Rotary Encoder Sensor Research Articles

Motion System of a Four-Wheeled Robot Using a PID Controller Based on MPU and Rotary Encoder Sensors

Motion System of a Four-Wheeled Robot Using a PID Controller Based on MPU and Rotary Encoder Sensors

Direct threshing of paddy (Oryza sativa) ear-head with reduced straw and optimized grain throughput rate

Reduction of the straw intake is a new harvesting technique that reduces energy and input costs. In existing combine harvesters, the cutter bar of the standard header is set at an increased height, or the stripper header combine harvester is used to minimize the straw intake. The thresher was developed and tested in the year 2018 and 2019, at Indian Institute of Technology, Kharagpur, West Bengal to reduce the straw intake by direct ear head threshing of standing plants. It reduces energy consumption compared to some common existing harvesting methods. The specially designed plant guiding plates were accommodated before the threshing cylinder to achieve this. The set of two guiding plates passes over the plant’s row and converges the panicle portion of plants by bending them gradually. The rice (Oryza sativa L.) panicles were placed over the rotating cylinder and the stem portion remains in a standing posture. Thus, only 4.16% of total straw available on the plants was fed, and about 23 times straw intake was reduced. RSM-based response surface methodology was used to design the experiment. During the experiment, the grain throughput rate (GTR) was varied by changing the speed of plant feeding. To measure the cylinder speed, threshing torque, and plant feed speed the laboratory model thresher was equipped with rotary encoder, torque transducer and proximity sensors, respectively. The collected threshed mixture was analyzed to determine threshing performance. The optimized GTR and cylinder speed were 180 kg/h and 17.55 m/sec at which the threshing efficiency, total grain loss, and specific energy were 98.36%, 4.67%, and 1.1 kWh/t of grain, respectively.

Contribution to the Dimensioning of Measurement Station for DC motors

This article focuses on ongoing research for dimensioning the Automatic Identification and Control Design Station for DC motors. The aim is to develop a device capable of automatically identifying DC permanent magnet motors and designing control suited for their diverse applications. The proposed measurement platform comprises essential components, including a tested motor, H-bridge, load motor, microcontroller, rotary encoder, power supply, and torque sensor. The dimensioning process carefully considers parameters like sampling period and encoder increments, crucial for accurate motor testing and control design. Authors strive to develop a universal methodology applicable to a broad range of DC motor parameters. The findings offer valuable insights into designing and dimensioning the measurement platform, laying a foundation for future research.

Design of mechanical digitalization automatic water level recorder for river water level monitoring

The Welang River Pasuruan has an Automatic Water Level Recorder (AWLR) tool that measures water levels at that location. This tool operates using mechanical movement to rotate the roller on the AWLR, causing the float to move up and down. This movement results in ink marks on the water level validator paper. The recorded water level data is then processed into an Excel chart. This study aims to digitize the AWLR tool so that the monitoring and calculation of the water level is more precise and can be monitored in online. The water level detector will work in real time using a rotary encoder sensor and data will be sent to database and monitor water level monitoring through a series of data processing which later the data will be sent via MiFi. The method of testing the 2-component connecting system is the accuracy of reading the water level and the accuracy of sending data. The results will be displayed every 1 second on the monitoring dashboard and a standard deviation of 0.0002792 and an error of 0.43% is obtained which indicates the accuracy of the reading is quite accurate and real time.

