Setyamartana Parman | Universiti Teknikal Malaysia Melaka (original) (raw)

Papers by Setyamartana Parman

AIP Conference Proceedings, 2011

Abstract This paper investigates some conditions that can provide stabilizability for linear swit... more Abstract This paper investigates some conditions that can provide stabilizability for linear switched systems with polytopic uncertainties via their closed loop linear quadratic state feedback regulator. The closed loop switched systems can stabilize unstable open loop ...

Journal of Mechatronics, Electrical Power, and Vehicular Technology, Jul 29, 2016

Characterization of finite measured signals is a great of importance in dynamical modeling and sy... more Characterization of finite measured signals is a great of importance in dynamical modeling and system identification. This paper addresses an approach for characterization of measured random vibration signals where the approach rests on a method called empirical mode decomposition (EMD). The applicability of proposed approach is tested in one numerical and experimental data from a structural system, namely spar platform. The results are three main signal components, comprising: noise embedded in the measured signal as the first component, first intrinsic mode function (IMF) called as the wave frequency response (WFR) as the second component and second IMF called as the low frequency response (LFR) as the third component while the residue is the trend. Band-pass filter (BPF) method is taken as benchmark for the results obtained from EMD method.

Computer Assisted Mechanics and Engineering Sciences, 1998

2016 SICE International Symposium on Control Systems (ISCS), 2016

The paper investigates structural deflection of flexible satellite during attitude maneuvers. The... more The paper investigates structural deflection of flexible satellite during attitude maneuvers. The satellite is consisted of a rigid main body and two flexible solar panels. Elastic motions of the flexible panels are discretized adhering the finite element method. The attitude maneuvers are equipped with feed-forward inputs in constant amplitude. The inputs are utilized to the satellite complying the fuel-efficient input shaper method. Several cases are investigated in the simulation in order to conclude the influence of fuelling duration with respect to the solar panel deflection, especially in the transient response.

2015 International Conference on Technology, Informatics, Management, Engineering & Environment (TIME-E), 2015

This paper investigates dynamics behaviors of self motion and path tracking of manipulator. The s... more This paper investigates dynamics behaviors of self motion and path tracking of manipulator. The system contains three sets of nonlinear Ordinary Differential Equations (ODE). Algorithm to solve the ODEs system will be presented. The behavior of the system will be observed using phase space graph. Homoclinic and heteroclinic orbits present in the phase space graphs.

The purpose of this paper is to propose and investigate a new approach for estimating response tr... more The purpose of this paper is to propose and investigate a new approach for estimating response transfer function of offshore structures with wave as excitation input. The approach is based on time-varying autoregressive with exogenous input (TVARX) model. This method is virtually unexplored in offshore engineering field, as a number of works have shown that transfer functions such as response amplitude operator are estimated based on discrete Fourier transform (DFT). Here, we outline a practical algorithm for TVARX model which uses expectation-maximization (EM) algorithm based on Kalman smoother to generate the transfer function. The method is then applied to sampled discrete wave as excitation input and the motion responses of offshore structures as output data, generated from simulated field measurements. The proposed approach outlined here has shown the tremendous potential in the estimation of transfer function. The results indicate that TVARX model produces accurate, smooth and less noise TF estimates over DFT method. TVARX model also allows for the creation of time varying transfer function (TVTF).

Applied Mechanics and Materials, 2013

In this paper, a new meshless local B-spline basis functions-finite difference (FD) method is pre... more In this paper, a new meshless local B-spline basis functions-finite difference (FD) method is presented for two-dimensional heat conduction problem with spatially varying heat generation. In the method, governing equations are discretized by B-spline approximation in the spirit of FD technique using local B-spline collocation. The key aspect of the method is that any derivative at a point or node is stated as neighbouring nodal values based on the B-spline interpolants. Compared with mesh-based method such as FEM the method is simple and efficient to program. In addition, as the method poses the Kronecker delta property, the imposition of boundary conditions is also easy and straightforward. Moreover, it poses no difficulties in dealing with arbitrary complex domains. Heat conduction problem in complex geometry is presented to demonstrate the accuracy and efficiency of the present method.

INCAS BULLETIN

The satellite attitude maneuver using thrusters is studied in this paper. The satellite consists ... more The satellite attitude maneuver using thrusters is studied in this paper. The satellite consists of a rigid main body and two symmetrical solar panels that are so large that their flexibility cannot be neglected. The finite element method is used to discretize the elastic motion of the solar panels. The solar panels are modeled as a set of rectangular plate elements and only out-of-plane displacement is taken into account. The satellite is controlled by a thruster in its main body, while there are no other control inputs on the solar panels. For the attitude maneuver, the roll, pitch and yaw torques generated by the on-off thruster are used and here can produce two different constant amplitudes. Then two types of fuel-efficient input shaping are formulated and applied to perform satellite attitude correction. The first type of input LHHL is preceded by the use of a small amplitude torque followed by a large amplitude one, while the sequence of torque applied to the second type of in...

