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In the liquid flow control systems, the existing of actuator saturation makes the system response degraded so that it requires repeated tuning of the controller. This paper aims to design a PID-Fuzzy controller in a liquid flow control system to overcome the actuator saturation by including an anti-windup compensator. The PID controller constants will automatically self-tuning using fuzzy logic and the generated control signal will be limited using anti-windup. Self-tuning of PID constants is designed using the fuzzy logic Mamdani method with the inputs are error value and its change. The fuzzy rule base for determining PID constants is designed based on the characteristic of each constant in improving dynamic response. The control signal is then recalculated using a back-calculation constant in anti-windup compensator if it exceeds the maximum control signal limit. The simulation results using three scenarios of the controller, which are PID-Fuzzy linear, PID-Fuzzy with saturation, and PID-Fuzzy with anti-windup, indicate that the PID-Fuzzy with anti-windup compensator is capable of producing the best response with control signal not exceeding the maximum limit.

This research aims to design fire early warning system using Arduino and Android with Bluetooth communication. The system is constructed using three sensors which are KY-026 flame detector, DS18B20 temperature sensor, and MQ-07 gas sensor. The communication used HC-05 Bluetooth module to send sensor data from Arduino to Android. Testing results show that Arduino through Bluetooth communication able to send sensor data to Android within range of 20 cm with no obstacle condition and range of 10 cm if there exists the obstacle. The system will send ‘normal’ status to Android when fulfilled this conditions: flame sensor value less than 200, temperatures less than 30°C, and gas levels less than 300 ppm. There are seven other conditions that contain ‘warning’ and ‘danger’ data if those condition above not fulfilled.

This research aims to design fire early warning system using Arduino and Android with Bluetooth communication. The system is constructed using three sensors which are KY-026 flame detector, DS18B20 temperature sensor, and MQ-07 gas sensor. The communication used HC-05 Bluetooth module to send sensor data from Arduino to Android. Testing results show that Arduino through Bluetooth communication able to send sensor data to Android within range of 20 cm at no obstacle condition and range of 10 cm if there exists the obstacle. The system will send ‘normal’ status to Android when fulfilled this conditions: flame sensor value less than 200, temperatures less than 30°C, and gas levels less than 300 ppm. There are seven other conditions that contain ‘warning’ and ‘danger’ data if those condition above not fulfilled. Penelitian ini bertujuan untuk merancang detektor dini kebakaran menggunakan Arduino dan Android dengan komunikasi Bluetooth. Sistem dibuat menggunakan tiga sensor yaitu sensor api KY-026, sensor suhu DS18B20, dan sensor gas MQ-7. Komunikasi menggunakan modul Bluetooth HC-05 yang berfungsi untuk mengirim data sensor dari Arduino kemudian diterima Android. Hasil pengujian sistem menunjukkan bahwa Arduino melalui komunikasi Bluetooth dapat mengirim data ke Android dengan jarak 20 meter jika tidak ada hambatan dan jarak 10 meter jika ada hambatan. Apabila nilai sensor api kurang dari 200, suhu kurang dari 30°C, dan kadar gas kurang dari 100 ppm maka sistem akan mengirim status ‘normal’ ke aplikasi Android. Jika kondisi tersebut tidak terpenuhi, maka ada tujuh kondisi lain yang berisi peringatan ‘warning’ dan ‘bahaya’.

Control and monitoring systems of the water level tank is one of electrical, computer instrumentation that needed in industrial process. This paper presents control and monitoring systems of water level in a tank based on ultrasonic sensor. The ultrasonic sensor is a device that can measure the distance of an object by using ultrasonic wave deflection. The control system is designed using relay as a switch which is controlled by a microcontroller with hysteresis control law. For monitoring and measurement data, the interface device is also designed using the Processing software in form of graphic, bar chart, pump state, and charging/discharging duration. Testing result shows that the ultrasonic sensor that used able to measure water level of 5 cm to 25 cm with error measurement 4.93%. A hysteresis control system that designed can produce output responses according to the setpoint value without generating relay’s chattering. As an addition, monitoring system of water level can be displayed in the form of a software interface on the Processing interactively.

