Undip PAK Repository - Universitas Diponegoro

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LEMBAR

EASIL PENILAIAN SE.IAWAT SEBIDANG ATAA PEER REVIEW I.{RYA ILMIAH : PROSIDING

Modelir:g. simulation and validation of 14 DOF flrll vehicle model 3 Orarig (Joga D. Setiawan, M. Safarudin, Amrik Singh) Judui Karya

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Communication, Information Technology, and Biomedical Engineering 2009

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Uait Kerja : Departemen Teknik \4esin FT LhiDIP Oio Kuldi. Ph.D

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LEMBAR

IIASIL PENILAIAN SEJAWAT SEBIDANG ATAU FEER RE''IEIY

I\-A.RYA ILMIAH : PROSIDII{C

Modeling. simulation and validation of 14 DOF full vehicle model 3 Orang ^(.JogaD. Setiawan. M. Safamdin, Amrik Singh) Judril Karya

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Eflita Yohana.'Ph.D NrP. 19620428 1990012001

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Catatan Penilaian Paper oleh Reviewer:

1

.

Kesesuaian dan kelenqkaDan unsur isi ^paDer:

Penulisan paper telah mengikuti tenrplate dari IEEE confbrence prosiding. Penuiisan judul. abstrak, pendahuluan, rnetodologi. hasil, kesinrpulan, dan saran ditulis lengkap. Substansi ditulis sesuai dengan bidang dari penulis yaihr kontrol dan robotika.

Ruang lingkup dan kedalaman penrbahasan:

Paper ini raengembangkan pemodelan kendaraan dengan 14 demjat kebebasan untuk mempela.iari dianamika kendaraan.

Hasil simulasi disajikan dan dibahasa dengan detaii dan lengkap. Selain itu hasil simulasi juga divalidasi dengan menggunakan ClarSirnEd.

Kecukuoan dan kemutakhiran datalinf'ormasi dan melodologi:

Peper ini mempunyai kertutakhiran _-vangcukup baik dilihat dari dilihat dari pengembangan dan simr:lasi ¹⁴DOF dari kendaraan. Hasil validasi dengan softq,are CarSimEd menr.rjukkan bahx.a rnodel matematis menunjukkan dinamika yang menyerupai keadaan real. Prosiding mempunyai nilai Tumitrn similiarity score ^59/o.

Kelengkapan unsur dan kualitas terbitan:

Penerbit dari prosiding ini sudah baik yaitu IEEE. Prosiding ini telah terindeks oleh Scopus.

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LEMBAR

HASIL PENILAIAN SEJAWAT SEBIDANG ATAU PEER REVIEW KARYA ILMIAH : PROSIDING

Judul Karya Ilmiah : Modeling, simulation and validation of 14 DOF full vehicle model Jumlah Penulis : 3 Orang (Joga D. Setiawan, M. Safarudin, Amrik Singh)

Status Pengusul : Penulis ke-1

Identitas Prosiding : a. Judul Prosiding : International Conference on Instrumentation, Communication, Information Technology, and Biomedical Engineering 2009

b. ISBN/ISSN : ISBN: 978-142444999-6

c. Thn Terbit, Tempat Pelaks. : Bandung, Indonesia, 23-25 November 2009 d. Penerbit/Organiser : Institute of Electrical and Electronics Engineers Inc e. Alamat Repository/Web : https://www.ieee.org/

Alamat Artikel : https://ieeexplore.ieee.org/abstract/document/54172 85?section=abstract

f. Terindeks di (jika ada) : Scopus Kategori Publikasi Makalah : √ Prosiding Forum Ilmiah Internasional (beri pada kategori yang tepat) Prosiding Forum Ilmiah Nasional

Hasil Penilaian Peer Review : Komponen Yang Dinilai

Nilai Maksimal Prosiding Nilai Akhir Yang Diperoleh Internasional Nasional

e. Kelengkapan unsur isi prosiding (10%) 2,50 2,50

f. Ruang lingkup dan kedalaman pembahasan (30%) 7,50 7,00

g. Kecukupan dan kemutahiran data/informasi dan metodologi (30%)

7,50 7,00

h. Kelengkapan unsur dan kualitas terbitan /prosiding (30%)

7,50 7,00

Total = (100%) 25,00 23,50

Nilai Pengusul = (60% x 23,50)= 14,10 Catatan Penilaian Paper oleh Reviewer:

1. Kesesuaian dan kelengkapan unsur isi paten:

Paper yang ditulis sesuai dengan tempalate prosiding conference dari IEEE. Unsur paper yang ditulis sudah lengkap mulai dari judul hingga kesimpulan. Topik dari paper telah ditulis sesuai bidang keahlian dari penulis yaitu control system.

