Mechatronics, Electrical Power, and Vehicular Technology

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A IM AND S COPE

Journal of Mechatronics, Electrical Power, and Vehicular Technology (MEV) is an

internationally peer-reviewed journal providing authoritative source of scientific information for researchers and engineers in academia, research institutions, government agencies, and industries. The Journal publishes original research papers, review articles and case studies focused on:

Mechatronics: including control system, robotic, CNC Machine, sensor, signal processing, electronics, actuator, and mechanical dynamics.

Electrical Power: including power generation, transmission system, new and renewable energy, tubine and generator design and analysis, grid system, and source assessment.

Vehicular Technology: including electric/hybrid vehicle design and analysis, vehicle on grid, fuel efficiency, and safety analysis.

Selected Applications: including all implementations or

implications related to

mechatronics, electrical power, or vehicular technology.

MEV’s vision is to become international platform with high scientific contribution for global community. MEV’s mission is presenting important results of work, whether in the form of research, development, application, or design.

I MPRINT

MEV is published by Research Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences (RCEPM-LIPI) and managed to be issued twice in every volume. The first issue should be in the mid of the year and the second issue is in the end of the year.

ISSN print: 2087-3379 ISSN electronics: 2088-6985 Electronics edition is available at:

www.mevjournal.com

MEV allows reuse and remixing of its content, in accordance with a CC license of CC BY-NC-SA.

A RTICLE M ANAGEMENT &

P LAGIARISM C HECK

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A RTICLE P ROCESSING

C HARGES

Every article submitted to MEV Journal will not have any Article Processing Charges. This includes peer-reviewing, editing,

publishing, maintaining and archiving, and allows immediate access to the full text versions of the articles.

I NDEXING & A BSTRACTING Indexed in EBSCOhost, Index Copernicus, Directory of Open Access Journal (DOAJ), Google Scholar, Indonesian Scientific Journal Database (ISJD),

Indonesian Publication Index (IPI), Crossref, Mendeley, CiteULike, Cite Factor, Academic Journal Database, ResearchBib, Bielefeld Academic Search Engine (BASE), WorldCat, Sherpa Romeo, Open Academic Journal Index (OAJI), Open Access Articles, ROAD: the Directory of Open Access Scholarly Resources, Toronto Public Library, Western Theological Seminary, Ghent University Library, and Electronic Journals Library.

A CCREDITATION

MEV has been certificated as an Indonesian Scientific Journal by Indonesian Institute of Sciences (LIPI) by 15 April 2015.

Accreditation Number:

633/AU/P2MI-LIPI/03/2015 Valid thru: 15 April 2020.

P OSTAL A DDRESS

Research Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences (RCEPM - LIPI)

Komp LIPI Jl. Sangkuriang, Building 20, 2

^nd

Floor, R209 Bandung, West Java, 40135 Indonesia

Telp: +62-022-2503055 (ext. 215) Telp: +62-022-2504770 (ext. 203) Fax: +62-22-2504773

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E DITOR - IN -C HIEF Prof. Dr. Estiko Rijanto Indonesian Institute of Sciences (LIPI)

Komp LIPI Jl Sangkuriang, Blg 20, 2

^nd

Fl, Bandung 40135, Indonesia

I NTERNATIONAL E DITORIAL

B OARD

Prof. Rosli bin Abu Bakar Faculty of Mechanical Engineering,

Universiti Malaysia Pahang 26600 Pekan, Pahang, Malaysia [email protected]

Prof. Ir. Jamasri, Ph.D.

Department of Mechanical and Industrial Engineering, Gadjah Mada University, Jl. Grafika No. 2, Yogyakarta, 55281, Indonesia

Prof. Tapan Kumar Saha Electrical Engineering, The University of Queensland, St. Lucia, Qld-4072, Australia [email protected]

Prof. Muhammad Nizam, S.T, M.T, Ph.D.

