Main Controller Research Articles

DESIGN AND DEVELOPMENT OF FLIGHT CONTROLLER FOR QUADCOPTER DRONE CONTROL

UAV (Unmanned Aerial Vehicle), also commonly called drone, is a flying robot technology that can be controlled remotely and can also fly autonomously based on the mission given by the operator. Drones are usually used for various purposes such as package delivery, watering plants, land mapping, natural disaster monitoring, photography, videography and others. Drones have many types, one of which is a drone with four motors as the main drive, commonly called a quadcopter drone. Quadcopter drones have evolved a lot based on current needs. Although quadcopter drones have many uses, the development of quadcopter drone research in Indonesia is quite slow, one of the quadcopter drone components whose development is quite slow is the flight controller. Flight controller (FC) is a main controller brain in drones that has complex functions in quadcopter drone control. The function of the FC is to regulate motor speed, stabilize and maintain altitude. In this research, FC is designed to control the stability of quadcopter drones while flying. This FC was developed by applying LoRa technology as an internal receiver. LoRa technology is used to receive control data from the remote control (RC) and simultaneously send sensor data. The purpose of this research is to design FC to improve local products in the field of technology and participate in the development of flying robot technology, especially on quadcopter drones and to determine the performance of LoRa technology after being integrated as an internal transceiver in FC for remote control of quadcopter drones.

RANCANG BANGUN SISTEM PEMANTAU KETINGGIAN AIR OTOMATIS MENGGUNAKAN SENSOR ULTRASONIK (HC-SR04) BERBASIS ARDUINO UNO DENGAN ANTARMUKA KOMPUTER BERBASIS MICROSOFT VISUAL BASIC 6.0

Efforts can be made to overcome this natural disaster, including providing a drainage system, maintaining forests and monitoring river water levels to determine the possibility of flooding if the level exceeds normal. In this research the author designed a tool to provide warnings before a flood disaster occurs. The design of an automatic water level monitoring system using an ultrasonic sensor (HC-SR04) based on Arduino UNO with a computer interface based on Microsoft Visual Basic 6.0 was created using HC-SR04 to measure distance, Arduino UNO as the main controller for the entire tool, LED and buzzer. When the HC-SR04 measures the distance by emitting waves from the trigger pin as the trigger and the echo pin as the receiver, the distance will then be processed by the Arduino UNO to calculate how many "cm" distances have been measured. If the distance calculated by the Arduino UNO is < 30 cm then the green LED will light up, if the distance is < 20 cm then the yellow LED will light up and the buzzer will sound slowly. However, if the distance is <10 cm, the red LED and yellow LED will light up alternately and the buzzer will sound loudly. Next, the data will be displayed on the PC interface with Microsoft Visual Basic 6.0 according to the distance received.

Research based on open space collaborative intelligent fire system

The open space collaborative intelligent fire protection system studied in this article uses STM32F407 as the main control chip of the drone, and the STM32F103 is used as the main control chip of the fire truck. ZigBee wireless communication and other modules. The main innovation of this article is to use OpenMV's ground black line recognition positioning, the attitude fusion algorithm of the main controller module, and the PID control algorithm for real -time positioning of drones and fire trucks in the testing area of the test. After actual testing and verification, this system can complete the full coverage of the patrol area in different environments, fire identification in the patrol area, and fire extinguishing tasks. Through the ZigBee wireless communication module Essence.

SISTEM KEAMANAN LEMARI PENYIMPANAN BARANG MENGGUNAKAN PASSWORD SEBAGAI KENDALI AKSES DAN SENSOR ULTRASONIK SEBAGAI PENDETEKSI BARANG

A sense of security in storing items and ease of finding storage cabinets in public places such as shopping centers is absolutely necessary, but this may still not be fulfilled because storage cabinets still use conventional locks or still use cards to store items, plus it requires a time-consuming process to look for an empty storage cabinets. Therefore, the creation of a storage cabinets model in this research aims to implement a security system for a storage cabinets with access control using a password and to know whether there are items in the storage cabinets or not so that users can find out which storage cabinets are available/empty. This storage cabinets security device uses a solenoid as a lock, a servo motor to actuate the cabinets door, an ultrasonic sensor to detect items in the cabinets and control it via keypad and LCD to display the condition of the cabinets use. This tool uses an Arduino Mega microcontroller as the main controller and password storage medium, thereby producing output automatically where the solenoid will open/close and the servo motor moves to open/close the cabinets door. The tool can function to detect items in cabinets and based on item detection using an ultrasonic sensor the user can find out which cabinets are empty and the cabinets door will open based on a password determined by each user to ensure the security of the items stored.

