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A control agregation scheme that combines a collision avoidance controller into a consensus-based formation controller is proposed. The collision avoidance controller part is designed using kinematic model approach, while the consensus-based formation controller part uses consensus algorithm with switching topology to achive non-conflicting control solution between the collision avoidance control part and the formation control part. We also investigate how the change in communication topology affects system’s capability to achieve consensus.

type:Conference Paper, UHF method to detect partial discharge (PD) phenomenon has been proven to be an effective way. Many types of UHF antenna have been developed in order to achieve a better sensitivity and accuracy in certain bandwidth (300 MHz – 3.0 GHz) for detecting the ultra-high frequencies generated by partial discharge. Bowtie antenna is proven to be sensitive, accurate and easily designed and fabricated. This paper focuses on the enhancement of bowtie antenna to achieve better performance in detecting partial discharge using UHF method. Characteristics of antenna both on the simulation result prior to the fabrication and measurement using a network analyzer show the good agreement. Experiment was carried out in a gas insulated switchgear (GIS) model with a protrusion on the conductor as PD source and antenna located at different positions with applied voltage range from 20 – 25 kV. EM wave intensity and frequency captured by antenna were observed. The relation between the distances of PD source to antenna, either from one spacer aperture to others, or distance from one spacer aperture were investigated. Antenna mounted 55 cm from the closest spacer aperture to the PD source can still detect EM wave intensity very well. The lowest EM wave peak envelope intensity measured at 30.03 mV from the same spacer aperture compared to 1.952 mV peak-peak EM wave intensity from internal GIS UHF sensor demonstrates a sufficient sensitivity performance., 48th International Universities Power Engineering Conference, UPEC 2013, 2-5 September, 2013, Dublin Institute of Technology, Dublin, Ireland

Three mainstream approaches of collision avoidance control is discussed: the potential-driven approach, the gyroscopic action approach, and velocity obstacle approach. It is found that the potential-driven approach may also deal with angular motion through the utilization of angular potential field. It is also found that the gyroscopic action approach is actually the angular aspect of the potential-driven approach. The formulation of control solution using velocity obstacle is presented, along with its geometric representation. So far in the discussion, control solution using velocity obstacle approach is most resistant to deadlock situation.

Performance of the oscillating fin with different rear shapes has been analyzed in the present work. Preliminary analysis was performed by using numerical simulations on the interaction between fluid and solid model. Involved rear fin-shapes were based on natural forms of caudal fin of fish such as round, truncate, fork and lunate. From the present result, the rear-shapes affect the optimum performance of the fin such as thrust production, represented by cruising speed, and efficiency. The effects determine suitable mission for each rear-shape such as short, medium, or long cruising endurance. Further numerical study on the effect of material elasticity of the fin, represented by cupping shape of the fin, was also performed. The characteristics of cupping shape increases thrust production of the oscillating fin for impulse thrust generator such as round and truncate rear-shapes.

As part of ITB Hybrid Autonomous Underwater Vehicle (AUV) research program, we reached the stage of testing of bouyancy engine as a critical component of this vehicle. This paper describes the overview of ITB Hybrid AUV and the role of buoyancy engine in supporting vehicle operation. Step by step testing is described in detail to illustrate the working principle of this important component.

The hybrid AUV has been developed for the last year by Center for Unmanned System Studies (CentrUMS)-ITB. The main concept of this hybrid AUV is to combine the Sea Glider concept and also the common AUV. By the sea glider concept, the buoyancy engine principal has been adopted to support the capability to manipulate the overall dynamic buoyancy from main body vehicle. By this engine, the vehicle has capability to change the state from fully afloat, neutral buoyant and fully submerged. From the common AUV concept, the ultimate survey capability has been adopted. Several sensors for underwater survey will be attached on this vehicle. This research needs multi-year to its completion. Step-by-step method has been carried out to finish the design until testing. In this paper, some progress will be shown according to multi-year project research.

