This paper presents trajectory tracking on omni robots using odometry method. The odometry system aims to estimate the position relative to the initial position of the omni robot to estimate changes in position over time. The rotary encoder sensor is used to count the movement of the omni robot at the x and y coordinates in the odometry calculation process in this study. Furthermore, using the reverse kinematics on the omni robot, the rotational speed value of each DC motor in the omni robot wheel is obtained. In addition, to obtain the results of a good robot movement on the odometry system, PID control is applied to control the rotational speed of each DC motor on the omni robot wheel. With reverse kinematics and odometry systems, omni robot trajectory designs can be easily built. To test the odometry method performance in trajectory tracking process, there are three types of trajectory testing patterns, namely rectangles, equilateral triangles, and equilateral triangles. From the results of this test, the error value obtained is below 5%. Intisari-Makalah ini memaparkan trajectrory tracking pada robot omni dengan metode odometry. Sistem odometry bertujuan untuk memperkirakan posisi relatif terhadap posisi awal robot omni untuk memperkirakan perubahan posisi dari waktu ke waktu. Sensor rotary encoder digunakan untuk mencacah pergerakan robot omni pada koordinat x dan y pada proses perhitungan odometry. Selanjutnya, dengan menggunakan kinematika balik pada robot omni, nilai kecepatan putar masingmasing motor DC pada roda robot omni diperoleh. Selain itu, untuk memperoleh hasil pergerakan robot yang baik pada sistem odometry, kendali PID diterapkan untuk mengendalikan kecepatan putar masing-masing motor DC pada roda robot omni. Dengan kinematika balik dan sistem odometry, desain trajectory robot omni dapat dengan mudah dibangun. Untuk menguji kinerja metode odometry dalam melakukan proses trajectory tracking, terdapat tiga jenis pola pengujian trajectory, yaitu persegi panjang, segitiga sama sisi, dan segitiga sama kaki. Dari hasil pengujian ini, diperoleh nilai kesalahan di bawah 5%.
AbstrakMakalah ini memaparkan perancangan kendali logika fuzzy pada sistem electronic control unit (ECU) air conditioner mobil. Salah satu kendala pada ECU mobil adalah kerusakan pada sistem air conditioner. Bila ini terjadi umumnya pengguna mobil mengganti sistem ECU secara keseluruhan. Namun pada makalah ini, penulis meracang sistem ECU yang secara khusus digunakan untuk sistem air conditioner mobil. Sistem yang dirancang menggunakan sensor DS18B20 waterproof untuk mendeteksi suhu evaporator mobil. Selanjutnya, nilai suhu tersebut digunakan sebagai masukan logika fuzzy yang terdiri dari pembacaan suhu sekarang dan suhu terakhir dalam mengatur kecepatan putar kipas motor DC atau fan exhausting dan waktu switching magnetic clutch compressor menyala. Penyelesaian hubungan relasi masukan fuzzy diselesaikan menggunakan aturan Mamdani dan keluaran dari logika fuzzy diselesaikan menggunakan metode weight average (WA). Dari hasil pengujian diperoleh bahwa kendali logika fuzzy yang diaplikasikan pada rancangan sistem air conditioner mampu mengendalikan kecepatan fan exhausting secara halus dan responsif. AbstractThis paper describes the design of fuzzy logic controls in the system of electronic control unit (ECU) of car air conditioner. One obstacle in the car ECU is damage to the air conditioner system. If this happens generally car users change the whole ECU system. But in this paper, the authors form the ECU system which is specifically used for car air conditioner systems. The system is designed using a DS18B20 waterproof sensor to detect the temperature of the car's evaporator. Furthermore, the temperature value is used as a fuzzy logic input consisting of reading the current temperature and the last temperature in adjusting the rotating speed of the DC motor fan or exhausting fan and when the switching magnetic clutch compressor is on. Completion of fuzzy input relations is solved using Mamdani rules and the output of fuzzy logic is solved using the weight average (WA) method. From the test results it was found that the fuzzy logic control applied to the design of the air conditioner system was able to control the speed of the exhausting fan in a smooth and responsive manner.
Nowadays, the IoT implementations grow rapidly in most sectors. One of the challenges faced due to this growth is performance of implemented protocol under attack that aims to destroy the system performance. One of the popular IoT protocols is message queuing telemetry transport, MQTT. This research evaluates the performance of MQTT broker under syn flooding attack. The research variable implemented is data transmission frequency. The variation of data transmission frequency is operated in publisher. Publisher sends data to broker under attack. The three difference data transmission frequencies are set representing three different conditions, i.e. high, medium and low frequency. Results show that a pattern is obtained. The higher data transmission frequency is the lower number of packet loss is obtained.
The adventages of technology make every job easier, but this ease sometimes isn’t matched by safety factors. Security is vital to avoiding this technology being misused by uninvited people.This journal discusses the security of home doors with a microcontroller-based voice. The voice recognition process starts from the sound that propagates and then processes the corresponding easyvr sensor so that the easyvr sends a command to the relay to open the doorlock solenoid. From various tests obtained from voice recognition that can support the sound in the form of recordings, in speech recognition with an achievement level of 45 dB approved sound with an ideal pitch at 0-700 cm, it needs 75 dB sound amplifier with an ideal distance of 0-20 cm. For the percentage of success range with 30-40% different and the percentage of sound success is above 90%.Kemajuan teknologi membuat pekerjaan menjadi mudah, namun kemudahan tersebut tidak diimbangi dengan faktor keamanan. Keamanan menjadi hal yang vital untuk menghindari teknologi tersebut tidak disalahgunakan oleh orang yang tidak berwenang. Pada jurnal ini membahas pengaman pintu rumah dengan pengenalan suara berbasis mikrokontroler. Proses pengenalan suara dimulai dari suara yang merambat lalu diproses sensor easyvr jika sesuai sampling maka easyvr mengirimkan perintah kepada relay untuk membuka solenoid doorlock. Dari berbagai pengujian didapatkan bahwa pengenalan suara tidak dapat mengenali suara dalam bentuk rekaman, pada pengenalan suara dengan tingkat kebisingan 45 dB mengenali suara dengan ideal pada jark 0-700 cm, kebisingan 75 dB mengenali suara dengan ideal pada jarak 0-20 cm. Tingkat persentase keberhasilan suara yang berbeda 30-40% dan persentase keberhasilan suara yang sama diatas 90%.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
hi@scite.ai
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.