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All Journal Journal of Mechanical Science and Engineering Jurnal Rekayasa Mesin TELKOMNIKA (Telecommunication Computing Electronics and Control) Indonesian Journal of Engineering and Science (IJES)
Zulkarnain Ali Leman
Department of Mechanical Engineering, Faculty of Engineering, Universitas Sriwijaya, 30662 Indralaya, Sumatera
Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Energy Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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Path Tracking on Autonomous Vehicle for Severe Maneuvre Zulkarnain Zulkarnain; Hairi Zamzuri; M. H. M. Ariff; Umar Zakir Abdul Hamid
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 16, No 4: August 2018
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v16i4.9068

Abstract

Autonomous vehicle consists self-learning process consists recognizing environment, real time localization, path planning and motion tracking control. Path tracking is an important aspect on autonomous vehicle. The main purpose path tracking is the autonomous vehicle have an ability to follow the predefined path with zero steady state error. The non-linearity of the vehicle dynamic cause some difficulties in path tracking problems. This paper proposes a path tracking control for autonomous vehicle. The controller consists of a relationship between lateral error, longitudinal velocity, the heading error and the reference yaw rate. In addition, the yaw rate controller developed based on the vehicle and tyre model. The effectiveness of the proposed controller is demonstrated by a simulation.
Analisis Penjejak Lintasan Mobile Robot dengan Pengendali Gerak Menggunakan Bluetooth Zulkarnain Zulkarnain; Ismail Thamrin; Astuti Astuti; Marwani Marwani; Ellyanie Ellyanie; Dimas Prayoga Pamungkas
Jurnal Rekayasa Mesin Vol. 21 No. 2 (2021): Jurnal Rekayasa Mesin
Publisher : Universitas Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.36706/jrm.v21i2.155

Abstract

This research was carried out aiming to see the temperature around the occurrence of natural disasters using temperature and humidity sensors that were used as robot eyes, and bluetooth sensors were used to control the robot car by connecting with android as a controller. The benefit of this research is to make it easier for the SAR team to search for victims of natural disasters and make time more efficient and reduce the risk of accidents for the SAR team. The research method used is qualitative with testing documentation techniques carried out and recording the data obtained. From the results of this study, it was found that the sensor used can see the ambient temperature and humidity and the bluetooth sensor control distance reaches 140 meters.
Dynamic Simulation on Tool in Turning Process Using Depth of Cut Variance Using Harmonic Response System Analysis of Ansys Agung Nugraha; Zulkarnain .
Journal of Mechanical Science and Engineering Vol 2, No 2 (2015): Journal of Mechanical Science and Engineering
Publisher : Universitas Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (256.989 KB)

Abstract

High Speed Steel (HSS) is one of the most used material for making lathe tool, because of its ability to work under high rotation and friction condition without losing its mechanical properties significantly. on turning process, careful decision of machining parameters that matched its tool material ability for turning. In Simulation process, machining parameters which will be used in it had been researched by Pramod, Kumar, et al., (2014) with adjustments. machining parameters are feed rate at 0.24 mm/rev, spindle rotation at 1500 rpm, and main cutting angle are orthogonal cutting angle at (90). In this simulation, the writer using depth of cut variance of 1 mm, 1.5 mm, and 2 mm. purposes of using these variacuts are to find frequency and amplitude had ccured on lathe tool with different depth of cut
Analysis of Residual Stress And Strain on The Formation of Workpiece Based Ansys 12.1 Sonny Prayogi; Zulkarnain .
Journal of Mechanical Science and Engineering Vol 2, No 2 (2015): Journal of Mechanical Science and Engineering
Publisher : Universitas Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (495.334 KB)

Abstract

Machining process to produce plastic deformation on the workpiece. Plastic deformation during the machining process are formed by friction against the cutting tools to workpieces generate furious. During the deformation process appearance residual stress on the surface which can affect the fatigue resistance, fracture strength, and corrosion. Failure in the component structure is not only due to external forces, residual stress is an important parameter in this case. The purpose of this study to analyze the residual stresses that occur on the workpiece from turning process. In the analysis performed using the Finite Element Method (FEM) with the software to obtain the desired results by entering input data including modeling of cutting tools and the workpiece. The result is a visual overview of the residual stress in the workpiece and areas of plastically deformed as a result of feeding from the cutting tools motion. 2D visual modeling using the software Ansys 12.1 with three comparison rake angle 50, 100.150 to determine the result of the residual stress on the surface of the workpiece.
PATH TRACKING FOR AN AUTONOMOUS VEHICLE DURING EMERGENCY CONDITION Zulkarnain Zulkarnain; Ismail Thamrin; Firmansyah Burlian; Indah Novianty
Indonesian Journal of Engineering and Science (IJES) Vol. 2 No. 2 (2021): Table of Contents
Publisher : Asosiasi Peneliti Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.51630/ijes.v2i2.18

Abstract

An autonomous vehicle's primary function is detecting and tracking the road course precisely and correctly without a driver's assistance. As a result, implementing appropriate controllers is critical for improving the vehicle's stability and movement responsiveness. The performance of adaptive Stanley controlled is evaluated in this paper using numerical simulations. The Stanley controller's most common geometric controller for vehicle path tracking algorithms is compared based on their trajectory tracking analyses on various vehicle speed maneuvers. Stanley calculates steering based on the difference between the vehicle's lateral position and heading angle. The difference between desired coordinates and present coordinates of the vehicle along the path is used to calculate lateral, longitudinal, and vehicle heading orientation angle using the future prediction control technique. The results demonstrate that the Stanley controller outperforms the emergency trajectory with more consistent trajectory tracking and steady-state error.
ASSESSMENT MATERIAL SELECTION FOR CHAIN - SUBMERGED SCRAPPER CONVEYOR Gunawan Gunawan; Amir Arifin; Irsyadi Yani; M. A. Ade Saputra; Barlin Oemar; Zulkarnain Ali Leman; Dendy Adanta; Akbar Teguh Prakoso
Indonesian Journal of Engineering and Science Vol. 4 No. 1 (2023): Table of Content
Publisher : Asosiasi Peneliti Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.51630/ijes.v4i1.92

Abstract

Chain–submerged scrapper conveyor bottom ash handling in the petrochemical industry has failed several times and was repaired with AISI 420, which can only operate for three months. AISI 420 is recommended in applications requiring moderate corrosion resistance, high hardness, excellent wear resistance, and good edge retention in cutting surfaces. The initial cracks and fractures occur in the pin-link joint hole, which causes chain failure. Some evaluation has been performed for both as-received and failed links. It can be concluded that chain link failure occurs due to fatigue failure with low-stress levels. Microstructure observation, XRD, and hardness properties showed no significant difference in both as-received and failed links. Since the operating conditions of the chain are in a corrosive environment, experiencing dynamic loading and working temperatures between 23 ºC and 60 ºC, the selection of HSL materials such as AISI 4140 should be considered.
Co-Authors Agung Nugraha Akbar Teguh Prakoso Amir Arifin Astuti Astuti Barlin Oemar Dendy Adanta Dimas Prayoga Pamungkas Ellyanie Ellyanie Firmansyah Burlian Gunawan Gunawan Hairi Zamzuri Indah Novianty Irsyadi Yani Ismail Thamrin M. A. Ade Saputra M. H. M. Ariff Marwani Marwani Sonny Prayogi Umar Zakir Abdul Hamid