2. Ruang lingkup dan kedalaman pembahasan:

Substansi dari materi yang dibahas adalah pengembangan model matematis 14 derajat kebebasan dari kendaraan termasuk dengan dinamika roda, ban. Hasil dari simulasi diberikan dalam bentuk plot grafik yang interaktif dan mudah diikuti oleh pembaca. Model matematis juga divalidasi dengan software CarSimEd untuk menguji tingkat validitas dari model yang dikemnbangkan.

3. Kecukupan dan kemutakhiran data/informasi dan metodologi:

Hasil simulasi dari dinamika 14 DOF kendaraan disajikan dan dibahas dengan lengkap. Untuk meningkatkan subtansi dan kemutakhiran penelitian, CarSim software digunakan untuk mevalidasi bahwa model yang telah dikembangkan dapat merepresentasikan geralan dinamika kendaraan mendekati dengan kondisi real.

4. Kelengkapan unsur dan kualitas terbitan:

Prosiding ini tellah terindeks oleh database Scopus. Kelengkapan maupun kualitas penerbita dari prosiding ini (IEEE) sudah baik.

Semarang, 1 Juni 2021 Reviewer 2

Ojo Kurdi, Ph.D

NIP. 197303171999031001

Unit Kerja : Departemen Teknik Mesin FT UNDIP

√

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^FOR ^{M ATI} ON TECI{ NOLOGY, AHD BToMEDTCAL ENGINEERING (lclcl - BME) 2OO9

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Prof. orJng. Mitra Diamai

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International Conference on Instrumentation, Communication, Information Technology, and Biomedical Engineering , ICICI-BME

• • Article number • International Conference on Instrumentation, Communication, Information Technology, and Biomedical Engineering , ICICI-BME , Bandung, November - November

Modeling, simulation and validation of 14 DOF full vehicle model

Setiawan J.D., Safarudin M. , Singh A.

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a b b

Faculty of Engineering, Diponegoro University, Semarang, Indonesia

Faculty of Mechanical Engineering, University Teknikal Malaysia Melaka, Malaysia

a b

Abstract Author keywords Indexed keywords SciVal Topics

Abstract

An accurate full vehicle model is required in representing the behavior of the vehicle in order to design vehicle control system such as yaw control, anti roll control, automated highway system etc. There are many vehicle models built for the study of the vehicle dynamics specifically for the ride and handling behavior. This paper describes the vehicle model development of the vehicle model to study the behavior of the vehicle. The derivation of a 14 DOF vehicle model consisting of ride, handling and tire model is presented. The Magic tire formula was used as tire model. All the assumptions made for the 14 DOF vehicle model are stated. This 14 DOF vehicle model will be then validated using instrumented experimental vehicle for two steering inputs namely step steer and double lane change. The deviation of the outputs specifically the yaw rate, lateral acceleration and roll angle of the vehicle body and also the slip angle at each of the tire from the 14 DOF model simulation from the experimental results is discussed.

Author keywords

Handling; Instrumented experimental vehicle; Ride; Step steer; Tire model Indexed keywords

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Unknown parameter excitation and estimation for complex systems with dynamic performances

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Comprehensive study of moving load identiﬁcation on bridge structures using the explicit form of newmark-β method:

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References (15)

Blundell, M., Harty, D.

(2004) The Multibody Systems Approach to Vehicle Dynamics, pp. 1-

518. .

ISBN: 978-008047352-9; 978-075065112-7 doi: 10.1016/B978-0-7506-5112-7.X5000-3

Dixon, J.C.

(1996) Tires, Suspension and Handling. . 2 Ed. Warrandale, PA: Society of Automotive Engineering Inc.

Gilispie, T.

(1992) Fundamental of Vehicle Dynamics. . Warrandale, PA: Society of Automotive Engineering Inc.

