Judul: Deteksi Rintangan Mengggunakan Kamera CCD untuk Aplikasi pada Traktor Tanpa Awak
Abstrak: Obstacle detection is designed as a guidance for unmanned tractor to knowing the distance of obstacle in front of the tractor. The purpose of this research is to develop vision system that will be used as the guidance for unmanned tractor. CCD camera to acquire image of scene in front of tractor was placed at a tripod with height 1 meter. The position of camera is bow with 50. The image of track for tractor is captured and image was recorded in 640 x 480 pixel resolution. Six red laser pointer were added surrounding CCD camera to get obstacle image. The images were captured from 1, 2, 3, 4 and 5 meter until CCD camera cannot capture the reflection of red laser. There are some factors that effected this research: solar intensity, red laser pointer and CCD camera lens focus. The captured image were processed by image processing program for obstacle detection. The result of image processing program for obstacle detection is a prediction of an obstacle distance in front of the tractor with success rate of 100 % for 1 meter, 80 % for 2 meter, 40 % for 3 meter, 0 % for 4 meter and 5 meter, and the accuracy rate of 68 %. When the solar intensity is high, image processing of obstacle detection could not detect the obstacle from more than 3 meter.
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Judul: Pengembangan Program Pengolahan Citra Real-time untuk Deteksi Rintangan pada Traktor Tanpa Awak
Abstrak: Obstacle detection sensor is an important task for development of autonomous vehicles in recognizing its environment. An examination of various research studies on autonomous vehicles/robots shows that there are only five to six different types of effective obstacle detection sensors. These sensors ranged in price from inexpensive to very expensive. Each of them has their own unique advantages and disadvantages for different applications. If a sensor can be effectively used to create accurate maps for the vehicle environment then applying of such sensor on detection of obstacles in farming environment would be possible. The sensors were consisted of CCD camera, Ultrasonic sensors, Scanning laser, 3D Scanning lasers, and Millimeter wave radar. The purpose of this research was to develop the algorithm of real-time image processing that will be used as obstacles avoidance for unmanned tractor. The equipments in this research were divided into two catagories, including hardware and software platforms. The hardware consisted of Yanmar Tractor EF453T types, Acer Aspire 2930 with Express card slot, CCD camera, cctv lens, express card d/34 to fire wire IEEE 1394A Adapter, fire wire cable, tripleks wood, red pointer laser<5mW, LM 7805, resistor 82 ohm, capacitor 100 μF, luxmeter, and akrilik. While the software consisted of Visual C#, Sharp Develop 3.2 version, and Paint Shop Pro 6 version. The procedure used in present study consisted of the following steps, such as identifying a problem through observation, designing a system for obstacle detection system of unmanned tractor, fabrication of obstacle detection system, capturing the RGB (Red, Green, Blue) values in both static, and dynamic conditions, testing the calibration and validation of optical camera, functional testing, testing the static and real-time performances on unmanned tractor. Image processing techniques such as threshold, erotion, and dilation has achieved successfully to get perfect binary image. The white drop in binary image was then used to detect potential obstacle. Our system is capable to recognize an obstacle in tractor path so that it could give a motion command such as advance, turn left, turn right, or stop. For instance, if the tractor detects the obstacle at less than 7 m then the system would give the command to turn left if the obstacle located in right tractor path. In contrast, it would command to turn right if the obstacle position located in the left tractor path. In case of the obstacle is located at throughout the tractor path, the system would give a command to stop. However, if there is an obstacle in the path tractor, but its range is more than 7 m, the system would give the tractor command to advance. The speed of the vehicle in outdoor application of real-time obstacle avoidance system 0.5 m/s and required 1.3 second for one data processing. This system worked perfectly in 500-200 lux (06.15-08.00 am in normal condition). This system can read the range of obstacle with an accurate up to 81.6% for obstacle in range 2 m, 77.1% in 3 m, 71.5% in 4 m, 69.5% in 5 m, 68% in 6 m, and 48.4% in 7 m. The more obstacle
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Judul: Pengaruh Lama Periode Start Up pada Proses Pembuatan Surfaktan Methyl Ester Sulfonate (MES) dari Metil Ester Stearin
Abstrak: Methyl ester sulfonates (MES) is product that synthesized by continuous sulfonation of fatty acid methyl ester (FAME) using SO3 as reactant in a single tube falling-film reactor. MES is an anionic surfactant that has been widely used in detergent and other cleaning and washing products. MES has several outstanding surfactant properties: excellent resistance to water hardness and excellent detergency for carbon chains C14 to C18. Palm stearin methyl ester is a potential material as MES feedstock in Indonesia as the country with the largest palm oil producer in the world. Palm stearin is renewable, biodegradable and rich of C16 and C18 fatty acids which have good detergency and tolerant to Ca ion. The study was aimed to obtain information on the effect of start up period during sulfonation of palm stearin ME and aging process to the physicochemical properties of MESA produced and to determine steady state condition during continous sulfonation of palm stearin ME on the best start up period. The results of this study indicated that MESA and MES produced in 5 hours period of start up without aging has a better physicochemical properties compared with other treatments. MESA resulted from the sulfonation in 5 hours period of start up without aging has an average pH of 1, 13.58 mg NaOH/g acid number, viscosity of 29.63 cP, density of 0.9621 g/cm3, iodine number of 9.81 mg I/g, 12.02 % active ingredient content and surface tension of 32.15 dyne/cm. MES produced from the sulfonation in 5 hours period of start up without aging has average pH of 7, acid number of 1.75 mg NaOH /g, density of 0.9652 g/cm3, iodine number of 12.38 mg I/g, 12.36 % active ingredient content and surface tension of 32.53 dyne/cm.
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