Supercapacitor is one of electrical energy sources that have faster charging-discharging times when compared to other power sources, such as battery and fuel cell. Therefore, it is often used as an additional power source in an electric vehicle. In this paper, a prototype of small-scale electric vehicle simulator (EVS) is built and a simple charging scheme of supercapacitor is used for education purpose. EVS is an electric vehicle prototype which can show the vehicle’s powertrain on small-scale configuration. Main components of this device are two direct current motors (DCMs) with a linked axis of rotation. Therefore one of them will be able to act as a generator. The supercapacitor charging scheme is employed by controlling the relays. The hardware experimental result shows that the averages of charging current are proportional to the maximum slope angle of the road profiles. This scheme is simple due to the EVS utility and it is useful for education purpose.

Recommending appropriate collaborators to researchers can promote their research. In many cases, however, it is difficult for researchers to find proper collaborators from large number candidates. This paper proposes a scientific collaborator recommendation approach based on the semantic link networks, where nodes are authors, papers and interests indicated by keywords, and semantic links are write links, cite links, and contain links between these semantic nodes. Five semantic paths on the semantic link networks are proposed for deriving future collaboration between authors. Experiments on three datasets of scientific journal papers show that our method achieves good performance in predicting future collaborators. Comparing the combinations of five semantic paths reaches the following results: (1) co-author relationship, keyword information, and citation relationship play an important role in finding appropriate collaborators; and, (2) combining all the five semantic paths can get the best results on collaborator recommendation task.

Pengontrolan lampu melalui jaringan internet adalah salah satu contoh aplikasi berbasis teknologi Internet of Things (IoT). Tujuan penelitian ini adalah untuk merancang sistem kontrol dan penjadwalan lampu berbasis IoT, serta melakukan analisis terhadap kinerja sistem tersebut. Sistem ini dibangun menggunakan mikrokontroler NodeMCU yang telah terintegrasi dengan modul WiFi. Pengendali relai dirancang dengan algoritma sederhana menggunakan objek tombol di aplikasi Android sebagai perangkat antarmuka. Selain memberikan perintah secara langsung, aplikasi Android juga dirancang agar dapat menjadwalkan ON/OFF lampu melalui akses akun pengguna. Hasil pengujian menunjukkan bahwa sistem dapat terhubung dengan jaringan internet melalui modul WiFi. Lampu berhasil dikontrol dan dijadwalkan sesuai dengan beberapa skenario pengujian. Hasil uji waktu respon pengiriman data menunjukkan bahwa waktu tunda rata-rata pengiriman perintah dari aplikasi Android ke sistem adalah kurang dari 5 detik. Kata kunci: NodeMCU, IoT, sistem kontrol, penjadwalan, Android ABSTRACT Lighting control over the internet network is one example of Internet of Things (IoT) applications. The aim of this research is to design a light control and scheduling system based on IoT, and also to analyze its performances. This system is built using low-cost NodeMCU microcontroller that has integrated with the WiFi module. Relay controller is designed with simple algorithm using push button object in an Android application as an interface device. Besides giving command directly, the Android application is also designed to schedule ON/OFF the lights through user account access. The testing results indicate that the system able to connect with internet network via WiFi module. The lights are sucessfully controlled and scheduled according to several testing scenarios. Time respon testing result shows that the average delay data transmission from Android application to system hardware is less than 5 seconds. Keywords: NodeMCU, IoT, control system, scheduling, Android

This paper proposes a clause-based extractive summarization algorithm by ranking and extracting semantic clauses from the original document. Discourse structure relation is useful for identifying semantically important parts of the source document. We segment the document into clauses and evaluate the importance of clauses based on semantic relations, and then, rank and extract them coarsely, and utilize graph rank to refine the extracted clauses. This way can create a more concise summary with more information and less redundancy. Research reach the following results: 1) compared with the other summarization algorithms on different granularity, the clausebased summarization achieves higher recall score; and, 2) different discourse relations have different importance.

In designing an Unmanned Aerial Vehicle (UAV), such as quadrotor, sometimes an engineer should consider the required cost that is relatively expensive. As we know, quadrotor is one of robots that very usefull and has several advantages for human needs such as disaster area monitoring, air quality monitoring, area mapping, aerial photography, and surveillance. Thus, designing a rapid quadrotor with low-cost components and simple control system needs to be considered here. This paper presents design and implementation of a quadrotor using relatively low-cost components with Proportional Integral Derivative (PID) control system as its controller. The components used consist of microcontroller, Inertial Measurement Unit (IMU) sensor, Brushless Direct Current (BLDC) motor, Electronic Speed Control (ESC), remote control unit, battery, and frame. These components can be easily found in the electronic markets, especially in Indonesia. As an addition, this paper also describes PID control system as flight controller. A simple economic analysis is presented to clarify the cost in designing this quadrotor. Based on experimental testing result, the quadrotor able to fly stably with PID controller although there still overshoot at the attitude responses.