Hybrid Autonomous Underwater Vehicle is the collaboration concepts between Sea Glider and Autonomous Underwater Vehicle. The specific characteristic of Sea Glider is long endurance, wide range, and limited payload or sensor to support the mission. Different from the AUV as the real surveillance underwater vehicle, they have almost the same payload and emergency system but with limited endurance and range if compared with the Sea Glider system. Dual concepts of these characteristics will be combined. The main mission for this vehicle is adopted in AUV but for submerged and surfacing mode is adopted from Sea glider concepts with their buoyancy engine. This paper describes the step-by-step method to design the buoyancy engine of this hybrid AUV. The laboratory test to validate the design and analysis will also be described.

This study is about the port planning under deep uncertainty using the framework of Scenario Based-Adaptive Port Planning (SB-APP). The framework gives sequential workflow on designing the future masterplan of the port. The alternative layouts and adaptive actions are some important outcomes of the framework. The port has to realize that uncertainties persevere and are very likely to influence the decision making for future planning. Instead of ignoring uncertainties, the port needs to make contingency planning to deal with them. This study has benefits to make a robust terminal masterplan of the port.

By following WHO guidelines, the minimum blood availability is 2% of the population. The total population of Indonesia in 2016 is 261.115.456, so ideally it takes 5.222.309 blood bags. In 2013-2015 for 36 months, there were 26 overstock events and 10 stockout events. The data shows that the frequency of over-supply is more frequent than over-demand. The high overstock has an impact on the high costs incurred by the City of Bandung PMI, if there is overstock there are two costs to be incurred, namely the cost of storing if the blood is still in good use and the cost of overstock if the blood is more than the expiration date. The purpose of this study was to determine the optimal value of inventory levels to reduce wastage of blood culling due to overstock occurring at PMI Bandung. The research method uses a quantitative approach to the optimization model of inventory policy, namely Uncertainty EOQ. The optimal amount of supplies that must be provided is at intervals of 8,705 - 9,375 blood bags with a large safety stock 403 blood bags and the ordering point is at the level of supplies of 5.706 blood bags. This proposal can provide a total inventory cost savings of Rp6.622.659.034/year. Keywords: Blood, Overstock, EOQ, Uncertainty Abstrak Sesuai dengan panduan WHO, ketersediaan darah minimal adalah 2% dari jumlah penduduk. Jumlah penduduk Indonesia tahun 2016 adalah 261.115.456 jiwa, maka idealnya dibutuhkan 5.222.309 kantong darah. Tahun 2013-2015 selama 36 bulan, terdapat 26 kejadian overstock dan 10 kejadian stoc-kout. Data tersebut menunjukan bahwa frekuensi over-supply lebih sering dibandingkan over-demand. Tingginya overstock berdampak pada tingginya biaya yang dikeluarkan oleh PMI Kota Bandung, jika terjadi overstock ada dua biaya yang harus dikeluarkan, yaitu biaya simpan jika darah masih dalam masa baik digunakan dan biaya overstock jika darah sudah lebih dari tanggal kadaluarsa. Tujuan penelitian ini adalah mengetahui nilai tingkat persediaan yang op

Urban built cultural heritage are currently facing a great threat from development pressure particularly in developing countries as a result of population growth, urban development, as well as economic growth, no exception to Indonesia. Jakarta and Bandung as one of the most established and fast growing metropolitan in Indonesia in terms of population and economy are struggling to conserve their urban built cultural heritage. Although national law have encourage cultural heritage conservation management in maintaining the existence of these historic residential neighborhood areas, both cities are still gradually suffering losses of distinctive character and appearance. Whether through process of adaptive reuse, renovations, and even replacement, these changes detract from the townscape value of these invaluable urban assets. This problem is found quite evident throughout Jakarta and Bandung. This paper summarizes the findings of research carried out into the gap between spatial planning regulations and practice of two different Indonesian cities in relation to the urban heritage conservation of two historical residential corridors in Senopati Street - Kebayoran Baru, Jakarta and Progo Street, Bandung. It reviews and compares the effectiveness of different spatial planning regulations approaches of respective cities on delivering the urban heritage conservation outcomes in attempt to find a solution and establish as well as indicate ways of improving the cultural heritage regulations in Indonesia. The research explores the land use transformation and changes of urban built heritage character and appearance of historical residential neighborhood areas along both observed corridors and questions the extent of these transformation and changes occurred in both locations. The research presents a method for measuring changes of land use and physical character in the historic built environment and descriptive analyses factors that might affect the loss of built heritage c

