MEV Journal of Mechatronics, Electrical Power, and Vehicular Technology e-ISSN 2088-6985 Accreditation Number: 432/Akred-LIPI/P2MI-LIPI/04/2012 p-ISSN 2087-3379 Journal of Mechatronics, Electrical Power, and Vehicular Technology Volume 05, Issue 1, July 2014 AIM AND SCOPE Mechatronics, Electrical Power, and Vehicular Technology (MEV) is an internationally peer-reviewed journal providing authoritative source of scientific information for researchers and engineers in academia, research institutions, government agencies, and industries. The Journal publishes original research papers, review articles and case studies focused on: Mechatronics: including control system, robotic, CNC Machine, sensor, signal processing, electronics, actuator, and mechanical dynamics. Electrical Power: including power generation, transmission system, new and renewable energy, tubine and generator design and analysis, grid system, and source assessment. Vehicular Technology: including electric/hybrid vehicle design and analysis, vehicle on grid, fuel efficiency, and safety analysis. Selected Applications: including all implementations or implications related to mechatronics, electrical power, or vehicular technology. MEV Journal vision is to become international platform with high scientific contribution for global community. MEV journal mission is presenting important results of work, whether in the form of research, development, application, or design. EDITOR-IN-CHIEF Prof. Dr. Estiko Rijanto Indonesian Institute of Sciences (LIPI) Komp LIPI Jl Sangkuriang, Blg 20, 2 nd Fl, Bandung 40135, INDONESIA estiko.rijanto@lipi.go.id INTERNATIONAL EDITORIAL BOARD Prof. Rosli bin Abu Bakar Faculty of Mechanical Engineering, Universiti Malaysia Pahang 26600 Pekan, Pahang, MALAYSIA rosli@ump.edu.my Prof. Ir. Jamasri, Ph.D. Department of Mechanical and Industrial Engineering, Gadjah Mada University, Jl. Grafika No. 2, Yogyakarta, 55281, INDONESIA jamasri_tmugm@yahoo.com Prof. István Patkó Óbuda University, Budapest, 6. Doberdó str., Budapest H- 1034, HUNGARY patko@uni-obuda.hu Prof. Dr. Ir. Zainal Abidin Mechanical and Aerospace Engineering, Institut Teknologi Bandung Jl. Ganesha No. 10, Bandung 40135, INDONESIA za@dynamic.pauir.itb.ac.id Prof. Dr. Tagawa Yasutaka Tokyo University of Agriculture and Technology Naka-machi 2 - 24 – 16, Koganei - shi, Tokyo, 184 – 8588, JAPAN tagawa@cc.tuat.ac.jp Prof. Muhammad Nizam, S.T, M.T, Ph.D. Department of Mechanical Engineering, Universitas Sebelas Maret Surakarta Jl. Ir. Sutami 36 A, Surakarta, 57126, INDONESIA nizam_kh@ieee.org Prof. Taufik Director of Electric Power Institute, California Polytechnique San Luis Obispo, CA 93407, UNITED STATES taufik@calpoly.edu Prof. Tapan Kumar Saha Electrical Engineering, The University of Queensland, St. Lucia, Qld-4072, AUSTRALIA tksaha@ieee.org Prof. Dr. Bambang Riyanto School of Electrical Engineering and Informatics, Bandung Institute of Technology, Jl. Ganesha No. 10, Bandung 40135, INDONESIA briyanto@lskk.ee.itb.ac.id Dr. Larissa Lorenz Bauhaus Luftfahrt e.V, Lyonel-Feininger-Str. 28, 80807 Munchen, GERMANY larissa.lorenz@bauhaus- luftfahrt.net Dr. Si Steve Li Electromechanical system development, General Electric Global Research Centre, 610 London Square Drive, Clifton Park, NY12065, UNITED STATES si.li@ge.com George Anwar, Ph.D. University of California, 101 Sproul Hall, Berkeley, CA 94704, UNITED STATES ganwar@integratedmotions.com Dr.Eng. Budi Prawara Research Centre for Electrical Power and Mechatronics – LIPI Komp LIPI Bandung, Blg 20, 2 nd Fl, Bandung 40135, NDONESIA budi.prawara@lipi.go.id mailto:patko@uni-obuda.hu Journal of Mechatronics, Electrical Power, and Vehicular Technology e-ISSN 2088-6985 Accreditation Number: 432/Akred-LIPI/P2MI-LIPI/04/2012 p-ISSN 2087-3379 Journal of Mechatronics, Electrical Power, and Vehicular Technology Volume 05, Issue 1, July 2014 IMPRINT Journal of Mechatronics, Electrical Power, and Vehicular Technology (MEV) is published by Research Centre for Electrical Power and Mechatronics - Indonesian Institute of Sciences (RCEPM-LIPI). MEV Journal is managed to be issued twice in