Complexity in modeling an underwater thruster analytically, leave system identification approached a good option on developing accurate dynamic model for underwater thruster. Nonlinearity of the system due to fluid solid interaction such as, hydrodynamic force hitting the propeller blade make the system identification became a trivial task. This paper presents nonlinear modeling and identification of the underwater thruster from input–output measurement. The system was fully submerged, and current was varied as the input and the output thrust was measured using load cell. Nonlinear Hammerstein method is chosen for identification of the system. The results are numerically and graphically presented. The nonlinear system identification with second order linear dynamics gave the best result, where is the model, can fit up to 82 % of the real response of the thrust. The finding of the model can be utilized in the future to improve underwater vehicle performance by developing optimum control algorithm.
We have built an electronic instrument of water pump control system for rice field irrigation. This instrument is developed from our previous prototype with some additional features. This instrument is equipped with the keypad, GSM modem, water flow sensor, and relay as the input sources. An Arduino Mega 2560 is used as the main controller of the system. The working time of the water pump can be set using the keypad or short message service, which is received by GSM modem in the instrument. If there is no water flowing through the water pump as detected by the water flow sensor, the instrument will automatically shut down the water pump, and send the notification message to the user’s handphone. When the abnormal condition is detected on the water pump, the relay will disconnect the electricity to avoid the severe damage of the water pump. This instrument has been installed and used by the farmer in Desa Ngunut, Babadan District, Ponorogo Regency, with support from DRPM Kemenristekdikti through Program Kemitraan Masyarakat.
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