Pada penelitian ini dilakukan pengujian aktivitas penangkal radikal bebas superoksida secara in vitro terhadap senyawa kompleks polimerik [Mn(salen)N(CN)2]n, baik dengan metode non-enzimatik maupun enzimatik. Aktivitas penangkal radikal bebas superoksida yang didapatkan dari kedua metode ini dinyatakan dengan IC50. Melalui metode non-enzimatik riboflavin-nitrobluetetrazolium (Rb-NBT), radikal superoksida yang dihasilkan dari penyinaran riboflavin, bereaksi dengan nitrobluetetrazolium sebagai indikator dan senyawa kompleks, lalu serapan NBT tereduksi diukur pada panjang gelombang 560 nm. Dengan metode non-enzimatik ini, dihasilkan nilai IC50 yang tinggi, konsisten, dan standar deviasinya sangat kecil, yaitu 3,4 ± 0,4 µM. Sedangkan secara enzimatik, radikal superoksida yang dihasilkan dari reaksi antara xantin dan xantin oksidase ditangkap oleh sitokrom C (sebagai indikator) dan senyawa kompleks, kemudian sitokrom C tereduksi diukur serapannya pada panjang gelombang 450 nm. Melalui metode enzimatik McCord-Fridovich (McCF) ini, dihasilkan beberapa nilai IC50 kompleks [Mn(salen)N(CN)2]n yang tidak konsisten, yang disebabkan oleh tidak berfungsinya enzim. Dengan demikian, metode non-enzimatik Rb-NBT lebih mudah dan lebih akurat untuk digunakan sebagai teknik penentuan aktivitas penangkal radikal anion superoksida dibandingkan dengan metode enzimatik.

This present work describes the development and performance analysis of a High-Altitude-Long-Endurance (HALE) hybrid-airship. Hybrid-airship design was chosen because it uses both the Lighter-Than-Air (LTA) and Heavier-Than-Air (HTA) concept to produce lift. LTA concept uses less energy than Heavier-Than-Air (HTA) concept, hence more endurance and flight hours in certain condition. This special characteristic of LTA-HALE concept gives extensive opportunities of development in many areas, such as surveillance, scientific, and technological purposes. The airship was designed to reach the target altitude of 60.000 ft. and the target velocity of 10 m/s. Glass fiber frame are used to maintain its shape and also function as its primary structure. Helium weather balloons are used to produce lift for the airship. A thin layer is placed in the frame as the outer layer of the ship, protecting the balloons. As a basis for the primary structure design, gas behavior such as pressure and volume variation in various altitude also studied and presented. Computational Fluid Dynamics (CFD) analysis was performed to the airship model on the target altitude and velocity in order to obtain drag of the model. From this data, the power required for propulsion in cruise condition can be calculated. The produced design then compared with existing airships and aircrafts to determine the effectiveness of the design.

—In this paper, switching control approach for Stable Transition State Process on Hybrid Vertical Take-off and Landing UAV will be presented. The UAV configuration is a hybrid-UAV configuration which combines feature of rotary-wing UAV and fixed-wing UAV. Rotary-wing UAV configuration has advantages in easy-and-stable when take-off and landing, and also does not need special area to do take-off and landing. In the other hand, Fixed-wing UAV configuration has advantages in high maneuverability and high endurance. This hybrid UAV is designed to obtain all of this advantages. The most difficult part of control system of the VTOL UAV is designing control scenario of VTOL UAV in transition state. Therefore, there are two topics that will be discussed in this paper. First, control scenario design of the UAV in transition state which will describe the idea of switching control to achieve stable transition state. Second, the implementation details of the switching control scenario of the VTOL UAV’s control system.Keywords—VTOL, hybrid UAV, switching control, transition state.