Department of Mechanical Engineering, Universitas Sebelas Maret Surakarta

Jl. Ir. Sutami 36 A, Surakarta, 57126, Indonesia

Prof. Taufik

Director of Electric Power Institute, California Polytechnique San Luis Obispo, CA 93407, United States

Prof. Dr. Tagawa Yasutaka Tokyo University of Agriculture and Technology

Naka-machi 2 - 24 – 16, Koganei – shi, Tokyo, 184 – 8588, Japan [email protected]

Prof. István Patkó

Óbuda University, Budapest, 6. Doberdó str., Budapest H-1034, Hungary

Prof. Dr. Ir. Zainal Abidin Mechanical and Aerospace Engineering,

Institut Teknologi Bandung Jl. Ganesha No. 10, Bandung 40135, Indonesia

Prof. Dr. Bambang Riyanto School of Electrical Engineering and Informatics,

Bandung Institute of Technology, Jl. Ganesha No. 10, Bandung 40135, Indonesia

Prof. Dr. Ir. R. Danardono Agus Sumarsono, DEA, PE

Department of Mechanical Engineering,

University of Indonesia, Depok, Indonesia, [email protected]

George Anwar, Ph.D.

University of California, 101 Sproul Hall, Berkeley, CA 94704, United States

Dr. Si Steve Li

Electromechanical system development, General Electric Global Research Centre,

610 London Square Drive, Clifton Park, NY12065,

United States [email protected]

Dr. Larissa Lorenz Bauhaus Luftfahrt e.V,

Lyonel-Feininger-Str. 28, 80807 Munchen, Germany

larissa.lorenz@bauhaus- luftfahrt.net

Dr.Eng. Budi Prawara Research Centre for Electrical Power and Mechatronics – LIPI Komp LIPI Bandung, Blg 20, 2

^nd

Fl, Bandung 40135, Indonesia [email protected]

A DVISORY E DITOR Ir. Arko Djajadi, Ph.D.

Swiss German University EduTown BSDCity – Tangerang 15339, Indonesia

D EPUTY E DITORS Aam Muharam, M.T.

Electrical Engineering [email protected]

Tinton D Atmaja, M.T.

Informatic Systems and Electrical Engineering

M ANAGING E DITORS , C ENTRAL O FFICE Ghalya Pikra, M.T.

Mechanical Engineering [email protected]

Merry I Devi, S.T.

Industrial Engineering [email protected]

M ANAGING E DITOR , A SIA P ACIFIC R EGION Yanuandri Putrasari, M.Eng.

Mechanical Engineering [email protected]

M ANAGING E DITOR , E UROPE R EGION Naili Huda, M.Eng.Sc.

Industrial Engineering [email protected]

S ECTION E DITORS Agus Risdiyanto, M.T.

Electrical Engineering [email protected]

Amin, M.T.

Electrical Engineering [email protected]

Arini Wresta, M.Eng.

Chemical Engineering [email protected]

Bambang Wahono, M.Eng.

Mechanical Engineering

Dian Andriani, M.Eng.

Bioenergy Engineering [email protected]

Hendri M Saputra, M.T.

Robotics and Mechatronics [email protected]

Kadek Heri Sanjaya, Ph.D Ergonomics, Biomechanics, Physiology

Midriem Mirdanies, M.T.

Computer Engineering [email protected]

Muhammad Kasim, M.RenEn Electrical Engineering

Nur Rohmah, M.T.

Chemical Engineering [email protected]

Vita Susanti, S.Kom Computer Science [email protected]

L AYOUT E DITORS

Aditya Sukma Nugraha, M.T.

Mechanical Engineering [email protected]

Arief A Firdaus, S.I.Kom.

Communication Science [email protected]

Maulana Arifin, M.T.

Mechanical Engineering [email protected]

Rakhmad Indra Pramana, M.T.

Mechanical and Material Engineering

Yayat Ruhiyat, A.Md.

Electrical Engineering [email protected]

W EB A DMIN

Dadan R Saleh, M.T.

Informatics Engineering [email protected]

S ECRETARIAT

Andri J Purwanto, S.T.

Mechanical Engineering [email protected]

Henny Sudibyo, M.Eng Industrial Engineering [email protected]

G RAPHIC D ESIGNER

Yukhi Mustaqim Kusuma Sya Bana, S.Sn.

Graphic Design

© 2015 RCEPM-LIPI. All rights reserved.

This journal and the individual contributions contained in it are protected under copyright by Research Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences (RCEPM - LIPI). And the following terms and conditions apply to their use:

Open Access Policy

MEV Journal provides immediate open access to its content on the principle that making research freely available to the public to supports a greater global exchange of knowledge.

