from magnetometer produce noise with standard deviation of 0.015 g and 0.0...
Selecting cutting tools for a milling process is crucial to determine the optimal cut. Minimizing... more Selecting cutting tools for a milling process is crucial to determine the optimal cut. Minimizing milling process-cost is one of the most common optimization objectives, and thus it determines the best cutting tool to be used. However, the chosen cutting tool might not bring the optimal result based on the tool’s cost. Therefore, a valuation method based on the process and cutting-tool costs results were developed and analyzed to improve the cutting tool selection process. A specific rough-milling operation was entered to the quick cost-estimation and optimization application, and several cutting-tools were compared based on the process-cost by each tool. Using a weight-based analysis on both process-cost and tool-cost changes the cutting-tool options' initial rankings. This study showed that using different weight ratios altered the order of the most suitable cutting tools. Another finding revealed in this study is how deflection constraint affected the rank of cutting tool se...
International Journal of Automation and Power Engineering, 2013
The paper is concerned with mechatronics approach to design and construct a working model of a “K... more The paper is concerned with mechatronics approach to design and construct a working model of a “Kora-kora” Swinging Boat Ride for educational and entertainment applications based on the study of the actual ride in an amusement park. By constructing a working model of this ride, it is possible to learn and apply mechanical, electrical and programming aspects to solve similar problems creatively. From the mechanical aspect, it clearly represents pendulum movement. From electromechanical and programming systems, the left and right swing movement of the ride is driven by a DC motor under the control of a microcontroller. The sensor used to detect the swing of the boat is an optical encoder. From the passenger point of view, riding a swinging boat gives excitement and unique sensation due to the variation of gravitational acceleration. This gravitational acceleration is observed by using accelerometer to detect and measure the angular acceleration of the boat. Finally, the whole system is integrated and tested to evaluate its performance which proved to be very similar to the actual system.
This paper presents a simulation of motion of a bipedal robot and a comparison between the result... more This paper presents a simulation of motion of a bipedal robot and a comparison between the result of simulation and the actual robot. The hip and the knee are modeled as one degree of freedom (DOF) hinge respectively. The traction or gait is modeled as nonlinear joint alternating between one DOF pin joint and losing contact modes during the motion of the robot. The motion is modeled as a plane motion and the equation of motion is developed using the Lagrangian method. Besides torque, the jerk and impacts during the motion are observed and analyzed in the simulation. A spread sheet analysis is also performed to confirm and verify the result of simulation. In the actual robot, a PID control system is used. Various values of PID gains are set for the experiments, and the resulting behavior of the robot is observed.
In machining industries, the selection of sets of cutting parameters; cutting speed (v), feed (f)... more In machining industries, the selection of sets of cutting parameters; cutting speed (v), feed (f), and depth of cut (d) do not put much concern on optimization. In practice, they are even set intuitively or by looking at manual reference table. The study commences with constructing a software based optimization tool. The application software optimizes cutting parameters based on production time and cost for turning operations. The development of the software application captures the idea of product development process with the prototype itself assigned as the product being developed. Product specifications and product feature are derived to meet the requirements. Database of cutting tools geometry, cutting tools' materials (allowable maximum v and f), stock-workpiece geometry, workpiece material properties (amongst others, yield strength, shear strength, modulus of elasticity, unit power, and Brinell hardness), and machine type characteristics are developed using GNU/PostgreSQL ...