—The paper importantly discuss about design of low power Frequency Modulated Continuous Wave (FMCW) S-Band (~2.3GHz) radar system, and then the implementation and testing procedure. The main system of FMCW S-Band radar consists of a ramp generator, a Radio Frequency (RF) System, and an audio amplifier. The ramp signal is generated from IC XR-2206 (modulator). This ramp signal is connected to a voltage-controlled oscillator (VCO), one part of RF system, to produce a chirp signal with varying frequencies as a result of inclined voltage signal (ramp signal) generated by modulator. Besides VCO, in RF system there are also signal amplifier (either for transmitting signal or receiving signal), splitter signal (for transmitting purpose) and mixer (for receiving purpose). Audio amplifier consists of a gain stage/amplifier and two-stages 15 KHz active Low-Pass Filter (LPF) which are applied to process the signal from RF mixer’s output before being acquired through audio jack. At the front end of the system, two Vivaldi Antennas with 4dBi gain are installed and act as transmitter and receiver. The system is tested to detect simple corner reflectors placed in an area. The future application of this light weight and low power FMCW radar system is able to be mounted on a small Unmanned Aerial Vehicle (UAV) to do myriad tasks such as forest survey, crop monitoring, and reconnaissance.

The present work analyzed efficiency performance of lift-based fin by using numerical method of Computational Fluid Dynamics (CFD). The simulation models were generated three-dimensionally comprises of lift-based and oscillating drag-based fins. Horizontal profile of the lift-based fins was an airfoil of NACA0012 to form wing-like fins, while vertical profile of the fins were divided into rectangular, tapered, and lunate shapes. Both lift and oscillating drag based fins have a similar aspect ratio, AR=4. Movement of the fins were categorized into two kinematic schemes of oscillating and radial-sculling. The present mechanism of radial-sculling, mostly in lift-based fin, divided the tail into an oscillating part and a wing-like fin, connected by a free-rotation joint. The fins were simulated in a constant low-frequency tail-beat of f=1 s-1 in a range of low-speed flow from 0.1-1 overall length (L)/s. A robust optimization method of Generalized Reduced Gradient (GRG) was performed to obtain an optimum value of simulation results. It is shown that fin angle affects efficiency performance of the lift-based fin. For the present simulation models of lift-based fins, the overall optimum efficiency occurs at fin angle between 40o-60o. In the variation of vertical profile shapes, the lift-based fin with lunate shape has a higher optimum efficiency than rectangular and taper shapes. However, in lower flow velocity or higher Strouhal number, a highest efficiency was achieved by the rectangular shape. By comparing the kinematic mechanisms, the present work shows that radial-sculling of lift-based fin has a superior efficiency than the oscillating mechanism of drag-based fin within the similar aspect ratio and oscillating properties. The efficiency performance can be related to the wake pattern behind the fin. The present study suggests the implementation of lift-based fin with radial-sculling kinematic scheme for the practical application in low-speed flow and low-frequency tai