ARDUINO-BASED SHIP STEERING SIMULATION BY COMPARING INCREMENTAL ROTARY ENCODER SENSOR WITH INFRARED SENSOR

In vocational institution, practicum activities can be done by using a bridge simulator, such as in the nautical study program, which has a steering component in the simulator. In our engineering study program, we tried to design a ship steering simulation by comparing an incremental rotary encoder sensor with an infrared sensor to determine the direction and degree of rotation. The steering gear is a very important tool of a ship because it determines the safety of the ship. Therefore, the rudder must meet the requirements set by SOLAS 74 rule 29 Chapter II regarding steering gear. When the ship is traveling at maximum economic speed, the main steering gear must be able to steer 35 degrees to the left/right within 28 seconds. In connection with this, we wanted to design, build, and manufacture a tool that can simulate ship steering. This simulation tool that we have designed generally has several capabilities such as being able to steer the ship from 35 degrees port to 35 degrees starboard, or vice versa, during maximum engine speed and load in a maximum period of 28 seconds. [1] Arduino is used to process data from incremental rotary encoder sensors and infrared sensors which will be sent via serial USB to the computer. Rotary encoders and infrared are used to determine how many degrees the ship will turn right or left, both are compared in terms of time and accuracy. To display a ship's steering simulation, a visual basic application is used to display a ship's movement simulation, ship's steering and ship's rudder.

Development and Feasibility Testing of Digital Measurement Tools for the Height of Uterine Fundus

Background: Uterine Fundus Height (TFU) is an indicator for monitoring fetal well-being during pregnancy. So far, TFU measurements are still carried out manually with several weaknesses such as human error, takes a long time, and less efficiency, which requires new innovations. This study aims to develop a tool for measuring uterine fundal height by utilizing an artificial intelligence-based rotary encoder sensor to determine gestational age and estimated fetal weight.
 Subjects and Method: This study used Research and Development (R&D) in the R&D stage with stages carried out at the Adem Ayem Clinic from January to February 2023. Expert validation testing and small-scale product trials. A total of 10 pregnant women were selected in this study, they were divided into two groups: (1) Five pregnant women using a digital TFU measuring instrument; and (2) Five pregnant women used a measuring tape. The dependent variables are uterine fundal height, gestational age and estimated fetal weight. The independent variable is a tool for measuring uterine fundal height. Differences in TFU in the intervention and control groups were analyzed using the Mann Whitney test. 
 Results: Development of a tool for measuring uterine fundal height that provides feasible and valid results in measuring uterine fundal height and determining gestational age and estimating fetal weight.
 Conclusion: Development of a tool for measuring uterine fundal height that provides feasible and valid results in measuring uterine fundal height and determining gestational age and estimating fetal weight.
 Keywords: uterine fundal height, gestational age, estimated fetal weight, rotary encoder sensor, pregnant women.
 Correspondence: Mar’atu Mutiah. Applied Masters Program, Health Polytechnic, Ministry of Health Semarang. Jl. Tirto Agung, Pedalangan, Banyumanik, Semarang, 50239, Central Java, Indonesia. Email: mara220792@gmail.com.

IMU Sensor Based Omnidirectional Robot Localization and Rotary Encoder

Localization is a technique to determine the position of the robot in an environment. Robot positioning is a basic problem when designing a mobile robot. If the robot does not know its position, then the next robot action will be difficult to determine. To be able to determine the position of the omnidirectional robot requires good speed control on the DC motor. In omnidirectional robots, positioning is through the use of a rotary encoder sensor to count the movement of the omni robot at X and Y coordinates and the IMU sensor to maintain the direction of the robot facing. PID control is also applied to control the rotational speed of each DC motor on the robot wheel. Odometry is the method used in this study. The odometry system aims to estimate the position relative to the initial position of the omni robot to estimate the change in position from time to time. The final result of this research is the application of the odometry method based on a rotary encoder and IMU sensor can produce an effective and stable robot motion and can move in all directions (holonomic) by maintaining the robot's facing direction. The results of the test form simple motions such as forward, backward, right side, and left side motion, as well as forming a box trajectory that has a position error that is not large and quite accurate. The average error value at coordinate X is 1.44 cm and at coordinate Y is 1.67 cm.

