Journal of Mechatronics, Electrical Power, and Vehicular Technology
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Analysis of Inverse Angle Method for Controlling Two Degree of Freedom Manipulator
No full textDriver mechanism with two degree of freedom (MP 2-DK) is a robotic device that can be used for various applications such as turret drive system, gutling gun, launcher, radar antennas, and communications satellite antennas. The precision and the speed of a MP 2-DK are determined by its control system. The calculation inverse angle due to interference in six degree of freedom is necessary to control a MP 2 DK. This paper analyses three calculation methods of inverse angle which are iteration method using Jacobian matrix, reduction of matrix equations using positioning geometry, and an analytical derivation using a rotation matrix. The simulation results of the three methods showed that the first and the third methods could visually demonstrate three rotational disturbances, whereas the second method could only demonstrate the pitch and yaw (PY) disturbances. The third method required less processing time than the first and the second methods. The best method based on this research was the method of rotation matrix
Analisis Getaran pada Generator Magnet Permanen 1kW Hasil Rancang Bangun Pusat Penelitian Tenaga Listrik dan Mekatronik
No full textVibration in a generator is an important factor in detail of design. To know the behavior of the vibration, a test is performed using vibratiometer. The aim in writing this paper is to obtain reference classification of vibration that can be viewed on a standard IEC 34-14 and DIN EN 60034-14. In this paper the results of testing, the value of velocity and acceleration, will be measured analytically so asto create value that can be used to compare the value of the test results with the value from 34-14 IEC and DIN EN 60034-14 standards.
Ocean Current Energy Conversion System in Wallacea Region Using Variable Speed Control Approach
No full textOcean Current Energy Conversion System (OCECS) is a promising green energy resource in this globe. The Thermohaline circulation data indicates that the Wallacea region has the potential of ocean current energy resources. This paper is aimed to propose research and development of OCECSs to be implemented in the Wallacea region. Firstly, four types of green energy conversion systems extracted from ocean are reviewed. Their advantages and disadvantages are discussed. Secondly, the potential of OCECS in the Wallacea region is described. Third, many types of turbines used for OCECS are reviewed and the turbine type for OCECS is selected to be implemented in the Wallacea region. Fourth, control strategy is proposed.From the work reported in this paper it is concluded that it is appropriate to implement OCECSs using axial flow water turbines in the Wallacea region, and that to maximize energy conversion variable speed control approach is selected together with control of mechanism to move the turbine vertically as well as to rotate the turbine in yaw direction.
The Effect of the Addition of Active Digester Effluent for Start-up Accelerator in Anaerobic Digestion of Soybean Curd Industry Waste Water (Basic Research for Biogas Power Generation)
No full textBiogas production from soybean curd industry waste water was studied in laboratory scale to improve the application of anaerobic digestion process. The problem with the soybean curd waste water was the fact that it does not sufficiently contain anaerobic microorganisms required in biogas production. Therefore, it is necessary to add a well-developed population of anaerobic microorganisms to accelerate the start-up of the anerobic digestion. This research was aimed to verify the influence of the addition of active digester effluent into the soybean curd waste water batches in an anaerobic digestion process. Batch experiments were done in two digesters. The first digester was only fed with soybean curd waste water while the second digester was fed with soybean curd waste water and active digester effluent from a digester processing cow manure which was very rich in anaerobic microorganism consortium. The results indicated that soybean curd industry waste water did not contain methanogenic bacteria but there existed some acidogenic bacteria. The addition of active digester effluent accelerated the anaerobic digestion start-up and directed the process pathway towards methanogenic process so that more methane was obtained. The high methane content obtained (more than 64% volume) was very potential for power generation. The capacity of soybean curd industry must be as high as 697.13 kg soybean per day to generate the electric energy of 8.4 kWh
Rancang Bangun Kendali Sekuen untuk Sambungan Jala-Jala Listrik Menggunakan Cycloconverter
No full textThis developed cycloconverter circuit simulates grid connector circuit using two function generators, which substitute AC power. The first function generator was used to represent input wave from PLN with 50 Hz frequency. The other function generator was used to represent input wave from new generator with 10-90 Hz frequency. Such initial condition enabled us to control the frequency increase from 10Hz – 40Hz to 50Hz and decrease from 60Hz – 90Hz to 50Hz. This cycloconverter used trigger circuit to activate its electrical components. The trigger circuit contains trigger parts such as thyristor and MOSFET. All hardware components in this circuit were controlled by microcontroller ATMega 8535. This controller manages all trigger circuits that were needed by cycloconverter. The experiment result shows that the cycloconverter wasable to modify frequency and phase angle, so that it enabled the connection to the electrical grid
Machine Vision Implementation in Rapid PCB Prototyping
No full textImage processing, the heart of machine vision, has proven itself to be an essential part of the industries today. Its application has opened new doorways, making more concepts in manufacturing processes viable. This paper presents an application of machine vision in designing a module with the ability to extract drills and route coordinates from an un-mounted or mounted printed circuit board (PCB). The algorithm comprises pre-capturing processes, image segmentation and filtering, edge and contour detection, coordinate extraction, and G-code creation. OpenCV libraries and Qt IDE are the main tools used. Throughout some testing and experiments, it is concluded that the algorithm is able to deliver acceptable results. The drilling and routing coordinate extraction algorithm can extract in average 90% and 82% of the whole drills and routes available on the scanned PCB in a total processing time of less than 3 seconds. This is achievable through proper lighting condition, good PCB surface condition and good webcam quality.
Mikrostruktur dan Karakterisasi Sifat Mekanik Lapisan Cr3C2-NiAl-Al2O3 Hasil Deposisi Dengan Menggunakan High Velocity Oxygen Fuel Thermal Spray Coating
No full textSurface coating processing of industrial component with thermal spray coatings have been applied in many industrial fields. Ceramic matrix composite coating which consists of Cr3C2-Al2O3-NiAl had been carried out to obtain layers of material that has superior mechanical properties to enhance component performance. Deposition of CMC with High Velocity Oxygen Fuel (HVOF) thermal spray coating has been employed. This study aims to determine the effect of powder particle size on the microstructure, surface roughness and hardness of the layer, by varying the NiAl powder particle size. Test results show NiAl powder particle size has an influence on the mechanical properties of CMC coating. Hardness of coating increases and surface roughness values of coating decrease with smaller NiAl particle size.
Survey Potensi Pembangkit Listrik Tenaga Mikro Hidro di Kuta Malaka Kabupaten Aceh Besar Propinsi Nanggroe Aceh Darussalam
No full textGenerator set is one of the devices able to produces electrics. Generator set used when electrics supply of PLN insufficient or even there no. This matter experienced in Kuta Malaka, Aceh Besar, Nanggroe Aceh Darussalam there will be developed a tour area. Because electrical supply from PLN not yet, power electric to support the area used generator set. Future, that tour area apply hydro power station for electrical energy requirement. From that background, the purpose of water potential survey was conducted to get beginning data and information of water power potential as reference to develop PLTMH. The potential survey cover determination of location and head measurement use global positioning system Garmin GPSMAP 76CSx. The other using altimeter, head also was measure manually used the meter by spirit level and string method. The river rate of flow measurement within measuring to speed of rivers flow use propeller devices or current meters brand Flowatch. From data of PLTMH potential survey in Kuta Malaka area known that there are three potential locations able to be developed as PLTMH with effective head 5 until 16 meter and output power 3.7 until 9.1 kW