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This paper reports the design and implementation of a leader–follower (L–F) formation control of two Parrot AR Drone 2.0 quadrotor UAVs (drones). In order to implement such control, three control elements were developed. These were the flight-dynamic characteristics, the position tracking and L–F formation control, and the data communication system between drones and ground-control station. The dynamic...
This paper reports the systematic selection of process and controller configurations of four distillation columns operated at purification stage in an olefin petrochemical plant. These columns were demethanizer, deethanizer, depropanizer #1 and depropanizer #2 columns, which separated ethane (C2H6) and propane (C3H8) from methane (CH4) and other heavier components (i.e. C4+). The interconnection of...
Speed bump is one common tool to reduce the speed of oncoming vehicles in Indonesia, either in residential road or in main highways. Due to its nature of being run over by oncoming vehicles, speed bumps have a great potential to harvest the mechanical energy at each run. In order to do so, this study equipped a speed bump with spring module, cantilever with piezoelectric module, and electrical energy...
This paper presents the design and implementation of Boid algorithm with proportional — integral controller to control the velocity of quadrotor which uses a camera-based localization method. The algorithm consists of three rules: cohesion, separation, and alignment in order to mimic the behavior of groups of animals such as bird colonies. The control action was applied to achieve a reference velocity...
Piezoelectric cantilever is widely use as energy harvester from vibration source. Common of the problem is how to tune the natural frequency of piezoelectric in order to generate maximum ouput power. This work was proposed alternative scheme of mechanical coupling for tune the vibration input into natural frequency of piezoelectric, that consist of cantilever beam and permanent magnet. On the experiment,...
Biodiesel washing is part of a biodiesel production process that aims to remove impurities contained in biodiesel. In this research, the process of biodiesel washing was conducted at a liquid separation mini plant using mechanical stirring method. A capacitive sensor was utilized to detect interface which is used in the separation between the two liquids, biodiesel and water. This sensor acts as a...
This paper presents the design and application of proportional - integral control to compensate the effect of wind disturbance on a quadrotors being commanded through gesture based interface. The gesture commands were applied to increase the scope of interaction between human and quadrotors. In addition, the quality of quadrotors flights on x-y plane were increased by applying wind disturbance rejection...
This paper proposes strategy to maximize the use of renewable energy on islanded grid. Photovoltaic will be used as main electricity source to supply home load. Lack of electricity will be supplied by picohydro power plant (PHPP). Deficit of electricity supply is utilized as set point reference by a controller implementing model predictive control (MPC) to regulate the flow control valve which feed...
In this paper, position control for a quadrotor in outdoor environment is designed and is validated by experiment. The quadrotor used in the experiment is equipped by accelerometers which are used by an internal controller to maintain its velocity in the global coordinate, and a global position system (GPS) for location determination. A proportional derivative (PD) controller, utilizing feedback of...
Fermentation food is known as one of traditional food processing method. This method is used in several countries. In Indonesia, fermented food that made by cassava is very famous in West Java area known as peuyeum or tape. Further aim of study is to control fermentation environment so that tape can be fermented at all area where cassava can be cultivated in Indonesia with better product and consistent...
Fuel oil availability holds a vital role for economic activity of a country. Gasoline is a type of fuel oil which is quite high in demand. Most fuel engine vehicles, which in charge for commodity distribution, depends on gasoline in order to operate. In Indonesia, gasoline distribution system is controlled mostly by the government via national oil company (Pertamina). The government control most of...
This paper is concerned with a development of an alternative ratio control method using adaptive neuro-fuzzy approach and its implementation to control steam-gas ratio of primary reformer in a petrochemical plant in Gresik, Indonesia. Ratio control is used to ensure that two flows, i.e steam and gas, are kept at the same ratio even if the flows are changed. Adaptive neuro-fuzzy approach is implemented...
In order to maximize the profit of a biodiesel production plant, one has to decide the numbers of unit productions and the values of controller parameters. This study addresses the problem by examining various control loops and process configuration within a process superstructure. The problem is formulated as a dynamic Mixed Integer Nonlinear Problem and is subsequently solved by using the Dynamic...
This paper presents the integration of the output controllability index within the dynamic operability framework to facilitate controllability and economic assessment of process system design for regulatory cases. The framework utilises the geometric representation of feasible operating region as well as input, output and disturbance spaces, in terms of their convex hulls. The geometric operations...
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