Every manufacturing company must have experiencing building a layout. Fred.E Meyers has stated th... more Every manufacturing company must have experiencing building a layout. Fred.E Meyers has stated that only death and taxes are certain, there exist a third certainty-a plant layout will change, thus many methods to generate layout are established and each has its own purposes and benefits. This research focused on the design of manufacturing facilities supported by in-depth analysis of Assembly process design with a high stresses on the Systematical Layout Planning ( SLP) and Flow Analysis method to facilitate an outcome of layout accordingly to the system needs. This is a real case study conducts with an objective of generating a recommendation layout for Home Appliances Company specifically for television plant
CommIT (Communication and Information Technology) Journal, 2013
Information now is an important element to every growing industry in the world. Inorder to keep u... more Information now is an important element to every growing industry in the world. Inorder to keep up with other competitors, endless improvements in optimizing overall efficiency areneeded. There still exist barriers that separate departments in PT. XYZ and cause limitation to theinformation sharing in the system. Open-Source Manufacturing Execution System (MES) presentsas an IT-based application that offers wide variety of customization to eliminate stovepipes bysharing information between departments. Benchmarking is used to choose the best Open-SourceMES Application; and Dynamic System Development Method (DSDM) is adopted as this workguideline. As a result, recommendations of the chosen Open-Source MES Application arerepresented.Keywords: Manufacturing Execution System (MES); Open Source; Dynamic SystemDevelopment Method (DSDM); Benchmarking; Configuration
Electric bike (e-bike) is an inexpensive means of urban transport energy. Development of a protot... more Electric bike (e-bike) is an inexpensive means of urban transport energy. Development of a prototype e-bike-based micro-controller has been carried out gradually. The addition of the Fuzzy Logic control system aims to increases battery service life while also improving the control system based on micro-controller that has been applied. Simulation of some fuzzy logic design is performed to obtain the appropriate architecture. The best design of fuzzy logic is chosen and applied to the e-bike and its performance is evaluated based on the criteria of time and mileage.
2012 2nd International Conference on Uncertainty Reasoning and Knowledge Engineering, 2012
ABSTRACT This paper addresses the problems of product lead time (PLT) formulation in the textile ... more ABSTRACT This paper addresses the problems of product lead time (PLT) formulation in the textile industry and proposed a methodology to formulate product lead time of textile fabric production at a textile factory using artificial neural networks. Analysis of the order fulfillment process flow of the textile company was conducted to identify the individual sequential processes that constitute product lead time. Feed forward multilayer perceptron (MLP) neural networks are developed to estimate the lead time of critical PLT processes with incomplete data and various non-linear time affecting factors. The networks are trained in a supervised manner using back propagation algorithm. The finalized neural network lead time estimation models are able to predict the lead time for each process with a good degree of accuracy and can be used as a decision making tool for quoting product lead time to customer.
ABSTRACT Holonic manufacturing is a new paradigm for manu-facturing introduced recently. This art... more ABSTRACT Holonic manufacturing is a new paradigm for manu-facturing introduced recently. This article reports on the development of a ‘holonic CNC controller’, an ongoing research activity of Katholieke Universiteit Leuven. Various concepts such as device driver and task-driven discrete instructions have been introduced to fulfil specific requirements of holonic systems: e.g. self-diagnostic and self-repair. An object-oriented model is used to represent the execution of the concepts mentioned above. The execution methodology of those objects is also discussed in this article. The application currently works on a Windows 16-bit platform.
A design of walking diagram and the calculation of a bipedal robot have been developed. The biped... more A design of walking diagram and the calculation of a bipedal robot have been developed. The bipedal robot was designed and constructed with several kinds of servo bracket for the legs, two feet and a hip. Each of the bipedal robot leg was 5-degrees of freedom, three pitches (hip joint, knee joint and ankle joint) and two rolls (hip joint and ankle joint). The walking algorithm of this bipedal robot was based on the triangle formulation of cosine law to get the angle value at each joint. The hip height, height of the swinging leg and the step distance are derived based on linear equation. This paper discussed the kinematic model analysis and the development of the walking diagram of the bipedal robot. Kinematics equations were derived, the joint angles were simulated and coded into Arduino board to be executed to the robot.