Single axis solar tracking system using arduino

The future is being built upon the foundation of renewable energy, particularly solar energy. Today, India is the third- largest solar deployment country in the world. Solar energy is an extremely efficient form of energy, making it a popular choice among people. However, the fixed structure of solar panels often limits their productivity. This paper proposes capturing more solar energy using a single-axis solar tracking system designed with an Arduino UNO and LDRs (along with two IR sensors). The proposed system aims to increase the performance of solar panels by continuously tracking the sun. It can receive the maximum amount of solar energy when it is perpendicular to the solar panel. The main controller in this paper is the Arduino UNO, a board based on the Atmega328P microcontroller. Two LDRs are used to detect the position of the sun in the sky, while a mirror rotates the orientation of the solar photovoltaic panels with the help of the L293D motor driver. An Arduino board connects to the sensor and gear drive. The photovoltaic panel and the motor are mechanically connected. The Arduino IDE is used to write the driver program. After the system was assembled, its operation was tested. The tracker intelligently adjusts the angle of the panels based on the direction in which the sun is facing the solar panel.

Automatic solar-based pet food dispenser system

For the majority of people, having a pet is always simple, but caring for it will always be a pain in the neck since pet owners must devote a whole time to meeting the pet’s demands, which include food, shelter, medical care, love and attention. Nowadays, feeding is one of the most frequent issues that pet owners’ encounter due to heavy work schedule. As a result, the automatic solar-powered pet food dispenser system is useful for assisting pet owners in caring for their pet’s needs when they are away from home or on the road. This automatic pet feeder proposes a simple automatic pet food dispenser controlled using the Arduino as the main controller. DS3231 Real Time Clock (RTC) module that can assist in automatically giving the pets the right mealtime was employed. This helps the food dispensing process without the owner’s presence, which is unlike the manual pet feeding product. The project ensures that the pets are fed on schedule and that the amount of food released is controlled appropriately. Also, this project will employ solar energy as a green energy source for sustainable development. This project can feed the pets 20 grams or less pet food in a single meal, according to the servo motor rotation setting activated by the Arduino.

Fault tolerant control of an octorotor UAV using sliding mode for applications in challenging environments

This paper presents the development of fault-tolerant controller and their application for multirotor unmanned aerial vehicles – specifically an octorotor – in challenging environments e.g. nuclear power plant inspection or other dull, dirty and dangerous applications. This paper considers a combination of sliding mode control robustness properties (to deal with actuator faults) and control allocation (to automatically redistribute the control signals to healthy actuators, especially in the event of actuator failures). The resultant controller has the ability to operate in both fault-free and fault/failure conditions without reconfiguring the main baseline controller. The proposed controller also has the ability to operate for up to six rotor failures which represent an under-actuation condition i.e., a case when only two rotors are available. The under-actuation scenarios are conditions when most FTC schemes are not able to operate due to the lack of redundancy. The simulation results conducted on the nonlinear model with wind/gusts and sensor noise, show a good tracking performance under various fault-free and fault/failure scenarios (over-actuation, sufficient actuation and under-actuation conditions).

Kontrolišite ruku robota putem praćenja ljudskih ruku zasnovano na viziji

In this paper, hand tracking based on computer vision is developed to control the movement of a SCARA robot arm. The robot arm will move according to the movement of the human hand. Instead of using buttons on the teach-pendant or a computer control program to move the robot arm, the robot can now be easily controlled and positioned quickly by the movement of the operator's hand. A SCARA robot arm with two rotation joints and one translation motion is constructed for the validation system. Two states of the hand are recognized for controlling the vacuum cup to grasp the products. Stepper motors drive the robot arm. Arduino Uno is used as the main controller for controlling the stepper motors. The handtracking is performed by using the MediaPipe Hands framework developed by Google. The coordinates of 21 hand landmarks are extracted for further processing. A program is written on a personal computer to process the image to get the position and state of the hand. This position is transformed into the rotation angles of the robot's joints. Then, the angles and state are sent to the Arduino board. The Arduino board creates pulse signals to rotate the stepper motors. The experimental results show that the robot's trajectory is close to the hand trajectory at a low speed.

