Design and Construction of Automated River Trashes
Collector System
By Kenny Shibaura
A Bachelor’s Thesis
Submitted to the Faculty of Engineering MECHATRONICS Department
in partial fulfillment of the requirements for the Degree of
BACHELOR OF SCIENCES WITH A MAJOR IN MECHATRONICS
SWISS GERMAN UNIVERSITY EduTown – BSDCity 15339
Island of Java, Indonesia www.sgu.ac.id
STATEMENT BY THE AUTHOR
I hereby declare that this submission is my own work and to the best of my knowledge. The thesis contains a model of real system which has been applied, not material which to a substantial extent has been accepted for the award of may other degree or diploma at any educational institution, except where due acknowledgement is made in the thesis.
_______________________________________ ________________
Kenny Shibaura Date
Approved by:
________________________________________ __________________
Ir. Arko , Ph.D Date
______________________________________ _________________
Chairman of the Examination Steering Committee Date
ABSTRACT
Design and Construction of
Automated River Trashes Collector System.
By
Kenny Shibaura
SWISS GERMAN UNIVERSITY EduTown BSDCity
Ir. Arko, Ph.D, Major Advisor
Flooding is one of disaster which caused by human activity. Flooding may result from the volume of water within a body of water, such as a river or lake, which overflows or breaks levees. Floods can also occur in rivers, when flow exceeds the capacity of the river channel, particularly at bend or meanders. Floods often cause damage to homes and businesses if they are placed in natural flood plains of rivers. There are principal factors that causes the flooding, such as catastrophic (dam breakage), coastal (sea storm), and currently flooding is happened because there is a lot of trashes in the river which clog the flow of water.
It is happened because of the lack self-conscious people throw their own trashes to the river directly. This action is always happened continually without any definite action from the
DEDICATION
I dedicate this thesis to my parents, my beloved girlfriend, my advisors, and my friends.
ACKNOWLEDGMENTS
First of all, I wished to thank to God that I could completed this thesis.
I wished to thank to my family and my girlfriend for their supports. This thesis was completed, because of the assistance of my advisors Ir. Arko, Ph.D. He has given me precious experiences and clear understanding throughout this thesis process. Among these experiences I am sure that I can discover real application problems and solve the problem simply in thesis process. I also wished to thank to my father, who has taught me on how to design a complicated mechanics. Lastly, I thank all SGU lecturers and staff for all their support.
TABLE OF CONTENTS
STATEMENT BY THE AUTHOR ... 2
ABSTRACT ... 3
DEDICATION ... 4
ACKNOWLEDGMENTS ... 5
LIST OF TABLES ... 11
LIST OF FIGURES ... 12
CHAPTER 1 – INTRODUCTION ... 16
1.1. Background ... 16
1.2. Thesis Purpose ... 17
1.3. Thesis Scope and Limitations ... 17
1.4. Methodology ... 17
1.5. Problem Identification ... 18
1.6. Thesis Structure ... 18
CHAPTER 2 – LITERATURE REVIEW ... 19
2.1. ARTCS (Automated River Trashes Collector System) ... 19
2.1.1. Definition ... 19
2.1.2. ARTCS in Real Application ... 20
2.1.3. Automation System ... 22
2.2. Detection of Trashes ... 23
2.2.1. Pressure Sensor ... 23
2.2.2. Optical and Radiation Sensors ... 24
2.3. Technical Components of Automated River Trashes Collector System ... 28
2.3.1. Permanent Magnet DC Motor ... 28
2.3.2. H-Bridge ... 29
2.3.3. Microcontroller ... 30
CHAPTER 3 – METHODOLOGY ... 32
3.1. Global System Overview ... 32
3.2. Work Breakdown Structure ... 33
3.3. Mechanical Design... 34
3.3.1. Base Construction ... 34
3.3.1.1.Holders ... 35
3.3.1.2.Other Support ... 36
3.3.2. Ramp Construction ... 37
3.3.2.1.Geared Actuator Rail ... 38
3.3.2.2.Mounting of Limit Switch ... 39
3.3.2.3.Ramp ... 40
3.3.2.4.Tensioner Support ... 42
3.3.3. Conveyor System ... 43
3.3.3.1.Rollers ... 44
3.3.3.2.Belt Conveyor ... 44
3.3.4. Geared Actuator ... 45
3.3.4.1.Roll Bar Actuator ... 46
3.3.4.1.1. The Roll Bar Actuator Body ... 47
3.3.4.1.2. Gear ... 48
3.3.4.2.2.1. Slider ... 55
3.3.4.2.2.2. Nylon Slider ... 56
3.3.4.2.2.3. Mounting Motor ... 56
3.3.4.2.2.4. Lifter Hopper Support ... 57
3.3.5. Hopper Construction ... 57
3.3.5.1.The body of Hopper ... 58
3.3.5.3.Hinge ... 59
3.3.5.4.Rope Handle... 59
3.3.6. Mechanical Sensor ... 60
3.3.7. Piping ... 61
3.3.8. The Glass of River Model ... 63
3.3.9. Parameter Physics ... 64
3.4. Electrical Design ... 67
3.4.1. Power Supply ... 68
3.4.2. Actuators ... 69
3.4.3. Motor Driver ... 73
3.3.4. Buzzer ... 75
3.4.5. Limit Switch... 75
3.4.6. Control Panel ... 77
3.5 Microcontroller Programming ... 78
3.5.1 Microcontroller and Programming Language ... 78
3.5.2 Programming Flowchart ... 78
3.5.2.1 Main Program ... 79
3.5.2.2 Subroutine Initialize ... 80
3.5.2.3 Subroutine Sequence 1 ... 81
3.5.2.4 Subroutine Sequence 2 ... 82
3.5.3 H-Bridge interfacing with Microcontroller ... 83
3.5.4 I/O List ... 84
CHAPTER 4 – RESULT & DISCUSSION... 86
4.1 Mechanical Result ... 86
4.1.1. Base Construction ... 86
4.1.2. Ramp Construction ... 88
4.1.3. Rollers ... 89
4.1.4. Belt Conveyor ... 90
4.1.5. Geared Actuator ... 91
4.1.6. Lifter Hopper ... 92
4.1.7. Hopper... 93
4.1.8. The complete construction of ARTCS model ... 93
4.2 Assembled Electrical System ... 94
4.3. Flowchart Correction ... 94
4.4 DC Geared Motors Torque Testing ... 97
4.5. Liquid Flow Force Analysis... 100
4.6 Final Test of Integrated System ... 102
4.7 EMS Dual H-Bridge 2 A Testing... 107
4.6.1 Without Motor Methods ... 108
4.6.2 With Motor Methods... 108
CHAPTER 5 – CONCLUSION AND RECOMMENDATION ... 110
5.1 Conclusion ... 110
5.2. Recommendation ... 110
GLOSSARY ... 111
APPENDIX D – Bill Of Material ... 153
CURRICULUM VITAE ... 155