Control of a Pan-Tilt Mechanism (PTM) angle for the bomb disposal robot Morolipi-V2 using inertia... more Control of a Pan-Tilt Mechanism (PTM) angle for the bomb disposal robot Morolipi-V2 using inertial sensor measurement unit, x-IMU, has been done. The PTM has to be able to be actively controlled both manually and automatically in order to correct the orientation of the moving Morolipi-V2 platform. The x-IMU detects the platform orientation and sends the result in order to automatically control the PTM. The orientation is calculated using the quaternion combined with Madwick and Mahony filter methods. The orientation data that consists of angles of roll (α), pitch (β), and yaw (γ) from the x-IMU are then being sent to the camera for controlling the PTM motion (pan & tilt angles) after calculating the reverse angle using position matrix method. Experiment results using Madwick and Mahony methods show that the x-IMU can be used to find the robot platform orientation. Acceleration data from accelerometer and flux from magnetometer produce noise with standard deviation of 0.015 g and 0.0...
Selecting cutting tools for a milling process is crucial to determine the optimal cut. Minimizing... more Selecting cutting tools for a milling process is crucial to determine the optimal cut. Minimizing milling process-cost is one of the most common optimization objectives, and thus it determines the best cutting tool to be used. However, the chosen cutting tool might not bring the optimal result based on the tool’s cost. Therefore, a valuation method based on the process and cutting-tool costs results were developed and analyzed to improve the cutting tool selection process. A specific rough-milling operation was entered to the quick cost-estimation and optimization application, and several cutting-tools were compared based on the process-cost by each tool. Using a weight-based analysis on both process-cost and tool-cost changes the cutting-tool options' initial rankings. This study showed that using different weight ratios altered the order of the most suitable cutting tools. Another finding revealed in this study is how deflection constraint affected the rank of cutting tool se...
International Journal of Automation and Power Engineering, 2013
The paper is concerned with mechatronics approach to design and construct a working model of a “K... more The paper is concerned with mechatronics approach to design and construct a working model of a “Kora-kora” Swinging Boat Ride for educational and entertainment applications based on the study of the actual ride in an amusement park. By constructing a working model of this ride, it is possible to learn and apply mechanical, electrical and programming aspects to solve similar problems creatively. From the mechanical aspect, it clearly represents pendulum movement. From electromechanical and programming systems, the left and right swing movement of the ride is driven by a DC motor under the control of a microcontroller. The sensor used to detect the swing of the boat is an optical encoder. From the passenger point of view, riding a swinging boat gives excitement and unique sensation due to the variation of gravitational acceleration. This gravitational acceleration is observed by using accelerometer to detect and measure the angular acceleration of the boat. Finally, the whole system is integrated and tested to evaluate its performance which proved to be very similar to the actual system.
This paper presents a simulation of motion of a bipedal robot and a comparison between the result... more This paper presents a simulation of motion of a bipedal robot and a comparison between the result of simulation and the actual robot. The hip and the knee are modeled as one degree of freedom (DOF) hinge respectively. The traction or gait is modeled as nonlinear joint alternating between one DOF pin joint and losing contact modes during the motion of the robot. The motion is modeled as a plane motion and the equation of motion is developed using the Lagrangian method. Besides torque, the jerk and impacts during the motion are observed and analyzed in the simulation. A spread sheet analysis is also performed to confirm and verify the result of simulation. In the actual robot, a PID control system is used. Various values of PID gains are set for the experiments, and the resulting behavior of the robot is observed.
In machining industries, the selection of sets of cutting parameters; cutting speed (v), feed (f)... more In machining industries, the selection of sets of cutting parameters; cutting speed (v), feed (f), and depth of cut (d) do not put much concern on optimization. In practice, they are even set intuitively or by looking at manual reference table. The study commences with constructing a software based optimization tool. The application software optimizes cutting parameters based on production time and cost for turning operations. The development of the software application captures the idea of product development process with the prototype itself assigned as the product being developed. Product specifications and product feature are derived to meet the requirements. Database of cutting tools geometry, cutting tools' materials (allowable maximum v and f), stock-workpiece geometry, workpiece material properties (amongst others, yield strength, shear strength, modulus of elasticity, unit power, and Brinell hardness), and machine type characteristics are developed using GNU/PostgreSQL ...
