Peristiwa kebakaran merupakan kejadian yang sangat umum terjadi, banyak faktor yang mempengaruhi, di antaranya ialah; hubung pendek arus listrik, kebocoran gas, putung rokok. Kebakaran yang terjadi pasti akan berujung pada kerugian baik itu kerugian materil maupun korban jiwa. Pencegahan sejak dini sangat diperlukan yaitu dengan penerapa sitem pendeteksi kebakaran atau alarm kebakaran. Rancangan alat pendeteksi kebakaran terdiri dari flame sensor sebagai pendeteksi api, sensor MQ-2 sebagai mendeteksi adanya asap dalam ruangan. Serta dilengkapi dengan mikrokontroler Arduino. Berdasarkan kedua sensor indikator kebakaran ini akan ditampilkan melalui LCD dan apabila terjadi kebakaran akan di iringi dengan suara peringatan dari buzzer. Uji coba sistem terlebih dahulu melalui software proteus 8 profesional dengan tujuan membangun suatu alat pendeteksi kebakaran secara otomatis menggunakan flame sensor dan sensor asap MQ2, yang dilengkapi dengan LCD LM016L berbasis mikrokontroller arduino. Hailnya mampu memberikan gambara kepada kalayak umum bagaimana sistem kerja dari alat pendeteksi kebakaran/ alarm kebakaran yang dapat di representasikan memalui software proteus.
Due to potential features of unmanned aerial vehicles for society, the development of bicopter has started to increase. This paper contributes to the development by presenting a performance evaluation of balancing bicopter control in roll attitude. It aims to determine the best controller structure for the balancing bicopter. The controller types evaluated are based on Ziegler-Nichols tuning method; they are proportional (P), proportional-integral (PI), and proportional-integral-derivative (PID) controllers. Root locus plot of the closed-loop balancing bicopter system is used to decide the tuning approach. This work considers a difference in pulse-width-modulation (PWM) signal between the left and right rotors as the signal control and bicopter angle in roll movement as the output. Parameters tuned by the method are Kp, Ti, and Td which is based on the ideal PID structure. The performance test utilizes rising time, settling time, maximum overshoot, and steady-state error to determine the most preferred controller. The result shows that PI-controller has the best performance among the other candidates, especially in maximum overshoot and settling time. It reaches 8.34 seconds in settling time and 3.71% in maximum overshoot. Despite not being the best in rising time and resembling PID-controller performances in steady-state error criteria, PI-controller remains the most preferred structure considering the closeness of the response to the desired value.
This article describes the design and implementation of behavior-based robotic (BBR) algorithm on a wheeled mobile robot (WMR) Pioneer P3-DX in a maze exploration mission using V-REP simulator. This robot must trace and search for targets placed randomly on a labyrinth. After successfully meeting the objective, robot runs back to home position using the nearest path. Robot navigation system applies BBR algorithm to reach the target using behavior modules which work simultaneously to obtain the desired robot’s trajectory. The most fundamental behavior which is highly affordable to build on the robot system is a wall-following behavior. To make the robot could follow the wall in a safe, smooth and responsive condition, proportional-integral-derivative (PID) controller is applied. PID controller runs by utilizing the reading of sixteen proximity sensors carried on Pioneer P3-DX robot toward the expected wall distance while the robot is exploring the labyrinth. To ensure the designed system works properly, several tests were conducted, including BBR test and PID controller test. BBR test shows that the system can choose the shortest track when returning to home position. The PID controller test produces robot movement with maximum deviation and settling time for about 0.013 m and 30 seconds, respectively.
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