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No responsibility is assumed by the Publisher for any injury and/or damage to persons or property as a matter of products liability, negligence or otherwise, or from any use or operation of any methods, products, instructions or ideas contained in the material herein.

Although all advertising material is expected to conform to ethical (medical) standards, inclusion in this

publication does not constitute a guarantee or endorsement of the quality or value of such product or of

the claims made of it by its manufacturer.

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F OREWORD FROM E DITOR - IN -C HIEF

Journal of Mechatronics, Electrical Power, and Vehicular Technology (MEV) has been indexed by Google Scholar, Directory of Open Access Journal (DOAJ), Indonesian Scientific Journal Database (ISJD), Indonesian Publication Index (IPI)/Portal Garuda, Crossref, Mendeley, CiteULike, Academic Journal Database, ResearchBib and Cite Factor. In addition, Digital Object Identifier (DOI) has been granted to our journal with DOI Prefix 10.14203.

In this issue, seven papers are published with the total number of paper pages of 66 pages. The selected papers in this issue have passed some levels of reviews and revisions based on the standard operating procedure of the journal. Three topics of the papers are related to mechatronics which address dynamical model of fixed wing UAV, control of quadrotors UAV and development of wireless accelerometer. Two topics are related to electrical power concerning radial rotor turbo-expander design for small organic rankine cycle system and prediction of battery state of charge using particle swarm optimization. Modeling, identification, estimation and simulation of urban traffic flow as well as economic valuation of hypothetical paratransit retrofitting are also presented in this issue.

Since the first issue, our journal provides discretion in financial term by waiving the article processing charge. We are planning to improve the quality by registering the journal to other international academic citation index. We wish to offer our thanks to the Indonesian Institute of Sciences (LIPI) for their continuing unwaving support. Also, we would like to acknowledge our immense gratitude to our International Editorial Board members, reviewers and authors.

We hope this publication would contribute to the enhancement of science and technology.

Bandung, July 2015

Editor-in-Chief

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L IST OF C ONTENTS

Development of a Microcontroller-Based Wireless Accelerometer for Kinematic Analysis

Maria Clarissa Alvarez Carasco, Jan Pierre Potato Pizarro, Giovanni Alarkon Tapang 1-8

A Modified Gain Schedulling Controller by Considering the Sparseness Property of UAV Quadrotors

M Qodar Abdurrohman, Reka Inovan, Ahmad Ataka, Hilton Tnunay, Ardhimas Wimbo,

Iswanto, Adha Cahyadi, Yoshio Yamamoto 9-18

Nonlinear Dynamic Modeling of a Fixed-Wing Unmanned Aerial Vehicle: a Case Study of Wulung

Fadjar Rahino Triputra, Bambang Riyanto Trilaksono, Trio Adiono,

Rianto Adhy Sasongko, Mohamad Dahsyat 19-30

Prediction Model of Battery State of Charge and Control Parameter Optimization for Electric Vehicle

Bambang Wahono, Kristian Ismail, Harutoshi Ogai 31-38

Geometry Analysis and Effect of Turbulence Model on the Radial Rotor Turbo-Expander Design for Small Organic Rankine Cycle System

Maulana Arifin, Ari Darmawan Pasek, Zaidan Eddy 39-48

Economic Valuation of Hypothetical Paratransit Retrofitting

Naili Huda, Kim Peter Hassall, Sunarto Kaleg, Abdul Hapid 49-56

Modeling, Identification, Estimation, and Simulation of Urban Traffic Flow in Jakarta and Bandung

Herman Y. Sutarto, Endra Joelianto 57-66

Further articles can be found at http://www.mevjournal.com

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A ^BSTRACTS S ^HEET

e-ISSN: 2088-6985 Date of issues: 30 July 2015

p-ISSN: 2087-3379

The descriptions given are free terms. This abstracts sheet may be reproduced without permission or change.

Maria Clarissa Alvarez Carascoâ, Jan Pierre Potato Pizarroâ, Giovanni Alarkon Tapangâ (âVersatile Instrumentation System for Science Education and Research National Institute of Physics, University of the Philippines Diliman, Quezon City, Philippines) Development of a Microcontroller-Based Wireless Accelerometer for Kinematic Analysis

Journal of Mechatronics, Electrical Power, and Vehicular Technology, July 2015, vol. 6, no. 1, p. 1-8, 9 ill, 0 tab, 15 ref.