Process control is widely used in various industries to maximize production, maintain desired quality levels, product safety and make the process more economical. Control that is generally used in industry is to control liquids, such as controlling the level, flow, pressure, and temperature of the liquid using the Proportional-Integral-Derivative (PID) method, the PID controller attempts to correct errors between the measured process variables and the desired set-point by calculation and then issue actions corrective which can be arranged according to the process. In the past, most PID controllers were based on microcontrollers, but now Programmable Logic Controller (PLC) can also operate PIDs with analog function control because PLC speeds and capabilities have increased. To meet the needs of student competence in process control following industry demands, especially the use of PLC with the PID Method, students need to be given knowledge and skills. One way is the availability of training modules that can grow their enthusiasm and skills when they learn. This paper presents the design and implementation of PLC Omron CP1H based process control training modules that can be used by students to study liquid level control in tanks with PLC-based PID methods. Based on the test results when the plant is disturbed, the system response obtained by the PID method is a 15 second settling time, 10.9% undershoot, and a steady-state value of 14.6 cm or ± 97.3% of the 15 cm setting value.

The integration of a wireless network in a closed-loop control system can provide several benefits such as flexibility, installation, and maintenance. However, the presence of time delay in the network system can reduce the control performance. On the other hand, control signal saturation is also the problem that must be overcome in designing a controller. This study aims to design a DC motor speed control by integrating wireless network in its closed-loop system. This concept is known as the Wireless Networked Control System (WNCS). The network parameter used in this study is focused on the time delay. In the controller side, we use a saturation parameter which usually occurs due to limitations of the input signal. The PI-AW controller is used due to having the ability to overcome the saturation of the control signal. The simulation results show that the PI-AW controller can produce the best responses if compared with PI linear and PI saturated with settling time under 1.5 seconds and overshoot less than 8% for three constant values of time delay. The control signal generated also does not exceed the maximum limit of 12 V.

Air pollution is one of problems causing global warming that is currently taking a place. Several air quality monitoring devices usually located at the city center are only limited to display data at one point. Therefore, a mobile device to monitor air quality is needed so as to enable the monitoring in several points. This paper aims to design an air quality monitoring system based on quadrotor Unmanned Aerial Vehicle (UAV) and Internet-of-Things (IoT) technology. The sensor system is designed to detect CO, CO2, air quality, and temperature variables. This sensor systems was then integrated with quadrotor in order to make the monitoring process can be carried out at various points. Quadrotor was designed using Ardupilot Mega (APM) 2.6 as the flight controler. Measurement data from system sensor was transmitted wirelessly using internet network via Wi-Fi module. Based on the test results, the sensor system was able to detect concentration of several test gas and was linear to the output voltage. Quadrotor orientation parameters at takeoff produced transient responses in less than 1 second. The air pollution sensor parameter data could also be displayed every 10 seconds on the ThingSpeak and ThingView interfaces, and could be mapped based on the data retrieval coordinates.

Pemanfaatan jaringan komunikasi dalam lingkar tertutup sistem kendali dapat memberikan beberapa keuntungan seperti dalam hal fleksibilitas. Akan tetapi, adanya beberapa parameter jaringan dapat menurunkan performansi pengendalian. Penelitian ini bertujuan untuk merancang pengendalian kecepatan motor DC berbasis Wireless Networked Control System (WNCS) menggunakan modul nirkabel nRF24L01. Controller node dan plant node dirancang agar dapat berkomunikasi satu sama lain secara nirkabel. Pada controller node terdapat mikrokontroler, modul nirkabel, dan penampil antarmuka, sedangkan pada palnt node terdapat mikrokontroler, modul nirkabel, driver motor, dan motor DC. Pengendali Proporsional Integral Anti-Windup (PI-AW) yang dapat mempertimbangkan saturasi sinyal kendali digunakan untuk memperoleh respon pengendalian yang terbaik. Hasil pengujian eksperimen perangkat keras menunjukkan bahwa pengendali yang dirancang mampu menghasilkan respon dengan settling time dibawah 1 detik dan overshoot kurang dari 2%. Sinyal kendali yang dihasilkan juga tidak melebihi batas maksimum yaitu 12 V.