Displacement of the selvage of the fabric on shuttless looms as a factor in optimizing the silk fabric production process

One of the main weaving defects that reduces the quality of solid fabrics is streaks that appear after stopping the machine. These bands differ from shortcuts in that they only form when the machine is put into operation. The reason for the formation of boot bands can be due to the characteristics of both the elastic feeding system and the design of the main machine parts involved in the fabric formation process: batons, waste, feeding devices material for the machine with the base. and discard the finished fabric. On textile machines, for ease of maintenance, the machines are stopped and started in a stagnant position, and with each subsequent start of the machine, the baton and together with the reed do not have time to gain inertial force. that they have when the machine is running. As a result, the strength of the reed waves may not be enough, leading to the formation of shear lines (release strips). The main controller of a nonclosing loom does not control the tension of the sole after stopping the machine. Warp tension due to warp yarn slackening and fabric changes, resulting in a change in tension at the first pass. On a weaving machine, the elastic fabric forming system (ESFF) consists of two heterogeneous warp and fabric systems, with different stretch characteristics, and when the weaving machine is stopped, the relative lengths of the warp and fabric as well as the total The tension of the elastic system changes the formation of the fabric. In this case, the total length of the elastic tissue formation system does not change.

Implementation of Scientific Creativity Among Chemistry Teachers

Scientific Creativity is fundamental skill that must be possessed by students in chemistry learning. In Indonesia, curriculum has emphasized to learner-center which has been one of supporting scientific creativity. However, the main controller in class is still teacher. Unfortunately, there were still any of them implements teacher-center. This study aims to study what extent of implementation of scientific creativity in chemistry learning among chemistry teachers. This study was qualitative research with case study approach. There were 5 chemistry teachers in Riau Indonesia selected through purposive sampling technique. Data was collected through interview and further was analyzed using thematic analysis. The chemistry teachers in this study have not yet implemented maximally, in which there were still teachers use of questions that did not lead to open-ended questions, teachers tended to focus on technical products, and less effort in providing opportunities for students to express their ideas. The lack of implementation of scientific creativity in this study showed that even though curriculum has supported it, but it still needs observation what extend teachers’ performance in the classroom. Therefore, enhancement of scientific creativity could be done appropriately.

Intelligent System Development for Plant Cultivation Complex by Means of the Internet of Things Concept

The article presents a problem solution of plant cultivation automation using the Internet of Things concept. Using an intelligent system to control a hydroponics installation allows you to increase the energy efficiency of growing plants by introduction of intelligent technologies. The application of the Internet of Things concept allows a more qualitative approach to the search and application of methods of rational modern production. This concept allows the collected data to be Wi-Fi transferred from the microcontroller to a computer via a server, which is very effective in environments with large number of sensors. In this case, both time and material costs per share of production are significantly reduced. The work identified the requirements for a recording and control device in an intelligent system that connects to the Internet for further data processing, configuration and execution of the operating mechanism, and stages of operation of the growing system. Part of the control system for a plant cultivation complex using microcontroller devices available on the market, such as ESP, is considered. A constructive functional design of the device was developed. In addition, it was determined that the intelligent system contains the following modules: thing (the physical controller itself - device, peripherals), network (a network of devices and communication channels that ensure the transfer of information according to network protocols), cloud (includes a server that processes client, storage and web service requests). A description of the first module is given, which includes the main controller board with an esp12e microcontroller. The second module contains printed circuit boards for the power supply and controller, which were designed and laid out using the EasyEDA web service. For the third module, three-dimensional models of the power supply and main board were obtained in the EasyEDA web service environment.

Energetic and highly reliable photovoltaic power source assisted water pump control system design using IoT

The tools used in agriculture are evolving quickly. The advancement of farming technology, farm infrastructure, and manufacturing facilities is ongoing. Numerous photovoltaic (PV) systems may be used in agriculture. These use cases include both standalone installations and larger systems put in place by utilities when they determine that PV technology is the most cost-effective way to meet a specific remote agricultural demand, such water irrigation for fields or cattle. The heart and soul of a solar-powered water pumping system are two solar panels. The solar cell is the smallest component of a photovoltaic panel. Here, we connect the ESP module's outputs to those from sensors installed in the PV panels' controller and water pump. With the use of the GSM module, the main controller unit may show the status of each module, such as whether the motor is on or off, on the administrator's mobile phone. In the event of a motor failure, the malfunctioning component can be identified. Challenges to agricultural land development include transport and road conditions. In this study, we'll look at the numerous options open to the farmer. The primary goal of this study is to develop a solar-powered, Internet of Things (IoT) and GSM-controlled water pump. This reduces the need for human labour (from farmers) in outlying areas. The farmer's mobile device serves as the hub for all activities.