This study was performed to observe the effect of linamarin on reproductive performance, that consist of the number of live fetuses, reabsorption embryo or fetal, fetal death and fetal body weight together with length. Pregnant mice were divided into one control group with administration of distilled water (0 mg/kgb.w/days) and six treatment groups linamarin dose is 0.36; 0.72; 1.26 mg; 2; 4; and 8 mg/kgb.w./days. Linamarin dosing and control begins at 5th to 16th gestation days, at 17-days of gestation caesarean section were performed to pregnant mice to remove foetuses. Statistical analysis used was a variation analysis by ANOVA followed by comparisons between treatments HSD test (Tukey). Giving linamarin observed in the parent mice led to a decrease in average weight gain of the mother during pregnancy compared with controls. In linamarin dose 8 mg/kgb.w/day an increase in embryo reabsorption and fetal death, as well as the observed decrease in fetal body weight and length, but after statistical analysis of the decrease was not significantly different. Linamarin with the doses given in this study is not expected to interfere with pregnancy based on reproductive performance were observed. Keywords: Linamarin, reproductive performance, fetal weight, fetal body length ABSTRAKPenelitian ini dilaksanakan bertujuan untuk mengamati pengaruh linamarin pada penampilan reproduksi yang meliputi jumlah fetus hidup, embrio resorpsi, fetus mati dan berat beserta panjang badan fetus. Induk mencit yang bunting dikelompokkan ke dalam satu kelompok kontrol dengan pemberian akuades (0 mg/kgb.b./hari) dan enam kelompok perlakuan dosis linamarin yaitu 0,36; 0,72; 1,26 mg; 2; 4; dan 8 mg/kgb.b./hari. Pemberian dosis linamarin dan kontrol dimulai pada umur kebuntingan 5 sampai 16 hari, setelah itu pada umur kebuntingan 17 hari mencit dikorbankan nyawanya untuk pengambilan fetus. Analisis statistik yang digunakan adalah analisis variasi dengan ANOVA dan dilanjutkan dengan uji pe

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Eccentrically braced frame type-D (EBF-D) of steel structure with shear link web stiffener is modeled in this study using MSC Nastran software. The monotonic and cyclic loading will be given under the displacement control. The shear link structure model with the vertical web stiffeners are designed with the spacing accordance to the provisions of AISC 2005. Other model is designed with shear link web stiffener diagonal with spacing between 30tw-d/5 to length of link (e) or designed ineligible to AISC 2005. The parameters of EBF-D with web stiffeners will be meansured to : configuration of the web stiffeners, the space of stiffener (a), length of the link (e), thickness of web link (tw), thickness of flange link (tf) and the thickness vertical web stiffeners (tsv) and diagonal (tsd). The results show that the performance of the portal structure of EBF-D shear link diagonal of web stiffener is better than vertical web stiffener both in terms of strength, stiffness, ductility and the absorption of energy dissipation due to earthquake loads. Optimal space between vertical web stiffeners using diagonal web stiffener is 1.6 by (30tw-d/5) with minimum thickness of diagonal web stiffener is 5.5 mm or equal which thickness web link and thickness minimum vertical web stiffeners is 8 mm.Keywords : : eccentrically braced frame type-D (EBF-D), shear link, monotonic loading, cyclic loading, diagonal web stiffener , vertical web stiffeners, strength, stiffness, ductility and energy of dissipations.Abstrak: Struktur portal baja Eccentrically Braced Frame type–D (EBF-D) dengan link geser berpengaku badan dimodelkan dalam penelitian ini menggunakan perangkat lunak MSC Nastran. Pembebanan diberikan secara monotonik dan siklik dengan kontrol perpindahan. Model struktur link geser berpengaku badan vertikal didesain dengan jarak pengaku sesuai dengan ketentuan AISC 2005. Model yang lain didesain menggunakan link geser berpengaku badan diagonal dengan jarak pengak

Human elephant conflict surrounding agriculture and forest became higher a long year. The fenomena cannot be solved until now. We proposed new technigue, Geographic Information System (GIS) for solving the problem mainly in agriculture area. The aim of this research for estimating habitat carrying capacity of Sumatran elephant habitat (Elephas maximus sumatranus Temminck) using Geographic Information System. Habitat and animal parameter estimated consist of biotic and abiotic factors. The factors analized suitability analysis using software Autocad Map 2000 and Arcview 3.1. this research result showed habitat carrying capacity in secondary forest (wet season :0,89±0,11 s.d 0,96±0,12 elephant/km²; dry:0,55±0,07 s.d 0,59 ± 0,08 elephant/km²) higher than primary forest (wet season: 0,20±0,02 to 0,26±0,05 elephant/km² dry: 0,09±0,01 s.d 0,11±0,02 ind/km²). Based on suitability analysis estimated elephant carrying capacity in Tessonilo Forest in wet season (689,45±51,67 to 750,05± 109,14 elephants) higher than dry season (397,85 ±48,45 to 434,88±61,51 elephants). Elephant numbers fluctuated seasonally can be used for planting time strategy in agrculture system. The estimation of habitat carrying capacity did not consider habitat use seasonally.