Journal of Advanced Technology and Multidiscipline

This paper presents self-motion behaviors of 3-DOF planar robotic arm when it tracks a predefined... more This paper presents self-motion behaviors of 3-DOF planar robotic arm when it tracks a predefined end-effector path. In this case, the self-motion contributes to geometry of a motion envelope. The Bezier curve degree fifth is utilized as the tracked path. Different geometry of the motion envelope can be used to avoid collision while it also follows the tracked path accurately. A theta global as closed form solution of 3-DOF planar robot is modeled as a polynomial degree sixth. A Genetic Algorithm (GA) as one of meta-heuristic optimizations is used to find optimal solution of the path planning approach. An effect of initial and final joint angles in the robotic arm motion is also investigated. The theta global trajectories are also possible to contain an imaginary number. The imaginary number of the theta global trajectories can be used as a sign that position errors are present and the trajectories need to be repaired using the self-motion analysis.

Bioengineering

Nonlinear dynamics have become a new perspective on model human movement variability; however, it... more Nonlinear dynamics have become a new perspective on model human movement variability; however, it is still a debate whether chaotic behavior is indeed possible to present during a rhythmic movement. This paper reports on the nonlinear dynamical behavior of coupled and synchronization models of a planar rhythmic arm movement. Two coupling schemes between a planar arm and an extended Duffing-Van der Pol (DVP) oscillator are investigated. Chaos tools, namely phase space, Poincare section, Lyapunov Exponent (LE), and heuristic approach are applied to observe the dynamical behavior of orbit solutions. For the synchronization, an orientation angle is modeled as a single well DVP oscillator implementing a Proportional Derivative (PD)-scheme. The extended DVP oscillator is used as a drive system, while the orientation angle of the planar arm is a response system. The results show that the coupled system exhibits very rich dynamical behavior where a variety of solutions from periodic, quasi-...

Drones, 2022

This paper addresses an optimization of Unmanned Aerial Vehicle (UAV) flight trajectories by bank... more This paper addresses an optimization of Unmanned Aerial Vehicle (UAV) flight trajectories by bank-turn mechanism for a fixed-wing UAV at a constant altitude. The flight trajectories should be optimal and stay in the UAV flight operational area. The maneuver planning is conducted in two steps, which are UAV path planning and UAV flight trajectory planning. For the first step, the Bezier curve is employed as a maneuvering path. The path planning optimization objective is to minimize the path length while satisfying maximum curvature and collision avoidance constraints. The flight trajectories optimization objective is to minimize maneuvering time and load factor considering, minimum/maximum speed, minimum/maximum acceleration, maximum roll angle, maximum turn rate, and aerodynamics constraints. The variable speed trajectory generation is developed within allowable speed zone considering these UAV flight constraints by employing meta-heuristic optimizations. Results show that the PSO h...

International Journal of Artificial Intelligence & Robotics (IJAIR), 2021

A collision-free route is very important for achieving sustainability in a manufacturing process ... more A collision-free route is very important for achieving sustainability in a manufacturing process and vehicle robot trajectories that commonly operate in a hazardous environment surrounded by obstacles. This paper presents a collision avoidance algorithm using a Bezier curve as a route path. The route planning is modeled as an optimization problem with the objective optimization is to minimize the route length considering an avoiding collision constraint. The collision-avoidance algorithm based on curve point analysis is developed incorporating metaheuristic optimizations, namely a Genetic Algorithm (GA) and a Grey Wolf Optimizer (GWO). In the collision avoidance algorithm, checking of curve point's position is important to evaluate the individual fitness value. The curve points are analyzed in such a way so that only the paths which are outside the obstacle area are selected. In this case, besides the minimum length as a fitness function, the constraint is the position of curve ...

This paper provides a design of an automatic clutch controller for hybrid electrical vehicle (HEV... more This paper provides a design of an automatic clutch controller for hybrid electrical vehicle (HEV) using fuzzy logic. The use of fuzzy logic can reduce the difficulty of mathematical modeling of complex systems since fuzzy logic can deal with uncertain and imprecise data and problems which may have several solutions rather than one. Fuzzy logic algorithms for the automatic clutch controller are developed to achieve a smooth and fast engaging transition. Comprehensive simulations for the whole hybrid electrical vehicle are conducted in Matlab 2009a. An experimental test for a real damping clutch is also carried out. Results show that the active regulation of the clutch slipping ration can considerably reduce the vehicle vibration in resonance frequencies. The new system can handle the clutch engagement with low jerk and high comfort.