Design and Implementation of Sensor Systems for Localization of the Autonomous Robot in a Building Area

One of the popular studies recently is about social robots that have been implemented in several public areas such as offices. The robot is an employee or worker assistant robot in the Telkom Surabaya Institute of Technology building to help carry out the work of delivering packages to the destination according to the tasks given. The problem that often occurs is an error in the robot's localization system causing the robot's movement to the target point to experience a position error. This research contributes to the comparative evaluation of 2 localization methods on mobile robots, namely the first is the use of a rotary encoder sensor and the second is the use of sensor fusion based on the extended Kalman filter implemented on the robot prototype. This study aims to develop a sensor system that is adapted to the design of the robot and the environment in which the robot is tested and to find out the comparison of the two methods. The use of extended Kalman filter-based sensor fusion can provide more accurate results in robot localization, especially when moving on complex paths. Sensor fusion enables the combination of several sensors such as rotary encoders and IMU (Inertial Measurement Unit) sensors to provide more complete and accurate information about the position and orientation of the robot. In this study, sensor fusion successfully reduced the localization error of the robot to 0.63 m when moving straight and 0.29 m when moving on a complex path, compared to the use of a single sensor which resulted in a larger error of 0.89 m. Based on the study that has been conducted, it can be considered as a potential solution in the development of other social robots to improve the accuracy and performance of the robots when performing certain tasks in the future.

Implementation of Automatic DC Motor Braking PID Control System on (Disc Brakes)

The vital role of an automated braking system in ensuring the safety of motorized vehicles and their passengers cannot be overstated. It simplifies the braking process during driving, enhancing control and reducing the chances of accidents. This study is centered on the design of an automatic braking device for DC motors utilizing disc brakes. The instrument employed in this study was designed to accelerate the vehicle in two primary scenarios - before the collision with an obstacle and upon crossing the safety threshold. It achieves this by implementing the Proportional Integral Derivative (PID) control method. A significant part of this system comprises ultrasonic sensors, used for detecting the distance to obstructions, and rotary encoder sensors, which are utilized to measure the motor's rotational speed. These distance and speed readings serve as essential reference points for the braking process. The system is engineered to initiate braking when the distance value equals or falls below 60cm or when the speed surpasses 8000rpm. During such events, the disc brake is activated to reduce the motor's rotary motion. The suppression of the disc brake lever is executed pneumatically, informed by the sensor readings. Applying the PID method to the automatic braking system improved braking outcomes compared to a system without the PID method. This was proven by more effective braking results when the sensors detected specific distance and speed values. Numerous PID tuning tests achieved optimal results with K_p = 5, K_i = 1, and K_d = 3. These values can be integrated into automatic braking systems for improved performance. The PID method yielded more responsive braking outcomes when applied in distance testing. On the contrary, the braking results were largely unchanged in the absence of PID. Regarding speed testing, the PID method significantly improved the slowing down of the motor speed when it exceeded the maximum speed limit of 8000 rpm. This eliminates the possibility of sudden braking, thus maintaining the system within a safe threshold. The average time taken by the system to apply braking was 01.09 seconds, an indication of its quick responsiveness. This research is a valuable addition to control science, applying the PID control method to automatic DC motor braking. It provides valuable insights and concrete applications of PID control to complex mechatronic systems. It is also noteworthy for its development and optimization of suitable PID parameters to achieve responsive and stable braking. The study, therefore, offers a profound understanding of how PID control can be employed to manage braking systems on automatic DC motors, thereby advancing knowledge and application of control in control science and mechatronics.