Design and Control of Autonomous Flying Excavator

This study presents a drone-based excavation platform prototype with the key objectives of balancing stability during excavation, sensing, and digging the soil pile autonomously without human intervention. The whole platform was first designed in CAD software, and then each part of the excavator assembly was 3D printed by using PLA filament. The physical system was then combined with numerous electronic components and linked to various software applications for a drone to perform autonomous excavations. Pixhawk Orange Cube served as the main controller for the drone, while Nvidia Jetson Nano was used for processing data and controlling the tip of the bucket at a specified location for the autonomous excavator. Two scenarios were considered to validate the functionality of the developed platform. In the first scenario, the drone flies independently to a construction site, lands, senses the soil, excavates it, and then travels to another location specified by the mission to deposit the soil.

Potentially Toxic Element (PTE) Sources in the Middle Eocene Carbonate Aquifer, East El Minia, Egypt

Water pollution with potentially toxic elements (PTEs) becomes a major threat to the validity of that water for drinking and agriculture and hence human life. The current study aims to evaluate the carbonate aquifer groundwater PTE content, sources, and impact on water quality. To achieve this goal, drilling cutoff of two wells and 30 groundwater samples were collected and chemically analyzed. The groundwater has TDS values ranged from 271.2 to 971.8 mg/l. Freshwater recharge process led to the continuous freshening of the aquifer and enhanced the forward ion exchange reactions. Carbonate and evaporate mineral dissolution/precipitation processes are the main controller of groundwater chemistry. Cd and As represented the most hazardous elements in these rocks followed by Pb. The presence of high concentrations of PTEs (As, Cd, Cr, and Pb) in water-bearing carbonate rocks has led to detritus of water quality and its unsuitability for drinking owing to the occurrence of these harmful elements in water. Even though the high concentrations of PTEs in the studied water, these elements occurred in low mobility and toxicity species: Fe(OH)3, Mn2+, (HAsO4)−2, Cd2+, Cr2O3, Cu2O, CuO, and PbCO3. This reflects the importance of studying element species rather than total concentration. Even though the unsuitability of this water for drinking owing to high concentrations of some PTEs, all of the samples were found to be suitable for irrigation.

Design of Lubricating Oil Circulation Refrigeration System for Cigarette Machine

In order to solve the problems of high lubricating oil temperature, fast aging of seals and serious wear of parts during high-speed operation of equipment, a lubricating oil circulation refrigeration system for cigarette machine was designed. The system uses PLC as the main controller, and controls the motor speed through Profibus bus mode to realize the circulating refrigeration of lubricating oil. Through the test with ZJ112 unit as the object,we found that the system runs well and the failure rate is low. The temperature of each lubricating part of the equipment is significantly reduced and kept below 40 ˚C. At the same time, the maintenance time of the equipment is reduced, and the occurrence of cigarette quality accidents is reduced. This technology can provide support for improving the production adaptability of cigarette units.

Use of territory and financial valuation: the Cosan Group and the Brazilian sugar-energy sector

The structural changes that have occurred in contemporary capitalism, brought new conditions for the use of territory in Brazil. Consequently, it can be observed the insertion of new agents from the financial sphere, notably investment funds, corporate investors, and high net-worth individuals, who started to participate, directly and indirectly, in the productive processes in various sectors that take place in the Brazilian territory. This process was evaluated in this paper, through the empirical situation of Cosan Group, the main controller of the Brazilian sugar-energy sector (production of sugarcane and sugarcane derivatives). Our analysis was based on secondary data on the agricultural and agro-industrial production of this group, as well as the strategies and characteristics related to the financialization of the company (such as initial public offering, investor behaviour, among others) and financial issues, using information obtained from public and private databases. The analysis of the use of territory by the Cosan Group makes it possible to identify the transformations associated with the insertion of this agent into the current dynamics of financialization of the economy and the inherent territorial implication of this process. The strategies of the use of territory adopted by the Cosan Group, in the current context of financial accumulation, were mainly guided by the need for financial valuation, which occurred fundamentally through the mobilization of public funds and the territorial expansion of productive activities.

Model-Free Bidirectional Synchronous Rectification Control Scheme for LLC-Based Energy Storage System in Electric-Vehicle Energy Router

LLC resonant converters have been widely used in electric-vehicle energy router (EVER) as part of energy storage (ES) system, resulting in the increased demand for bidirectional synchronous rectification (SR) control. However, conventional bidirectional SR schemes are respectively limited by high cost of current sensing, difficulty of high voltage sensing, narrow operating range or high computational burden, especially for EVER. To deal with this problem, this paper proposes a model-free bidirectional SR control scheme for LLC-based ES system in EVER. Firstly, a novel SR tuning principle based on Kirchhoff’s law and phase relationship between inverter control signal and rectifier-side current is proposed. It no longer needs to calculate complicated models. Based on this principle, SR control signals in both forward and reverse modes are tuned by known signals available from main controller in ES system. To this end, no additional sensing component is required and the cost of SR is reduced. Meanwhile, an adaptive DC bus current compensation strategy is designed. It can guarantee high SR accuracy in reverse mode without sensing DC bus current. Moreover, an analog-digital mixed implementation is provided in which signal computation is performed by analog circuit. With these effects, the proposed scheme can achieve bidirectional SR control effectively over a wide operating range with low computational burden on controller. A 400-V/36-V 1-kW bidirectional LLC prototype is built to verify the proposed scheme.