Wireless Sensor Networks (WSNs) allow real-time measurement and monitoring with less complexity and more efficient in terms of obtaining data when the subject is in motion. It eliminates the limitations introduced by wired connections between the sensors and the central processing unit. Although wireless technology is widely used around the world, not much has been applied for education. Through Versatile Instrumentation System for Science Education and Research (VISSER), a project which aims to develop modern science laboratory equipment for high school education and research in the Philippines, a low cost WSN using nRF24L01+ RF transceiver that is developed to observe and analyze the kinematics of a moving object is discussed in this paper. Data acquisition and transmission is realized with the use of a low power and low cost microcontroller ATtiny85 that obtains data from the ADXL345 three-axis accelerometer. An ATtiny85 also controls the receiving module with a UART connection to the computer. Data gathered are then processed in an open-source programming language to determine properties of an object’s motion such as pitch and roll (tilt), acceleration and displacement. This paper discusses the application of the developed WSN for the kinematics analysis of a toy car moving on flat and inclined surfaces along the three axes.

The developed system can be used in various motion detection and other kinematics applications, as well as physics laboratory activities for educational purposes.

(Author) Keywords: wireless sensor network; accelerometer; kinematics;

nRF24L01+.

M. Qodar Abdurrohmanâ, Reka Inovanâ, Ahmad Atakaâ, Hilton Tnunayâ, Ardhimas Wimboâ, Iswantoâ, Adha Cahyadiâ, Yoshio Yamamoto^b (âDepartment of Electrical Engineering and Information Technology, Gadjah Mada University, Jalan Grafika 2, Yogyakarta 55281; ^bDepartment of Precision Engineering, School of Engineering, Tokai University 1117 Hiratsuka-Shi, Kanagawa-Ken, Japan

)

A Modified Gain Scheduling Controller by Considering the Sparseness Property of UAV Quadrotors

Journal of Mechatronics, Electrical Power, and Vehicular Technology, July 2015, vol.6, no. 1, p. 9-18,15 ill, 0 tab, 9 ref.

This work presented the gain scheduling based LQR for Quadrotor systems. From the original nonlinear model, the system is always controllable and observable in various equilibrium points.

Moreover, the linearized systems have a unique property that is known as sparse system. Hence, in order to implement the most efficient state feedback controller, post-filter and pre-filter were introduced to transform the state coordinate to decrease coupling between states. Finally, the gain scheduling systems using these facts was proposed. The system behavior was tested using the proposed controller. The numerical studies showed the effectiveness of the controller to achieve desired altitude, attitude, and its ability during the disturbance.

(Author) Keywords: quadcopters; sparse system; linearization; gain scheduling; pole-placement.

Fadjar Rahino Triputraâ,c, Bambang Riyanto Trilaksonoâ, Trio Adionoâ, Rianto Adhy Sasongko^b, Mohamad Dahsyat^c (âSchool of Electrical Engineering and Informatics, Institut Teknologi Bandung, Jl. Ganesha 10, Bandung, Indonesia; ^bFaculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Jl. Ganesha 10, Bandung, Indonesia; ^cAgency for the Assessment and Application of Technology (BPPT), Komplek Puspiptek Serpong, Tangerang, Indonesia)

Nonlinear Dynamic Modeling of a Fixed-Wing Unmanned Aerial Vehicle: a Case Study of Wulung

Developing a nonlinear adaptive control system for a fixed-wing unmanned aerial vehicle (UAV) requires a mathematical representation of the system dynamics analytically as a set of differential equations in the form of a strict-feedback systems. This paper presents a method for modeling a nonlinear flight dynamics of the fixed-wing UAV of BPPT Wulung in any conditions of the flight altitude and airspeed for the first step into designing a nonlinear adaptive controller. The model was formed into 10-DOF differential equations in the form of strictfeedback systems which separates the terms of elevator, aileron, rudder, and throttle from the model. The model simulation results show the behavior of the flight dynamics of the Wulung UAV and also prove the compliance with the actual flight test results.

(Author) Keywords: fixed-wing UAV; nonlinear flight dynamics; strictfeedback systems.

