Jurnal Rekayasa Elektrika
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Penerapan SLAM Gmapping dengan Robot Operating System Menggunakan Laser Scanner pada Turtlebot
Get PDFThe manouver ability from one place to another in order to accomplish some tasks safely is a basic requirement of mobile robotics. Current robotics navigation systems require a real world map data, acquired by on-board sensors, to carry out simultaneous localisation and navigation (SLAM) algorithm. There are several SLAM algorithms. In this article we used SLAM gmapping using robot operating system (ROS) and laser scanner. The gmapping slam algorithm used particle filter method to localize robot pose within the environment and generate 2D occupancy grid map. The map is in gray-scale informed the free space, wall, and unexplored space. The implementation of gmapping slam conducted with turtlebot 3 from Robotics as well as 3D simulation using gazebo
Vol.16, No.1, April 2020
No full textPenerbitJurusan Teknik Elektro dan KomputerFakultas Teknik Universitas Syiah KualaAlamat RedaksiJurusan Teknik Elektro dan KomputerFakultas Teknik Universitas Syiah KualaJl. Tgk. Syech Abdurrauf No. 7, Banda Aceh 23111Telp/Fax: 0651-7554336e-mail: [email protected]: http://jurnal.unsyiah.ac.id/JR
Vol. 16, No. 3, Desember 2020
No full textPenerbitJurusan Teknik Elektro dan KomputerFakultas Teknik Universitas Syiah KualaAlamat RedaksiJurusan Teknik Elektro dan KomputerFakultas Teknik Universitas Syiah KualaJl. Tgk. Syech Abdurrauf No. 7, Banda Aceh 23111Telp/Fax: 0651-7554336e-mail: [email protected]: http://jurnal.unsyiah.ac.id/JR
Perancangan Antena Yagi Gain Tinggi Pada Ground Control Station Wahana Udara Nirawak
Get PDFThe uncrewed Aerial Vehicle (UAV) operation is currently dominated by autonomous technology (autopilot) rather than manual control via remote control. During flying the mission autonomously, communication between the UAV and the Ground Control Station (GCS) must be in good and stable conditions. The GCS can well receive the telemetry data and payload sensor data carried by the vehicle. Conversely, any inconsistency parameters can be corrected by the GCS before transmitted to the UAV. Therefore, the role of the antenna is crucial to avoid signal loss during the communication process. This study focuses on GCSs antenna. By designing the Yagi type antenna with the optimization of the distance, the number of directors, material, and shape of the reflector through CST simulation. The best option chosen is the Yagi antenna with the same distance between directors, seven directors, copper material, and flat reflectors with a VSWR of 1.1134, return loss -25.411 dB and 10.7 dB of gain. The measurement result after fabrication is the VSWR of 2.165 and the return loss of -8.677 dB. The antenna test results, when the UAV was flown as far as 2.5 km, found that the signal strength received by the GCS is -70.68 dBm with RSSI 107, and the signal strength in percent is 96%
Integrasi Model Pembangkit Listrik Tenaga Angin Pada Analisis Aliran Daya Sistem Tenaga
Get PDFThis paper proposes a new method for modeling and integrating wind turbine generating system (WTGS)into power flow analysis. The proposed WTGS model is based on the slip calculation of the WTGS inductiongenerator. Unlike some previous methods where machine slip is determined after the iteration process has beencompleted, in the proposed method, machine slip is included in the calculation or iteration process and computedtogether with other electrical quantities. In this way, the formulation for induction generator rotor voltage (which isusually complicated and often represented by bi-quadratic equation) is no longer needed in the modeling. Validationresults show that the proposed method is accurate. The application of the WTGS model in load flow analysis of themulti-bus electric power system is also presented. In addition, the effect of WTGS installation on system steady-stateperformance is also investigated in this paper
Kontrol Tegangan pada Sistem Hybrid Panel Surya-Turbin Angin Menggunakan Manajemen Penyimpanan Baterai
Get PDFThe purpose of this paper is to determine the control strategy of the renewable energy systems of hybridsolar panel power and wind turbines in maximizing voltage balance. The voltage control strategy needs to be designed,mainly when different load changes occur. If it is not done, it will affect the balance of power supplied to the loadand usually damage the equipment used. Solar and wind energy sources significantly influence the stability of theapplied voltages quality due to the fluctuating nature of renewable energy. This paper proposes control strategiesfor the use of PIs and the signal conditioning devices that are modified using the battery charging and dischargingmodeling while taking into account battery lifetime using PSIM software so that optimal voltage results from hybridsolar panel and wind turbine systems are obtained. The battery will be used as energy storage when the hybridoutput power is over, which will then be used again when the hybrid output power is less than the load requirement.The signal conditioning device in this study uses five power converters, one AC to DC converter, two DC-DC boost converters, one bidirectional converter, 1 DC-AC bidirectional converter. Maximum output power uses MPPT, which is applied to the boost converter, whereas to regulate the voltage through charging and discharging the batterythrough the bidirectional buck-boost converter. This strategy provides the appropriate voltage on the AC side