every volume. ISSN print edition: 2087-3379 ISSN electronics edition: 2088-6985 Electronics edition is available at: www.mevjournal.com ACCREDITATION Accreditation Number: 432/Akred-LIPI/P2MI-LIPI/04/2012 MEV has been certificated as a National Scientific Journal by Indonesian Institute of Sciences (LIPI) by 24 April 2012. Valid thru: 24 April 2015 INDEXING & ABSTRACTING Indexed in EBSCOhost, Index Copernicus, Directory of Open Access Journal (DOAJ), Google Scholar, Indonesian Scientific Journal Database (ISJD), Indonesian Publication Index (IPI), Crossref, Mendeley, CiteULike, Cite Factor, Academic Journal Database, and ResearchBib. POSTAL ADDRESS Research Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences (RCEPM - LIPI) Komp LIPI Jl. Sangkuriang, Building 20, 2 nd Floor Bandung, West Java, 40135 INDONESIA Telp: +62-022-2503055 (ext. 215) Telp: +62-022-2504770 (ext. 203) Fax: +62-22-2504773 e-mail: sekretariat@mevjournal.com Business hour: Monday to Friday 08:00 to 16:00 GMT+7 MANAGING EDITORS Aam Muharam, M.T. Electrical Engineering aam.muharam@lipi.go.id Dadan R Saleh, M.T. Informatics Engineering dadan.rs@gmail.com Tinton D Atmaja, M.T. Informatic Systems and Electrical Engineering tinton_dwi@yahoo.com LAYOUT EDITORS Arief A Firdaus, S.I.Kom. Communication Science rif212@yahoo.com Bambang Wahono, M.Eng. Mechanical Engineering bambangwahono80@yahoo.co.id Midriem Mirdanies, M.T. Computer Engineering midr001@lipi.go.id SECRETARIAT Andri J Purwanto, S.T. Mechanical Engineering ajp_jun@yahoo.com Merry I Devi, S.T. Industrial Engineering merry_devi@yahoo.com Vita Susanti, S.Kom. Computer Science vitasusanti@gmail.com WEB ADMIN Dadan R Saleh, M.T. Informatics Engineering dadan.rs@gmail.com SECTION EDITORS Amin, M.T. Electrical Engineering amin_hwi@yahoo.co.id Arini Wresta, M.Eng. Chemical Engineering awresta@gmail.com Dian Andriani, M.Eng. Bioenergy Engineering dea1401@yahoo.com Ghalya Pikra, M.T. Mechanical Engineering ghalya30@gmail.com Hendri M Saputra, M.T. Robotics and Mechatronics hendri_maja@yahoo.co.id Naili Huda, M.Eng.Sc. Industrial Engineering vedderforeva@yahoo.com Nur Rohmah, M.T. Chemical Engineering rohmah.nur@gmail.com Rakhmad I Pramana, M.T. Mechanical and Material Engineering rakhmad.indra@yahoo.com Yanuandri Putrasari, M.Eng. Mechanical Engineering yanuandri.putrasari@lipi.go.id GRAPHIC DESIGNER M Redho Kurnia, S.Sn. Graphic Design muha058@lipi.go.id http://www.mevjournal.com/ mailto:sekretariat@mevjournal.com Journal of Mechatronics, Electrical Power, and Vehicular Technology e-ISSN 2088-6985 Accreditation Number: 432/Akred-LIPI/P2MI-LIPI/04/2012 p-ISSN 2087-3379 © 2014 RCEPM-LIPI. All rights reserved. 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Notice No responsibility is assumed by the Publisher for any injury and/or damage to persons or property as a matter of products liability, negligence or otherwise, or from any use or operation of any methods, products, instructions or ideas contained in the material herein. Although all advertising material is expected to conform to ethical (medical) standards, inclusion in this publication does not constitute a guarantee or endorsement of the quality or value of such product or of the claims made of it by its manufacturer. Journal of Mechatronics, Electrical Power, and Vehicular Technology e-ISSN 2088-6985 Accreditation Number: 432/Akred-LIPI/P2MI-LIPI/04/2012 p-ISSN 2087-3379 i Journal of Mechatronics, Electrical Power, and Vehicular Technology Volume 05, Issue 1, July 2014 FOREWORD FROM EDITOR-IN-CHIEF Journal of Mechatronics, Electrical Power, and Vehicular Technology (MEV) has been accreditated by the Indonesian Institute of Sciences (LIPI) in April 2012. It started using Open Journal System (OJS) since the online publishing of the third volume released in July 2012. This journal has been indexed by EBSCOhost, Index Copernicus, Directory of Open Access Journal (DOAJ), Google Scholar, Indonesian Scientific Journal Database (ISJD), Indonesian Publication Index (IPI), Crossref, Mendeley, CiteULike, Cite Factor, Academic Journal Database, and ResearchBib. In addition, it has been granted