Internet of things-based garbage monitoring system integrated with Telegram

<p>This paper presents the development of smart garbage monitoring system usin g internet of things (IoT) to keep the environment clean thus reducing cleaners’ burden. The present era is characterized by smart cities, where precision and organization are the norm. This initiative was launched because population is progressing rapidly, increasing more garbage hence esclating cleaner’s frequency of dustbin checking daily whether the dustbin is full or not which mean more labour costs. The main purpose of this researc h is to develop a systematic garbage monitoring system which can help cleaners schedule their work in monitoring and picking up garbage from dustbins. It used node microcontroller (NodeMCU) ESP8266 Wi - Fi module as the main controller to control ultrasonic and rain input sensors and provide notifications via Telegram. A limit switch is used to detect whether the lid is open or closed. When the lid is closed, the ultrasonic sensor is activated and measures the garbage distance depending on the amount. If an overrun of the maximum amount is detected, the red - light emitting diode (LED) will turn on that connects to the Wi - Fi module, which sends notification to the cleaners. As a result, the IoT based garbage monitoring system was fully functioned and accomplish ed its objectives.</p>

Desain Lampu Cerdas Berbasis Arduino Nano Untuk Kondisi Bencana

This research offers the manufacture of an emergency light prototype using Arduino Nano as the main controller. This prototype uses a buck converter in collaboration with an Arduino Nano to regulate the duty cycle with Pulse Width Modulation, based on feedback from voltage and current sensors. MOSFETs are used to regulate the voltage from a 10 Wp solar panel using the PWM method which is controlled by Arduino Nano. This buck converter is an inverting type because it changes the position of the supply voltage. Maximum Power Point Tracking (MPPT) technique is used to optimize energy from solar cells by finding optimal working points, ensuring maximum efficiency. This research also uses a 3.7 V lithium battery with a capacity of 18,650 mAh as a load for a series of prototype lights with the Joule Thief concept. The Joule Thief circuit is a minimalist oscillating voltage amplifier that is economical and easy to make, suitable for driving LED lights or DC dynamos. The results of this research show that the DC-DC MPPT buck converter based on the Arduino nano microcontroller can work well. By setting the duty cycle to 80 percent and a frequency of 62.5 kHz, current and voltage measurements produce an output of 4.95 volts - 5 volts.

A Novel Refined Regulation Method with Modified Genetic Commutation Algorithm to Reduce Three-Phase Imbalanced Ratio in Low-Voltage Distribution Networks

The three-phase imbalance in low-voltage distribution networks (LVDNs) seriously threatens the security and stability of the power system. At present, a standard solution is automatic phase commutation, but this method has limitations because it does not address the branch imbalance and premature convergence or instability of the commutation algorithm. Therefore, this paper proposes a novel refined regulation commutation system, combined with a modified optimized commutation algorithm, and designs a model and simulation for feasibility verification. The refined regulatory model incorporates branch control units into the traditional commutation system. This effectively disperses the main controller’s functions to each branch and collaborates with intelligent fusion terminals for precise adjustment. The commutation algorithm designed in this paper, combined with the above model, adopts strategies such as symbol encoding, cubic chaotic mapping, and adaptive adjustment based on traditional genetic algorithms. In addition, in order to verify the effectiveness of the proposed method, this paper establishes a mathematical model with the minimum three-phase imbalance and commutation frequency as objectives and establishes a simulation model. The results of the simulation demonstrate that this method can successfully lower the three-phase imbalance of the low-voltage distribution network. It leads to a decrease of the main circuit’s three-phase load imbalance rate from 27% to 6% and reduces each branch line’s three-phase imbalance ratio to below 10%. After applying the method proposed in this paper, the main and branches circuit three-phase imbalance are both lower than the limit ratio of the LVDNs, which can improve the quality and safety of electricity consumption. Additionally, the results also prove that the commutation algorithm under this method has faster convergence speed, better application effect, and better stability, which has promotion and application value.