Peningkatan Kinerja MPPT Menggunakan Kontrol PWM Fuzzy dengan Tuning PID
Get PDFUtilization of sunlight using solar panels as power plants began to be developed to reduce the use of fossil fuels. The purpose of this study is to design an MPPT model with PV sources. The PID controller is used to improve MPPT performance in regulating the boost converter, while the PID value is set with fuzzy logic. Research methods include simulation design, hardware, load capacity calculation, and fuzzy logic design. The trial was conducted using an electric load in the house. The results of previous studies, using PID control generated 88.77% efficiency. The results of the study using PID control that is regulated by fuzzy logic produces 95.79% efficiency. This method is also able to improve the output of the boost converter voltage, so that with this method the boost converter output voltage is better when compared to other methods
Studi Pemanfaatan Relai Jarak Quadrilateral untuk Proteksi Saluran Distribusi dengan Pembangkit Tersebar
Get PDFInstallation of distributed generations (DGs) in distribution network bring benefits for power system operation. However, DGs change the distribution network topologies from radial with one source into multi-sources network, hence magnitude and direction of the current will also change. Consequently, the existing distribution line protection i.e. current based protection, experience performances deterioration. To overcome this problem, distance relays, which work based on calculated impedance is proposed. However, since mho distance relays fail to detect faults through resistance in previous research, quadrilateral characteristic of distance relay is chosen. Quadrilateral distance relays have separate setting for reach and resistance; hence it is expected it will accommodate fault resistance. Therefore, this research aims to identify the performance of quadrilateral distance relay in protecting distribution lines that having DG. The research method is computer simulation where quadrilateral distance relays performance is tested for various faults and system conditions in a test system. The software for the simulation is Digsilent Power factory. The results conclude that the quadrilateral distance relays experienced failures to detect faults in correct zone operation due to a weak source of DG. DG generates less fault current, as consequences, the relays see large impedances
Strategi Pembebanan PLTS Off Grid untuk Peningkatan Kontinuitas Suplai Energi Listrik
Get PDFSolar power plants using environmentally friendly technology in the process of harvesting energy fromthe sun can be a solution to the future electricity crisis so that it has been the most widely developed and reliablealternative. However, the conversion of solar energy depends on the availability and conditions of sunlight. In sunnyconditions, the PV system can serve large loads while charging the battery to the maximum. While in cloudy weatherconditions or at night, the PV system serves the load and without charge of the battery. The battery will discharge thestored energy until it runs out and the supply to the load will be cut off before the desired time. Therefore, researchon PV system loading strategy is needed to increase the amount of electricity from solar energy and maintain thecontinuity of electricity supply to the load. The load power management strategy follows the conditions of sunny,cloudy, rainy or night time by considering the remaining capacity of the battery that can be used. Load installationsare designed to consist of low, medium and high load installations. Simulation results show that the use of PV loadingmanagement strategies can increase the operating time of the PV system. When the remaining 15% battery capacityand PLN supply is available, the supply will be switched to PLN. The remaining 15% of PV battery capacity could beused to maintain electricity supply to a low load if the PLN supply interrupted. Thus the use of the charging strategywill increase the supply of electricity from renewable energy and improve the continuity of electricity supply
Desain Robot Holonomic berbasis Roda Mecanum dengan Arm Manipulator
Get PDFMovement systems of a mobile robot in an industry generally use the concept of differential drive or ackerman steering. However, both methods tend to have low mobility. This paper proposes an industrial mobile robot design with a holonomic concept using mecanum wheels to maneuver in all directions with better mobility. As a commonly used robot in the industrial field, an arm manipulator is combined with a mobile robot. The mobile robot and arm manipulator's mechanical design is made using software inventor and utilizing acrylic as its base material. The electronic design of the robot is created using Eagle software. After the robot manufacturing is complete, then a user interface is made using the processing IDE. Several robot tests are conducted to ensure that the designed robot runs appropriately. From the functional test results, parts of the robot can run well. The smallest error obtained is 5 cm for the robot heading test, and the most significant error is 20 cm. The testing of a servo motor, which is the arm manipulator's primary actuator, showed the highest error of only 2 degrees. Besides, the gripper of the arm manipulator can also hold objects properly