Digital Object Identifier with the DOI Prefix 10.14203. This issue publishes eight papers, all are written in English, with the total number of paper pages of 66 pages. The selected papers in this issue have passed some levels of reviews and revisions based on the standard operating procedure of the journal. Three topics are related to mechatronics, three topics to electrical power and two topics to vehicular technology. Most of the papers reflect one of the characteristics of this journal i.e. interdisciplinary. The policy up to this current issue is that both authors and readers are not charged at all. On the other hand, the editorial board is planning to improve the quality by registering the journal to other international academic citation index. Moreover, the editorial board is also considering to gradually increase the number of papers and journal’s pages. All of this plan will give consequence on financial burden. Therefore, from the next issue,financial policy will probably change based on that condition. We wish to offer our thanks to all the editorial members and the Research Centre for Electrical Power and Mechatronics (RC-EPM) – Indonesian Institute of Sciences (LIPI) for their continuing unwavering support. Also, we would like to acknowledge our gratitude to this issue’s International Editorial Board members, reviewers and authors. We hope this publication would contribute to the enhancement of science and technology. Bandung, July 2014 Editor-in-Chief Journal of Mechatronics, Electrical Power, and Vehicular Technology e-ISSN 2088-6985 Accreditation Number: 432/Akred-LIPI/P2MI-LIPI/04/2012 p-ISSN 2087-3379 ii Journal of Mechatronics, Electrical Power, and Vehicular Technology Volume 05, Issue 1, July 2014 LIST OF CONTENTS Rotor-Dynamic Characteristic Evaluation of Interior Permanent Magnet Motor using Finite Element Method Hilman Syaeful Alam, Pudji Irasari 1-8 Experimental Investigation of 2nd Generation Bioethanol Derived from Empty-Fruit-Bunch (EFB) of Oil-Palmon Performance and Exhaust Emission of SI Engine Yanuandri Putrasari, Haznan Abimanyu, Achmad Praptijanto, Arifin Nur, Yan Irawan, Sabar Pangihutan Simanungkalit 9-16 Design and Implementation of a Magnetic Levitation System Controller using Global Sliding Mode Control Rudi Uswarman, Adha Iman Cahyadi, Oyas Wahyunggoro 17-26 A Trajectory Generation Method Based on Edge Detection for Auto-Sealant Cartesian Robot Eka Samsul Maarif, Endra Pitowarno, Rusminto Tjatur Widodo 27-36 Distributed Control System Design for Low Cost PC Base CNC Machine Roni Permana Saputra, Tinton Dwi Atmaja, Budi Prawara 37-44 CFD and Wind Tunnel Analysis for Mounted-Wind Turbine in a Tall Building for Power Generation Dany Perwita Sari, Kang-Pyo Cho 45-50 Techno-Economic Analysis of Biogas Utilization as an Alternative Fuel Merry Indahsari Devi, Kristian Ismail, Arifin Nur 51-58 The Influence of Injection Timing on Performance Characteristics of Diesel Engine Using Jatropha Biodiesel With and Without Partial Hydrogenation Rizqon Fajar, Hari Setiapraja 59-66 Further articles can be found at www.mevjournal.com http://www.mevjournal.com/ Journal of Mechatronics, Electrical Power, and Vehicular Technology e-ISSN 2088-6985 Accreditation Number: 432/Akred-LIPI/P2MI-LIPI/04/2012 p-ISSN 2087-3379 iii Journal of Mechatronics, Electrical Power, and Vehicular Technology Volume 05, Issue 1, July 2014 ABSTRACTS SHEET e-ISSN: 2088-6985 Date of issues: 23 July 2014 p-ISSN: 2087-3379 The descriptions given are free terms. This abstracst sheet may be reproduced without permission or change. Hilman Syaeful Alam a , Pudji Irasari b ( a Technical Implementation Unit for Instrumentation Development, Indonesian Institute of Sciences, Bandung, Indonesia; b Research Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences, Bandung, Indonesia) Rotor-dynamic Characteristic Evaluation of Interior Permanent Magnet Motor using Finite Element Method Mechatronics, Electrical Power, and Vehicular Technology, July 2014, vol. 5, no. 1, p. 1-8, 9 ill, 1 tab, 17 ref. Dynamic characteristics of a critical speed of the rotor components at interior permanent