By this study, we want to provide tools for an economic agent who wants to maintain her maximized intertemporal consumption rate over time period regularly by trading activity in capital market. She would use the diversification principle to compose portfolio that is consisted of risky and risk free assets, with initial wealth by using principle of dynamic programming in stochastic control problem. While our target function is to maximize the discounted utility function over consumption rate, the agent may use this portion of wealth for hedonistic lifestyle without thinking the bequest aim. Motivated by observation that seminal work of Samuelson (1969)’s optimal investment on risky asset was independent of time and wealth process, we were replacing the source of uncertainty in the risky asset by binomial process in order to improve Samuelson's solution. The risky asset price evolution is determined to move in two possible directions of up and down in the next time instantly with certain probability, following binomial trees scheme. Working within this setting, we manage to obtain trading strategies as explicit solution for the optimal investment and consumption decisions which were being expressed as time-dependent functions as well as wealth process feedback form. This solution goes along with inter-temporal concept that our consumption and investment strategies tomorrow will be affected with our wealth today. We exemplify the results by numerical examples and perform Monte Carlo simulation.

Chitosan as a material of biological origin has recently been used for recovery of metal ions. This research aims to synthesize kitosan resin resulted by the reaction of kitosan with etilendamin. In the present work chitosan was cross-linked with glutardialdehyde and subsequently treated with epichlorohydrine and ethylene diamine. The resins CR-amine was found to contain 22.7% water content, and were insoluble in organic solvents as well as in mineral and organic acids. The concentration values of the active sites on the resins are reported. The higher concentration of active sites of CR-amine 6.01 mmol/g indicates that the “en” moieties are covalently bonded to the cross-linked resin. Several chemical modification methods were tried in increasing the uptake capacity of cross-linked chitosan bead. Among them, aminated chitosan beads formed through the chemical reaction using ethylenediamine showed the highest uptake capacity for gold ions. Uptake capacity of aminated chitosan beads was increased to about 0.8 mmol Au3+ g-1 dry mass compared to that before modification. The increase of amine groups was confirmed by IR spectrum and measurement of amine concentration and surface condition on aminated chitosan bead was also confirmed by SEM.

Two potential substrates namely rice bran and unprocessed brown rice indicated positive result of lovastatin existence. Aspergillus niger SAR I, our local isolated fungus, took a responsibility to cooperate with those substrates in SSF system. Further experiment including initial profile production, effect of physical parameters (temperature, inoculum size and substrate quantity) and final profile production, were carried out. For initial profile, a basic condition of SSF which consisted 70% (v/w) of moisture content (adjusted to pH 6.0), 5 g substrates mixture (ungrounded size), 1x107 spore/ml of inoculum size and incubation temperature at 30±2 0C, was conducted in a flask system and fermented for 7 days. Those conditions allowed 160.03±3.79 mg lovastatin/g dry substrate of lovastatin production during initial stage. After a study of effect of physical parameters, it showed that the optimum temperature was still at ambient temperature (30±2 0C) and substrate quantity of 5 g but different inoculum size (1x105 spore/ml). Each parameters specifically temperature, inoculum size and substrate quantity produced 253.98±5.92 mg lovastatin/g dry substrate, 297.64±0.56 mg lovastatin/g dry substrate and 298.72±44.12 mg lovastatin/g dry substrate, respectively. Throughout the final profile, the production was 305.08±14.15 mg lovastatin/g dry substrate which made the total increment hit to almost 91%. In this experiment, lovastatin was subjected into high performance liquid chromatography (HPLC) with acetonitrile and phosphoric acid (pH 3.0) as a mobile phase.