Improvement of an Industrial Robotic Flaw Detection System

Rotary encoders are commonly used for dynamic control and positioning of industrial robots. Results of this study suggested that rotary encoder signal can also be used to monitor the efficiency of industrial robot systems effectively after proper processing. A novel strategy using singular spectrum analysis (SSA) integrated with hierarchical hyper-Laplacian prior prototype (HHLP) is proposed in this study for defect detection in industrial robots. Sparsity-assisted techniques are efficient flaw-based extraction techniques that have been extensively investigated in recent years. However, the selection of an appropriate sparse prior from the point of view of probability theory remains unverified. First, SSA enables the separation of complicated encoding signals to several interpretable components, including a trend, a set of cyclic oscillations, and residual oscillations (noise). Second, we describe HHLP by maximizing posterior probability of robot flaw diagnosis. HHLP is proposed to extract noise interference, cyclic pulse, and harmonic interference from the residual signal using the SSA technique. We infer that the hyper-Laplacian prior in the prototype may present a more efficient prototype flaw than the Laplacian prior. In addition, HHLP incorporates physical characteristics necessary to distinguish harmonic intervention. This study primarily establishes a modern prototype that represents the former dispersed from the perspective of maximizing the probability of the latter. Meanwhile, generalized minimax-concave regularization inductive and kurtosis-based weighted sparse prototypes are compared and spectral kurtosis is used to confirm the efficacy of HHLP. Note to Practitioners—This study aims to solve the problem of industrial robot fault diagnosis during the operation process to avoid production delays. Rotary encoder sensor is attached to each joint to collect raw information and identify the robot position. Data from the rotary encoder sensor can also be used for the efficient health status assessment of the performance of the industrial robot system after proper processing. Therefore, a new approach using singular spectrum analysis combined with hierarchical hyper-Laplacian pre-induced prototype is proposed in this study. The residual signal extracted using the singular spectrum analysis method for processing in a hierarchical hyper-Laplacian pre-induced prototype is used to improve the weak fault feature. We describe a hierarchical hyper-Laplacian preprototype by maximizing the posterior probability of the flaw diagnosis. We introduce a hierarchical hyper-Laplacian prior that integrates physical characteristics to distinguish between harmonic interferences. The distribution of coefficients acquired through other dictionaries or transformations and selection of the optimal priority for the extraction of flaw characteristics will be the foci of future investigations.

Assessment and Evaluation of Force–Velocity Variables in Flywheel Squats: Validity and Reliability of Force Plates, a Linear Encoder Sensor, and a Rotary Encoder Sensor

Research into flywheel (FW) resistance training and force–velocity–power (F–v–P) profiling has recently gained attention. Ground reaction force (GRF) and velocity (v) during FW squats can be predicted from shaft rotational data. Our study aimed to compare the inter-set reliability of GRF, v, and F–v–P relationship output variables calculated from force plates and linear encoder (presumed gold-standard) and rotary encoder data. Fifty participants performed two sets of FW squats at four inertias. Peak and mean concentric and eccentric GRF, v, and F–v–P outcomes from mean variables during the concentric phase of the squat were calculated. Good to excellent reliability was found for GRF and v (ICC > 0.85), regardless of the measure and the variable type. The F–v–P outcomes showed moderate to good reliability (ICC > 0.74). Inter-measure bias (p < 0.05) was found in the majority of GRF and v variables, as well as for all the calculated F–v–P outcomes (trivial to large TEs) with very large to perfect correlations for v (r 0.797–0.948), GRF (r 0.712–0.959), and, finally, F–v–P outcomes (ICC 0.737–0.943). Rotary encoder overestimated the force plates and linear encoder variables, and the differences were dependent on the level of inertia. Despite high reliability, FW device users should be aware of the discrepancy between the measures.

Stirring System Design for Automatic Coffee Maker Using OMRON PLC and PID Control

The implementation of the use of PLC in this study was designed for a small scale in the process of stirring coffee drinks at a speed of 600 RPM. To get a stable speed so that the water does not overflow, a control system is needed. To get optimal results, a system design that can control the stirring speed is arranged automatically using a Programmable Logic Controller (PLC). This system is designed using a rotary encoder sensor C38S6G5-600B-G24N as a speed reader obtained from the movement of the motor, DC Motor JGA25-370 12V as an actuator or stirrer. PLC OMRON CP1E-NA20DR-A is used as a motor speed control device using the Proportional Integral Derivative (PID) algorithm to control the system according to the setpoint entered. The motor speed control system with the PID algorithm shows a system response that works well according to the researchers' expectations. The response of the system obtained is fast enough to achieve a stable speed with a small overshoot value. Thus this system was successfully designed to control the stirring process of coffee drinks automatically and produce stable stirring by giving a set point of 600 RPM at the parameter constant Proportional band is 720%; Integral time is 1.6s; and Derivative time is 0.2s with a rise time value is 1.3s; settling time is 11s; overshoot is 1.1%; and steady-state error is 0.5%.