Hudha, K., Kadir, Z.A., Said, M.R., Jamaluddin, H.

Modeling, Validation, and Roll Moment Rejection Control of Pneumatically Actuated active Control for Improving Vehicle Lateral Dynamics

(2008) Int. J. Engineering Systems Modeling and Simulation

Lee, A.

(1999) Coordinated Control of Active Devices to Alter Vehicle Rollover Tendencies

Rajamani, R.

(2005) Vehicle Dynamics and Control. . New York: Springer

Shim, T., Ghike, C.

(2005) Understanding the Limitation of Diﬀerent Vehicle Models for Roll Dynamics Studies

Vehicle System Dynamics

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The Multibody Systems Approach to Vehicle Dynamics

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http://www.sciencedirect.com/science/book/9780750651127

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Cited 317 times

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3

Cited 2906 times

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Cited 2928 times

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IEEE Catalog Number:

ISBN:

CFP0987H-PRT 978-1-4244-4999-6

2009 International Conference on Instrumentation, Communication, Information Technology, and

Biomedical Engineering (ICICI-BME 2009)

Bandung, Indonesia

23-25 November 2009

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Modeling, Simulation and Validation of 14 DOF Full Vehicle Model

Joga Dharma Setiawan¹, Mochamad Safarudin^2*, Amrik Singh²

1Faculty of Engineering, Diponegoro University, Semarang, Indonesia

2Faculty of Mechanical Engineering, University Teknikal Malaysia Melaka, Malaysia

*corresponding author: [email protected] Abstract- An accurate full vehicle model is required in

representing the behavior of the vehicle in order to design vehicle control system such as yaw control, anti roll control, automated highway system etc. There are many vehicle models built for the study of the vehicle dynamics specifically for the ride and handling behavior. This paper describes the vehicle model development of the vehicle model to study the behavior of the vehicle. The derivation of a 14 DOF vehicle model consisting of ride, handling and tire model is presented. The Magic tire formula was used as tire model. All the assumptions made for the 14 DOF vehicle model are stated. This 14 DOF vehicle model will be then validated using instrumented experimental vehicle for two steering inputs namely step steer and double lane change. The deviation of the outputs specifically the yaw rate, lateral acceleration and roll angle of the vehicle body and also the slip angle at each of the tire from the 14 DOF model simulation from the experimental results is discussed.

Keywords: ride, handling, tire model, instrumented experimental vehicle, step steer

I. INTRODUCTION

An accurate vehicle dynamics model should be built to represent the actual vehicle behavior and to be validated with vehicle dynamics simulation software and an instrumented real experimental car. If the behavior of the vehicle is not predicted when designing a vehicle, it can lead to improper handling behavior and threatening maneuver such as rollover. With mathematical models, the dynamic behavior and the safety of the vehicle can be investigated. With computer simulation tool, the vehicle dynamic behavior and safety can be investigated without the need to built or test a vehicle which is very costly.

The objective of this project is to develop, simulate and validate a 14 degree of freedom vehicle dynamics model with experimental data for the study of performance, ride, and handling of four wheel vehicles.

II. VEHICLE MODELING

A comprehensive 14 DOF vehicle model that includes dynamic of roll center and nonlinear effect due to vehicle geometry change was developed for the study of roll dynamics by Shim [7]. The tire model used was the Pacejka tire model.

This vehicle model was validated for three types of vehicle dynamics test namely step steer and, ramp steer and J turn test using CarSim and ADAMS/Car. The limitation, simplified

equation validity and assumption of various modeling was discussed by analyzing their effect on the model roll response for step steer, ramp steer and J turn test. This paper presents the development of 14 DOF vehicle model by first comparing three tire models available and validation with an instrumented experimental vehicle for step steer and double lane change steering inputs.

Vehicle Model

The 14 DOF vehicle model shown in Fig. 1 is used to study the vehicle behavior in longitudinal, lateral and vertical directions consists of a sprung mass of vehicle body and four unsprung masses of the wheels. The sprung mass has 6 DOF includes the longitudinal, lateral, vertical, roll, pitch, and yaw motion. Each of the wheels is allowed to have 2 DOF which consist of the vertical motion of the wheel and the wheel spin.