2017 7th World Engineering Education Forum (WEEF), 2017

Cross-disciplinary team learning (CDTL) is highly interrelated with team structure, dynamics, and... more Cross-disciplinary team learning (CDTL) is highly interrelated with team structure, dynamics, and collaborative learning processes that are expected to occur as any team attempts to solve engineering problems. The major component of CDTL is cohesiveness in teamwork, which defined as the efforts to understand and appreciate the contributions and various disciplinary frameworks of other team members for success in the interdisciplinary collaborations. Engineering Team Project (ETP) is introduced in Universiti Teknologi PETRONAS to third year engineering students from different disciplines. Students from Mechanical, Civil, EE, Chemical and Petroleum Engineering disciplines are working in a project-based team for one semester. The framework of the CDTL is presented, in which the progressive pedagogical approach is adopted to provide a learning environment to work with others from different disciplines. Students completed in the previous ETP projects were assessed through exit interviews in order to explore the research issues. Evidently, students faced several challenges within this ill-learning environments; examples of those include lack of creativity and innovation in the design work, unrealistic project definition, variation in the assessment quality, as well as inability poor project execution and management.

Input shaping technique can successfully suppresses residual vibration in slew maneuvers of flexi... more Input shaping technique can successfully suppresses residual vibration in slew maneuvers of flexible systems. Th is paper studies transient structural deflections of flexibl e satellite during attitude maneuvers controlled using input shaper. T he satellite consists of a rigid main body and two symmetrical f lexible solar panels. The equations of motion of the satellite ar e derived using Lagrange’s formulation, and elastic motions of flex ible structures are discretized following the finite element method . The attitude maneuvers are equipped with on-off constant amplitu de inputs. For fast maneuver, the satellite has poor accuracy after the maneuver. To resolve this issue, input shaper is ap plied to maneuver the satellite. Various fuel-efficient shap ed inputs are studied in order to conclude the relation of input shape and transient maximum deflection resulted.

International Journal of Computational Methods, 2017

In this paper, an alternative meshfree approach is presented for transient heat conduction analys... more In this paper, an alternative meshfree approach is presented for transient heat conduction analysis of nonlinear functionally graded materials (FGMs). The main idea behind the introduced approach is to use collocation in local domains containing of sets of regular or scattered nodes and approximating the solution by B-spline basis functions. It combines the favorable properties of B-spline basis functions in having arbitrary degree for better resolution of solution, partition of unity and the Kronecker delta properties with low computational effort of collocation. The method is called as local B-spline collocation method. It is mathematically simple, efficient to program and truly meshless. The method is applied for analyzing transient heat conduction in a wide range of FGMs with various material gradation models, in both 2D and 3D domains. The results obtained agree well with those computed by analytical solution and other well-known methods, confirming the suitability and efficacy...

2016 17th International Carpathian Control Conference (ICCC), 2016

Attitude maneuver of a precise-oriented satellite is studied in this paper. The satellite consist... more Attitude maneuver of a precise-oriented satellite is studied in this paper. The satellite consists of a rigid main body and two symmetrical flexible solar panels. The equations of motion are derived using Lagrange's Formulation, and the finite element method is used to discretized elastic motion of the panels. The satellite is equipped with constant-amplitude torque input to maneuver its attitude. Using fastest time-optimal input, the satellite has poor accuracy after maneuver. Input shaper shows the capability to improve the satellite accuracy in attitude. However, the structural deflection of the panels during transient state in the maneuver process can be very large. The paper proposes the input shaping procedure to maneuver the satellite with excellent attitude accuracy after and small structural deflection during the maneuver process. The performance of procedure is then examined using numerical simulation.

International Journal of Computing Science and Mathematics, 2016

In this paper, an over-determined, global collocation method based upon B-spline basis functions ... more In this paper, an over-determined, global collocation method based upon B-spline basis functions is presented for solving boundary value problems in complex domains. The method was truly meshless approach, hence simple and efficient to programme. In the method, any governing equations were discretised by global B-spline approximation as the B-spline interpolants. As the interpolating B-spline basis functions were chosen, the present method also posed the Kronecker delta property allowing boundary conditions to be incorporated efficiently. The present method showed high accuracy for elliptic partial differential equations in arbitrary domain with Neumann boundary conditions. For coupled Poisson problems with complex Neumann boundary conditions, the boundary collocation approach was adopted and applied in a simple and less costly manner to further improve the accuracy and stability. Applications from elasticity problems were given to demonstrate the efficacy and capability of the present method. In addition, the relation between accuracy and stability for the method was better justified by the new effective condition number given in literature.

Applied Ocean Research, 2016

Identification of transfer functions from surge motion response of a semisubmersible platform fro... more Identification of transfer functions from surge motion response of a semisubmersible platform from model test data is presented in this paper. The identification is carried out by estimating the time-varying model coefficients of a time-varying NARX (TVNARX) model. The coefficients are estimated using proposed method, named artificial bee colony-based Kalman smoother (ABC-KS). System input–output data for identification process are wave height and surge motion from a scaled 1:100 model of a prototype semisubmersible. The applicability of proposed method is assessed numerically and experimentally under unidirectional long-crested random waves. The results show that the linear and quadratic frequency response functions as well as the wave and low frequency responses of a semisubmersible platform can be well identified either in time or frequency domains. The evolution of the nonlinear wave-structure interactions also can be revealed with respect to measured time duration.