Bambang Wahonoâ, Kristian Ismailâ, Harutoshi Ogai^b (âResearch Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences, Jl. Sangkuriang Komplek LIPI Gedung 20 Lantai 2

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road, monitoring its voltage, current, temperature, time, vehicle velocity, motor speed, and SOC during the operation. Using this experimental data, the prediction model of battery SOC was built.

Stepwise method considering multicollinearity was able to efficiently develop the battery prediction model that describes the multiple control parameters in relation to the characteristic values such as SOC. It was demonstrated that particle swarm optimization (PSO) succesfully and efficiently calculated optimal control parameters to optimize evaluation item such as SOC based on the model.

(Author) Keywords: SOC; stepwise method; multicollinearity; electric vehicle; particle swarm optimization.

Maulana Arifinâ, Ari Darmawan Pasek^b, Zaidan Eddyâ (âResearch Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences, Jl. Cisitu/Sangkuriang, Bandung 40135, Indonesia;

bThermodynamics Laboratory, Faculty of Mechanical and Aerospace Engineering, Bandung Institute of Technology) Geometry Analysis and Effect of Turbulence Model on the Radial Rotor Turbo-Expander Design for Small Organic Rankine Cycle System

Organic Rankine cycle (ORC) is one of the most promising technology for small electric power generations. The geometry analysis and the effect of turbulence model on the radial turbo- expanders design for small ORC power generation systems were discussed in this paper. The rotor blades and performance were calculated using several working fluids such as R134a, R143a, R245fa, n-Pentane, and R123. Subsequently, a numerical study was carried out in the fluid flow area with R134a and R123 as the working fluids. Analyses were performed using computational fluid dynamics (CFD) ANSYS Multiphysics on two real gas models, with the k-epsilon and shear stress transport (SST) turbulence models.

The result shows the distribution of Mach number, pressure, velocity and temperature along the rotor blade of the radial turbo- expanders and estimation of performance at various operating conditions. The operating conditions are as follow: 250,000 grid mesh flow area, real gas model SST at steady state condition, 0.4 kg/s of mass flow rate, 15,000 rpm rotor speed, 5 bar inlet pressure, and 373K inlet temperature. By using those conditions, CFD analysis shows that the turbo-expander able to produce 6.7 kW and 5.5 kW of power when using R134a and R123, respectively.

(Author) Keywords: radial turbo-expander; CFD; k-epsilon; shear stress transport; organic Rankine cycle.

Naili Hudaâ, Kim Peter Hassall^b, Sunarto Kalegâ, Abdul Hapidâ (âResearch Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences, Jl. Cisitu/Sangkuriang, Bandung 40135, Indonesia; ^bDepartment of Infrastructure Engineering, The University of Melbourne Level 02 Room C201 Engineering Block C, Parkville 3010, Australia)

Economic Valuation of Hypothetical Paratransit Retrofitting Journal of Mechatronics, Electrical Power, and Vehicular Technology, July 2015, vol. 6, no. 1, p. 49-56, 1 ill, 9 tab, 48 ref.

over conventional one. Thus, it can be inferred that at the moment, paratransit runs with gasoline is still the most cost effective compared to its counterparts. However, starting retrofitting from now is endorsed due to its environmental benefit.

(Author) Keywords: feasibility; paratransit; conventional; electric; Bandung;

Indonesia.

Herman Y. Sutarto^a, Endra Joelianto^b (^aSYSTeMS Research Group, Universiteit Gent Technologiepark 913, B-9052 Zwijnaarde, Belgium; ^bInstrumentation and Control Research Group, Institut Teknologi Bandung, Jalan Ganesha 10, Bandung 40132, Indonesia) Modeling, Identification, Estimation, and Simulation of Urban Traffic Flow in Jakarta and Bandung

This paper presents an overview of urban traffic flow from the perspective of system theory and stochastic control. The topics of modeling, identification, estimation and simulation techniques are evaluated and validated using actual traffic flow data from the city of Jakarta and Bandung, Indonesia, and synthetic data generated from traffic micro-simulator VISSIM. The results on particle filter (PF) based state estimation and Expectation-Maximization (EM) based parameter estimation (identification) confirm the proposed model gives satisfactory results that capture the variation of urban traffic flow. The combination of the technique and the simulator platform assembles possibility to develop a real-time traffic light controller.

(Author) Keywords: intelligent transportation system; stochastic hybrid system; state/parameter estimation; expectation-maximization;

particle filter.