System configuration of instrumented half-scaled armoured vehicle to enhance handling performance due to lateral firing impact

Yaw disturbance rejection control (YDRC) is developed to improve the handling performance of armoured vehicle due firing impact. Therefore, a complete system configuration of instrumented half-scaled armoured vehicle is required to interface the YDRC algorithm with integrated measurement and control (IMC) data acquisition system, inertial measurement unit (IMU) and rotary encoder sensors. By using this configuration, the impact of firing test has been evaluated at maximum firing angle of 90° and vehicle speed of 40 km/h. Based on the actual testing, the handling response of the armoured vehicle in terms of yaw rate and angle, lateral displacement and acceleration has been improved compare to passive armoured vehicle up to 45% of reduction.

System configuration of instrumented half-scaled armoured vehicle to enhance handling performance due to lateral firing impact

Yaw disturbance rejection control (YDRC) is developed to improve the handling performance of armoured vehicle due firing impact. Therefore, a complete system configuration of instrumented half-scaled armoured vehicle is required to interface the YDRC algorithm with integrated measurement and control (IMC) data acquisition system, inertial measurement unit (IMU) and rotary encoder sensors. By using this configuration, the impact of firing test has been evaluated at maximum firing angle of 90° and vehicle speed of 40 km/h. Based on the actual testing, the handling response of the armoured vehicle in terms of yaw rate and angle, lateral displacement and acceleration has been improved compare to passive armoured vehicle up to 45% of reduction.

Rancang Bangun Sistem Navigasi Robot Beroda Pemandu Disabilitas Netra Menggunakan Metode Waypoint

Robotics has become a popular field of research for developing medical and human aids, including visually impaired people. This paper presents problem-solving of creating a robot that can guide visually impaired people outdoor using a Global Positioning System (GPS)-based navigation system with a waypoint method. This study uses Linkit ONE, which is equipped with a GPS as a determinant of the earth’s ordinate position, added with a compass module to determine the robot’s direction and a rotary encoder sensor to minimize the error of the robot’s position. There are two tests with four waypoints. Firstly, it is a test with no obstacles and holes. Secondly, it is the test with obstacles and holes. The first test results obtained an average error of waypoint-1 0.54 m(meters), waypoint-2 1.2 m, waypoint-3 1,9 m, and waypoint-4 1.7 m. Meanwhile, the second test results yielded an average error of waypoint-1 1.26 m, waypoint-2 2.18 m, waypoint-3 2.52 m, and waypoint-4 2,44 m. Therefore, the visual disability guidance robot with this waypoint method has good accuracy because the average error value of the robot is under a radius of 2 m when there are no obstacles and holes and under a radius of 3 m when there are obstacles and holes.

Control Position of Mobile Robot Based on Odometry Method and PID Controller

A mobile robot had been made based on kinematics drive differential concept. This robot used odometry method in order to reach a position and determine its current position. Proportional Integral Derivative (PID) control has been applied for improving response of robot while it reach a detremined position. Two rotary encoder sensors were attached at right and left side of robot motors for measuring distance. While motor rotating, rotary encoder sensors counted a number of pulses conversed into left and right wheel mileage. Both of them were used to get robot position at certain time (x, y, and heading angle). Robot passed some tracks and reached two positions in each track as destination positions. These positions are the position which had final heading 30° and 90°on first track, 45° and 90° on second track, 60° and 90° on third track. PID control was examined by put mobile robot in first position 0,0,0°. Some PID parameters have been applied to examine the performance and response of robot. The increment of derivative parameter reduced the steady state error and increased the stability of system.