Modeling Assumptions

Lumped mass is used to represent the sprung and unsprung masses. The vehicle body is being modeled as rigid.

The outer and inner steer angle is assumed to be the same. The tires are assumed to having contact with the ground all the time.

Fig. 1. 14 DOF Vehicle Model Ride Model

The ride performance parameters are the body acceleration and displacement, damper displacement and wheel acceleration. The vehicle ride model [6] shown in Fig. 2 has 7 DOF, is made up of the vehicle body which is connected to four wheels by the spring and damper at each corner. The vehicle body is allowed to have 3 DOF consisting of vertical, roll and pitch motion.

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Solar-Terrestrial Observations at Bipolar Conjugate Points Using Global Positioning System

Wayan Suparta

Institute of Space Science (ANGKASA), Universiti Kebangsaan Malaysia (UKM), 43600 Bangi, Selangor Darul Ehsan, Malaysia Corresponding author: [email protected], Tel.: 603-89214729, Fax.: 603-89216856

Mardina Abdullah, Mohd Alauddin Mohd Ali

Department of Electrical, Electronic and Systems Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, 43600 Bangi, Selangor Darul Ehsan, Malaysia

Baharudin Yatim

Centre for Applied Physics Studies, Faculty of Sciences and Technology, Universiti Kebangsaan Malaysia, 43600 Bangi, Selangor Darul Ehsan, Malaysia

Natsuo Sato, Akira Kadokura

Space and Upper Atmospheric Science group, National Institute of Polar Research (NIPR), 10-3, Midoricho, Tachikawa-shi, Tokyo 190-8518, Japan

Gunnlaugur Bjornsson

Science Institute, University of Iceland (SIUI), Dunhagi 3, IS-107 Reykjavik, Iceland Grahame J. Fraser

Department of Physics and Astronomy, University of Canterbury, Private Bag 4800, Christchurch, New Zealand Abstract- GPS technique is an essential tool to explore of the

near-Earth space environment towards improved space weather prediction and such methods provide suitable platforms for the studies solar-climate relationships. Using the atmospheric precipitable water vapour (PWV) as a terrestrial response and the ionospheric total electron content (TEC) as a measure solar activity which both derived from ground-based GPS observations, some physical mechanisms of how solar activity exerts their influences on weather/climate changes can be explained. This paper presents an characterization of both TEC and PWV using ground-based GPS receivers to insight Sun-Earth coupling mechanisms through bipolar conjugate points.

Keyword: Bipolar, PWV, TEC, Sun-Earth Coupling, Conjugate points

I. INTRODUCTION

A new powerful technique at low-cost, global scale covered and with high temporal and spatial resolution has been developed to quantify the atmospheric precipitable water vapour (PWV) and the ionospheric total electron content (TEC) along a slant-path of Global Positioning System (GPS). The intense development of PWV data from ground-based GPS receivers are employed such as for improving numerical weather forecast [1, 2, 3, 4]. The TEC data developed are such used to improve space weather prediction [5, 6], to detect the ionospheric response of strong earthquakes [7] and rocket

launchings [8, 9]. In addition to the quality of GPS signals, the ground-based GPS technique has also provides three- dimensional tropospheric and ionospheric structures which could be reconstructed from an interpolation and tomographic modeling 10, 11, 12, 13, 14]. Because GPS has become an effective tool in various applications related to the Earth observation, an analysis of atmospheric structures and visualization of both tropospheric and ionospheric in real-time monitoring can help us to understand the connection between solar activity and terrestrial processes. As the Sun is the source of the energy, demonstrating a direct influence between solar variability and climate change on atmospheric dynamics and in their physical mechanisms in short term data has proved difficult. By considering the charged particles in the Earth’s magnetosphere tend to trapped on the same geomagnetic field- line and therefore conjugate points between the regions could be strongly affected by solar activity. Conjugate stations enabling us to learn many aspects related to the similarities and/or asymmetries of their properties phenomena between the hemispheres.

The objective of this paper is to characterize for first time the connection between ionospheric TEC and PWV using GPS ground-based GPS receivers at bipolar conjugate stations. Polar regions are unique laboratories for carrying out research on both the atmosphere and the near-Earth space (geospace) environment [15]. The suggestion introduced in the analysis are of how solar influence on water vapour. The basis for the

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BER Performance Analysis for HSDPA with MIMO – SBCE Predictors

M. Sushanth Babu¹ , Prof.K.Kishan Rao² , P.Krishna³ , V.Ugendar⁴

1,2,3,4Department of Electronics and Communications,Vaagdevi college of Engineering

Jawaharlal Nehru Technological University, Andhra Pradesh , India.