In the control system application, the existence of noise measurement may impact on the performance degradation. The noise measurement of the sensor is produced due to several reasons, such as the low specification, external signal disturbances, and the complexity of measured state. Therefore, it should be avoided to achieve the good control performance. One of the solutions is by designing a signal filter. In this paper, the design of Kalman Filter (KF) algorithm for ultrasonic range sensor is presented. KF algorithm is designed to overcome the existence of noise measurement on the sensor. The type of ultrasonic range sensor used is HC-SR04 which is capable to detect the distance from 2 cm to 400 cm. The discrete KF algorithm is implemented using ATMega 328p microcontroller on Arduino Uno board. The algorithm is then tested with different three covariance values of process noise. The test result shows that the KF algorithm is able to reduce the measurement noise of the ultrasonic sensor. The analysis of variance conducted shows that the smaller value of covariance matrix of the process and measured noises, the better filtering process performed. However, this results in a longer generated response time. Thus, an optimization is required to obtain the best filtering performance.

Makalah ini menyajikan perancangan dan realisasi pendeteksi kecepatan angin digital yang dikenal dengan Anemometer untuk sistem peringatan dini di rumah. Perangkat keras dirancang menggunakan mikrokontroler sebagai perangkat utama yang berfungsi untuk menghitung kecepatan angin. Perangkat ini menggunakan sensor rotary encoder yang berfungsi mengukur kecepatan angin. Perangkat antarmuka yang digunakan yaitu dot matrix, indikator LED, dan buzzer. Hasil pengujian menggunakan kipas angin menunjukkan Anemometer digital yang dirancang mampu mendeteksi kecepatan angin dengan baik dan memiliki kesalahan relatif sebesar 1,18% pada jarak 10 cm, 1,41% pada jarak 30 cm, 1,55% pada jarak 50 cm, dan 2,44% pada jarak 70 cm jika dibandingkan dengan Anemometer komersial. Hasil pengujian angin alami menunjukkan alat ini juga mampu mendeteksi kecepatan angin dengan rata-rata kesalahan relatif sebesar 21,21% dan 18,80% dibandingkan Anemometer BMKG pada dua hari berbeda. Nilai kesalahan relatif ini lebih besar jika dibandingkan dengan pengujian menggunakan angin buatan. Hal ini terjadi karena kondisi perubahan arah angin alami yang tiba-tiba tidak dapat terdeteksi alat ini. Namun demikian, perangkat ini berguna untuk peralatan rumah sebagai sistem peringatan dini.Kata kunci: Anemometer, mikrokontroler, sistem peringatan dini, kecepatan angin

Irigasi merupakan salah satu faktor penting dalam rangka mencapai produktivitas yang baik di bidang pertanian maupun budidaya tanaman. Namun, para petani terkadang tidak melakukan proses irigasi secara teratur dan memiliki keterbatasan akses saat tidak dapat berada di lapangan. Dengan demikian, diperlukan sistem irigasi otomatis yang dilengkapi dengan antarmuka sistem monitoring. Penelitian ini bertujuan untuk merancang sistem kontrol irigasi berbasis node nirkabel dan Internet-of- Things (IoT). Sistem ini dirancang menggunakan komunikasi nirkabel antara node sensor, node aktuator, dan node kontroler. Node sensor dibangun menggunakan sensor kelembaban tanah YL-69, sensor suhu DS18B20, papan mikrokontroler Arduino Nano, dan modul frekuensi radio nRF24L01. Papan mikrokontroler yang sama dan modul komunikasi radio juga digunakan dalam node aktuator dengan relai sebagai output. Dalam node kontroler, digunakan Arduino Uno sebagai pengendali utama dan dilengkapi dengan modul WiFi ESP8266. Node sensor dan aktuator ditempatkan di lahan pertanian dengan catu daya baterai Lithium, sementara node kontroler ditempatkan di stasiun kontrol dan monitoring. Dengan menggunakan desain ini, sistem irigasi dapat dipantau oleh para petani di mana saja dan kapan saja selama terdapat akses internet. Desain ini juga kompatibel dalam hal implementasi karena portabilitas dan desain perangkat keras yang ringan. Kata Kunci: irigasi, pertanian, node, sensor, aktuator, IoT Irrigation is one of the important factors in achieving good productivity in agriculture and crop cultivation. However, farmers sometimes do not carry out irrigation processes regularly and have limited access when they cannot be in the field. Thus, an automatic irrigation system is needed which is equipped with a monitoring system interface. This study aims to design irrigation control system based on wireless node and Internet-of-Things (IoT). This system is designed using wireless communication between sensor node, actuator node, and controller node. Sensor node is built using YL-69 soil moisture sensor, DS18B20 temperature sensor, Arduino Nano microcontroller board, and nRF24L01 radio frequency module. The same microcontroller board and radio communication module are also used in actuator node with relays as output. In the controller node, Arduino Uno is used as the main controller and equipped with an ESP8266 WiFi module. Sensor and actuator nodes are placed in agricultural field with Lithium battery as power supplies, while controller node is placed in the control and monitoring station. With this design, irrigation system can be monitored by farmers anywhere and anytime as long as there is internet access. This design is also compatible in terms of implementation due to lightweight