Speed controller of wind turbine emulator using variable speed drive based on PI method

The wind turbine system as a power plant is growing rapidly in line with the electrical energy needs and limitations of fossil energy as a source of electrical energy. Many research has been carried out to develop wind turbine systems and improve system efficiency. Research on wind turbine systems requires wind turbine emulators to simulate the behaviour of wind turbines against changes in wind speed. In this paper presents a design of speed controller based on PI controller for a Wind Turbine Emulator (WTE) using a Variable Speed Drive (VSD). WTE consists of VSD, microcontroller, 3 phase induction motor, Permanent Magnet Synchronous Generator (PMSG) and speed sensor. PMSG speed depends on wind speed. At certain wind speeds, PMSG will rotate at a certain value. WTE will adjust the speed of the induction motor according to a certain wind speed to drive PMSG. Motor and PMSG rotation speed are measured by rotary encoder sensor as speed sensor and feedback for WTE. Proportional-integral method is used to control the speed of a 3 phase induction motor through VSD analogue input. Based on experiment result, PI controller can adjust speed of induction motor so that PMSG will rotate according to a certain wind speed. WTE with PI controller controls the speed of induction motor at settling time 9s to simulate wind speed through PMSG speed controlling.

Electronic control for optimizing power absorption of darrieus vertical axis wind turbine by adjusting angle of attack method

This paper presents a mechanical design and electronic control for the angle of attack on the Vertical Axis Wind Turbine (VAWT) darrieus type with NACA0015 and 3 blades. This research was conducted to obtain high-efficiency absorption power on various wind speeds. The VAWT mechanical design is based on systematic calculations with a height of 150cm and a diameter of 120cm. NACA0015 airfoil with calculations in the NACA airfoil database obtained blade length of 15.892cm and width of 1.905cm. The electronic control on this system, Arduino mega controller, has input from an anemometer sensor, and rotary encoder sensor. While, the output is servo motors for 3 blade. A microprocessor control unit is programmed to control the adjustment of blade angle of attack. The angle of attack is defined by wind speed, angular speed of VAWT, and a defined TSR (Tip Speed Ratio). The angle of attack control method is PID (Proportional-Integral-Derivative) algorithm. By setting the TSR value constantly at 3-4, the angle of attack will be adapted even on any various wind speed. Expected result, the maximum power absorption will be obtained on various wind speed. This system can increase power efficiency of VAWT up to 35-40%.

PID Control for Temperature and Motor Speed Based on PLC

Transesterification process of used cooking oil to biodiesel need heating and mixing of ingredients and catalyst at temperature of 30-65oC and stirring speed of 700 rpm for 60 minutes. This research builds a prototype of biodiesel reactor control system to control those process automatically. The system is built using heater element, LM35DZ temperature sensor, DC motor to drive the stirrer, and rotary encoder sensor. PLC OMRON CP1E NA20DR-A is used as system controller by using PID algorithm. The results of this research shows that this system works well as expected. Test results of motor speed control shows, at 700 rpm set point this system gives stable response at 100 % Proportional band, 1,6 s Integral, and 0,2 derivative PID parameters, the system at this setting gives fast rise time and have small overshoot. Test result of temperature control shows, at 60oC set point this system works well at 1% proportional band, 400 s integral, and 0 s derivative PID parameters, the system at this setting gives fast rise time and stable steady state.

SAM (Smart Assisted Motor) Maintenance Alarm of Motorcycle Based Android

Increased owners of vehicles, especially motorcycles are also directly proportional to the increasing needs for maintenance. However, users of motorcycles are not so concerned about the damage to spare parts if not done regular maintenance of the motorcycle. The owners are often ignorant of maintenance on the basic of how far within kilometers has been used. This is because there are no reminders or indicators that provide information that the motocycles has entered maintenance time. One way to overcome this, we designed a system of intelligent maintenance of periodic maintenance on a motorcycle based on the distance of mobile android based. This system brings the arduino module to read the rotary encoder sensor as the distance counter. The data obtained will be sent using GSM module to the server for further processed as a reference in providing a notification to the owner. Based on GPS, SAM also has information about the existence of the nearest workshop and queue information on the workshop. Applications built have functioned by the planning, can provide a warning when the distance has reached. Also, with the web, the application has also been able to show the location of the nearest workshop and queue conditions in the workshop.