1(Tel : 9849299910; E-mail: [email protected]),

2 (Tel: 9440775866; E-mail: [email protected]).

Abstract- This paper gives an overview of recent advancements in multiple-input multiple-output (MIMO) systems under W-CDMA to increase the system performance and Spectral efficiency . We investigate the effects of predicting the CSI using linear fading envelope predictors under AWGN and Multipath Rayleigh fading by considering Semi- blind channel schemes in Spatial multiplexing and STBC to enhance the performance of an ACM system. The evaluation of the channel performance is done with BER .

Keyword-AWGN, CSI, Rayleigh fading, STC, SM.

I. INTRODUCTION

In the wideband communication systems, frequency- selective fading due to the multi–path channels, Rayleigh fading and AWGN becomes the severe problems. The evaluation in third and future mobile communication generation are expected to provide data rates up to 100Mbps to support multimedia services like video streaming , web browsing and gaming. HSDPA is an enhanced version of WCDMA which has already succeeded in acquiring 14.2Mbps in the downlink [1].

The HSDPA system employs various technologies such as adaptive modulation and coding, hybrid automatic repeat requests, fast cell selection, and MIMO antenna processing [2]- [4]. Inspite of higher modulation techniques the spectral efficiency can be further increased in HSPA perfect modulators, demodulators, filter and transmission path that are difficult to achieve in practical radio environment. Modulation schemes which are capable of delivering more bits per symbol are more immune to error s caused by noise and interference in the channel. Moreover, errors can be easily produced as number of users are increased and the mobile terminal is subjected to mobility. One of the major advantages of MIMO systems is their ability to provide spatial diversity gains to decrease the Symbol-Error-Rate (SER) in multipath fading channels [5]. Diversitygain results from combining signals that experience independent signal fades.

The MIMO capacity relies heavily on the requirement of accurate channel estimation. MIMO channel estimation methods can be classified into three categories: training-based methods, blind methods and semi-blind methods. For pure training-based schemes, a long training is necessary in order to obtain a reliable MIMO channel estimate which reduces the

system bandwidth efficiency considerably. Blind methods which do not require any training symbols achieve high system throughput at the expense of high computational complexity.

The blind channel identification methods can be classified into higher-order statistics based techniques [6]-[8] and second order statistics based techniques [9], [10].

Joint blind channel estimation and data estimation detection has been proposed based on the iterative least squares with projection [11]-[13]. This scheme estimated the channel and data iteratively but the convergence of the scheme depends on the initialization of the channel model. Semi-blind schemes on the other hand require less computational complexity than blind methods and fewer training symbols than training-based methods, to provide the initial MIMO channel estimation and exchange the information between the channel estimator and the data detector iteratively. This paper proposes a closed loop scheme of providing Channel state information [CSI] to the Transmitter about the channel condition so that it can adjust antenna weights, transmitting power, modulation and coding instantaneously.

This paper is organized as: In Section II, describes the System Modeling with comparison of space time coding [STC]

and spatial multiplexing [SM] schemes with antenna diversities. Section III, proposes different channel estimators under semi blind closed loop scheme. Section IV , Design simulation for BER performance analysis among channel estimators . In Section V , Conclusion.

II^.^SYSTEM^MODELLING

Multiple-input multiple-output (MIMO) links exploit the spatial dimension and antenna arrays at both ends of a link to transmit multiple parallel streams in the same time and frequency channel [14].The result is an extraordinary bandwidth-efficient approach to wireless communication, especially in multi-path environments. Figure shows the general architecture used for MIMO. The link adaptation is used to set the changes in the transmitter and modulator (AMC) depending up on channel condition which varies instantaneously with traffic and atmospheric conditions.