Supercapacitors are electrical components which have a higher capacity of storing energy compared to a normal capacitor. It also has a quick charging and discharging time in comparison to other sources of electrical energy. Due to this advantage, supercapacitors are often used as an additional energy source in an electric car. During regenerative braking, the supercapacitor can be charged and hence store electrical energy more quickly. In this paper, a simple supercapacitor charging scheme was designed during the regenerative braking in an electric car. The designed charging scheme of supercapacitor is then implemented and tested in electric car simulator. The simulator was firstly built based on a previously published simulator known as Protodrive. The main components of the simulator are two direct current motors (DCMs) with a linked axis of rotation. The scheme is then tested in the simulator by using three profiles of a designed road, i.e. one hill, two hills and trapezoidal road's contour. The test result shows that the amount of supercapacitor charging current is proportional to the amount of road profile's slope angle.

Fuzzy Logic Control (FLC) merupakan salah satu metode pengendalian sistem yang saat ini banyak digunakan di beberapa disiplin ilmu, khususnya di bidang sistem kendali. Dalam perancangan FLC tidak diperlukan model matematis dari sistem yang akan dikendalikan. Hal ini menjadi salah satu keunggulan FLC sehingga perancangan pengendali lebih mudah dilakukan dengan hanya mengandalkan aturan logika. Pada makalah ini, akan dirancang FLC untuk sistem pendingin ruangan dan direalisasikan dalam bentuk prototype untuk kesederhanaan perancangan. Sistem ini memiliki masukan suhu ruangan dan banyaknya orang di ruangan, sedangkan keluarannya adalah tingkat pendinginan ruangan tersebut. Pengujian sistem ini dilakukan dengan membandingkan hasil keluaran pengendali melalui simulasi Fuzzy Logic Toolbox yang tersedia pada MATLAB. Dua unit purwarupa dirancang dengan sensor masukan yang berbeda sebagai perbandingan. Hasilnya menunjukkan bahwa purwarupa sistem pertama dan kedua mampu mengendalikan suhu ruangan dengan rata-rata kesalahan berturut-turut 1,31% dan 4,06% jika dibandingkan dengan simulasi MATLAB.Kata kunci: fuzzy logic, pengendali, FLC, suhu, MATLAB

Finite State Machine (FSM) is a control system methodology that describes system’s behavior using three things, namely: state, event, and action. On a program, the system would be in one active state. The system can switch or move to another state if it gets a certain input or event. In this paper, FSM based on Proportional-Integral-Derivative (PID) controller algorithm will be implemented on line follower robot. PID controller is one of system control methods that many used recently. FSM based on PID controller is implemented to keep robot tracking the line trajectory as well. The test result shows that designed algorithm can work well and can be used as a based algorithm of this robot.Keywords: algorithm, Finite State Machine (FSM), Proportional-Integral-Derivative (PID), robot, line follower

Sistem keamanan sepeda motor diperlukan untuk mengatasi peningkatan pencurian sepeda motor. Saat ini, solusi yang biasa dilakukan oleh pemilik sepeda motor hanya dengan memakai kunci ganda saja dimana pencuri sudah sangat menguasainya. Untuk itu diperlukan suatu sistem keamanan yang lebih baik. Dalam makalah ini, akan dipaparkan suatu sistem keamanan sepeda motor berbasis Arduino-Android. Sistem kemanan ini berbasis relai dan akan dikendalikan melalui smartphone dengan sistem operasi Android v4.4 (KitKat). Sistem komunikasi dirancang dengan menggunakan modul bluetooth HC-06 yang dapat diintegrasikan dengan papan mikrokontroler Arduino Uno. Detail perancangan sistem dijelaskan pada makalah ini. Hasil pengujian menunjukan jarak maksimal komunikasi bluetooth antara pengendali (smartphone) dengan sistem pada sepeda motor yaitu 10 m.Kata kunci: sistem keamanan, Arduino, Android, bluetooth, sepeda motor