Every manufacturing company must have experiencing building a layout. Fred.E Meyers has stated th... more Every manufacturing company must have experiencing building a layout. Fred.E Meyers has stated that only death and taxes are certain, there exist a third certainty-a plant layout will change, thus many methods to generate layout are established and each has its own purposes and benefits. This research focused on the design of manufacturing facilities supported by in-depth analysis of Assembly process design with a high stresses on the Systematical Layout Planning ( SLP) and Flow Analysis method to facilitate an outcome of layout accordingly to the system needs. This is a real case study conducts with an objective of generating a recommendation layout for Home Appliances Company specifically for television plant
CommIT (Communication and Information Technology) Journal, 2013
Information now is an important element to every growing industry in the world. Inorder to keep u... more Information now is an important element to every growing industry in the world. Inorder to keep up with other competitors, endless improvements in optimizing overall efficiency areneeded. There still exist barriers that separate departments in PT. XYZ and cause limitation to theinformation sharing in the system. Open-Source Manufacturing Execution System (MES) presentsas an IT-based application that offers wide variety of customization to eliminate stovepipes bysharing information between departments. Benchmarking is used to choose the best Open-SourceMES Application; and Dynamic System Development Method (DSDM) is adopted as this workguideline. As a result, recommendations of the chosen Open-Source MES Application arerepresented.Keywords: Manufacturing Execution System (MES); Open Source; Dynamic SystemDevelopment Method (DSDM); Benchmarking; Configuration
Electric bike (e-bike) is an inexpensive means of urban transport energy. Development of a protot... more Electric bike (e-bike) is an inexpensive means of urban transport energy. Development of a prototype e-bike-based micro-controller has been carried out gradually. The addition of the Fuzzy Logic control system aims to increases battery service life while also improving the control system based on micro-controller that has been applied. Simulation of some fuzzy logic design is performed to obtain the appropriate architecture. The best design of fuzzy logic is chosen and applied to the e-bike and its performance is evaluated based on the criteria of time and mileage.
2012 2nd International Conference on Uncertainty Reasoning and Knowledge Engineering, 2012
ABSTRACT This paper addresses the problems of product lead time (PLT) formulation in the textile ... more ABSTRACT This paper addresses the problems of product lead time (PLT) formulation in the textile industry and proposed a methodology to formulate product lead time of textile fabric production at a textile factory using artificial neural networks. Analysis of the order fulfillment process flow of the textile company was conducted to identify the individual sequential processes that constitute product lead time. Feed forward multilayer perceptron (MLP) neural networks are developed to estimate the lead time of critical PLT processes with incomplete data and various non-linear time affecting factors. The networks are trained in a supervised manner using back propagation algorithm. The finalized neural network lead time estimation models are able to predict the lead time for each process with a good degree of accuracy and can be used as a decision making tool for quoting product lead time to customer.
ABSTRACT Holonic manufacturing is a new paradigm for manu-facturing introduced recently. This art... more ABSTRACT Holonic manufacturing is a new paradigm for manu-facturing introduced recently. This article reports on the development of a ‘holonic CNC controller’, an ongoing research activity of Katholieke Universiteit Leuven. Various concepts such as device driver and task-driven discrete instructions have been introduced to fulfil specific requirements of holonic systems: e.g. self-diagnostic and self-repair. An object-oriented model is used to represent the execution of the concepts mentioned above. The execution methodology of those objects is also discussed in this article. The application currently works on a Windows 16-bit platform.
A design of walking diagram and the calculation of a bipedal robot have been developed. The biped... more A design of walking diagram and the calculation of a bipedal robot have been developed. The bipedal robot was designed and constructed with several kinds of servo bracket for the legs, two feet and a hip. Each of the bipedal robot leg was 5-degrees of freedom, three pitches (hip joint, knee joint and ankle joint) and two rolls (hip joint and ankle joint). The walking algorithm of this bipedal robot was based on the triangle formulation of cosine law to get the angle value at each joint. The hip height, height of the swinging leg and the step distance are derived based on linear equation. This paper discussed the kinematic model analysis and the development of the walking diagram of the bipedal robot. Kinematics equations were derived, the joint angles were simulated and coded into Arduino board to be executed to the robot.
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Papers by Prianggada Indra Tanaya