Considering MIMO system with M transmit antennas and P receive antennas. It is assumed that the channel coherence bandwidth is larger than the transmitted signal bandwidth so that the channel can be considered as narrowband or flat

(14)

Compact Cataract Screening System : Design and Practical Data Acquisition

Retno Supriyanti¹⁾, Hitoshi Habe¹⁾, Masatsugu Kidode¹⁾ and Satoru Nagata²⁾

1) Graduate School of Information Science, Nara Institute of Science and Technology Japan

2) Dept. of Medical Informatics and Biomedical Engineering, Shiga Medical University Japan Email : {retno-s|habe|kidode}@is.naist.jp, [email protected]

Abstract- The increasing number of cataract sufferers is a serious problem because cataracts are a leading cause of blindness in the world. To avoid blindness from cataracts, we need to detect them early. Today, ophthalmologists use a slit lamp to diagnose cataracts. This equipment is expensive and requires special training to use it. Unfortunately, a lot of developing countries have a limited number of ophthalmologists and health facilities, while a lot of cataract sufferers live in developing countries. Our algorithm is aimed at such developing countries and rural areas, and its main equipment is a compact digital camera. This equipment is inexpensive and easy for anyone to use without special training. Examination can be easily carried out in an outpatient department. We have already proposed a cataract screening method for the equipment that considers about specular reflection and statistical texture appearance inside the pupil . However, in order to accomplish our goal, not only the screening method itself, but also other aspects such as compactness and ease of use are crucial. In this paper, we will discuss system design for a compact cataract screening system. The final goal of our research is developing a simple and robust screening system for cataract with a compact digital camera. A user simply takes a patient’s photograph and the system will automatically analyze the image by extracting information inside a pupil, including specular reflection analysis and texture appearance analysis, for distinguishing between serious and non-serious conditions. We emphasize how to implement our system in real conditions by giving a recommendation for acquiring appropriate image data while taking a photograph so that our system will work well. The results in a real implementation are similar to our recommendation.

Keyword: cataract, screening, digital camera, easy-to-use, inexpensive, developing countries, rural areas.

I. INTRODUCTION

Cataracts are a kind of eye disease that is a clouding in the lens of the eye that affects vision [1]. The World Health Report published in 2001 estimated that there were 20 million people who are bilaterally blind (i.e., eyesight less than 3/60 in the better eye) whose blindness was caused by age-related cataracts. That number will have increased to 40 million by the year 2020[2]. Increasing age is associated with an increasing prevalence of cataracts, but in most developing countries, cataracts often occur earlier in life. One of the developing countries that has the highest number of people with cataracts is Indonesia. There are about 6 million people in Indonesia who suffer from cataracts, but Indonesia only has about 750 ophthalmologists for a population of more than 200 million people (one for every 350000 people). In addition, ophthalmologists are not evenly distributed [3]. To avoid

blindness, we need to detect cataracts early. Today, ophthalmologists use a slit lamp to obtain clear information about the inside of the eye lens for detecting eye diseases like cataracts and glaucoma, for example. Performing early detection for avoiding blindness using a slit lamp may not be a problem in developed countries like Japan, the USA, and the UK, for example. However, it is a problem for some developing countries like Indonesia, Nepal, and Vietnam.

Based on conditions in developing countries like Indonesia which has a limited number of both ophthalmologists and health facilities, we propose a simple method for cataract screening.

The main equipment is a compact digital camera that has many advantages: it is small and easily carried to an outpatient department, an operation room or an emergency clinic; it is easily used by anyone without special training where specialists are unavailable; it is less expensive than a slit lamp camera.The two types of equipment are shown in Figure 1.

Figure 1 . Cataracts diagnosis using slit-lamp (a) and compact digital camera (b)

However, when using a compact digital camera, we found problems such as insufficient image quality and lack of illumination control. For example, if we employ intensity value for screening cataract, i.e. higher intensity corresponds to a serious condition; it would fail for a cataract eye image taken under low illumination as shown in Figure 2.

Cataract is a common disease of human eye and there is much related research. For example, Sugata [8] examined normal and cataract lenses and suggested the possibility of diagnosing by measuring the attenuation characteristic of the lens. Biwas [9] discovered the role of catalin in the prevention

(a) Slit-lamp screening (b) Proposed screening

(a) Normal eye image (b) Cataract eye image Average intensity

inside pupil area : 155.1402

Average intensity inside pupil area: 55.9351 Figure 2. Example of photographs under uncontrolled illumination

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