magnet motor were evaluated using one- dimensional (1D) and three-dimensional (3D) finite element methods. Critical speed of the rotor wasinvestigated in the Campbell diagram, which shows the relationship between natural frequency and rotational velocity of the system when the motor is not in operation. The 1D finite element analysis shows that there are two modes which are close to the design frequency of 300 Hz i.e. mode 1 and 2. However the critical rotational velocity in both modes are still far above the maximum velocity design of 6,000 rpm. Validation using 3D finite element analysis demonstrated that all modes werestill above the designed frequency and did not find any critical speed below 6,000 rpm. It can be concluded that the critical speed of the rotor of IPM motor is still outside the system resonance region, and canbe operated safely. (Author) Keywords: natural frequency, Campbell diagram, interior permanent magnet motor, finite element method. Yanuandri Putrasari a , Haznan Abimanyu b , Achmad Praptijanto a , Arifin Nur a , Yan Irawan b , Sabar Pangihutan Simanungkalit b ( a Research Centre for Electrical Power & Mechatronics, Indonesian Institute of Sciences, Bandung, Indonesia; b Research Center for Chemistry, Indonesian Institute of Sciences, Serpong, Indonesia) Experimental Investigation of 2 nd Generation Bioethanol Derived from Empty-Fruit-Bunch (EFB)of Oil-Palmon Performance and Exhaust Emission of SI Engine Mechatronics, Electrical Power, and Vehicular Technology, July 2014, vol. 5, no. 1, p. 9-16, 6 ill, 2 tab, 41 ref. The experimental investigation of2nd generation bioethanol derived from EFB of oil-palm blended with gasoline for 10, 20, 25% by volume and pure gasoline were conducted on performance and exhaust emission tests of SI engine. A four stroke, four cylinders, programmed fuel injection (PGMFI), 16 valves variable valve timing and electronic lift control (VTEC), single overhead camshaft (SOHC), and 1,497 cm3 SI engine (Honda/L15A) was used in this investigation. Engine performance test was carried out for brake torque, power, and fuel consumption. The exhaust emission was analyzed for carbon monoxide (CO) and hydrocarbon (HC). The engine was operated on speed range from 1,500 until 4,500 rev/min with 85% throttle opening position. The results showed that the highest brake torque of bioethanol blends achieved by 10% bioethanol content at 3,000 to 4,500 rpm, the brake power was greater than pure gasoline at 3,500 to 4,500 rpm for 10%bioethanol, and bioethanol-gasoline blends of 10 and 20% resulted greater bsfc than pure gasoline at low speed from 1,500 to 3,500 rpm. The trend of CO and HC emissions tended to decrease when the engine speed increased. (Author) Keywords: bioethanol, SI engine, performance, emission. Rudi Uswarman a , Adha Imam Cahyadi a , Oyas Wahyunggoro a ( a Department of Electrical Engineering and Information Technology, Universitas Gadjah Mada, Yogyakarta, Indonesia) Design and Implementation of a Magnetic Levitation System Controller using Global Sliding Mode Control Mechatronics, Electrical Power, and Vehicular Technology, July 2014, vol. 5, no. 1, p. 17-26, 19 ill, 0 tab, 14 ref. This paper presents global sliding mode control and conventional sliding mode control for stabilization position of a levitation object. Sliding mode control will be robusting when in sliding mode condition. However, it is not necessarily robust at attaining phase. In the global sliding mode control, the attaining motion phase was eliminated, so that the robustness of the controller can be improved. However, the value of the parameter uncertainties needs to be limited. Besides that, the common problem in sliding mode control is high chattering phenomenon. If the chattering is too large, it can make the system unstable due the limited ability of electronics component. The strategy to overcome the chattering phenomenon is needed. Based on simulation and experimental results, the global sliding mode control has better performance than conventional sliding mode control. (Author) Keywords: Magnetic levitation system, global sliding mode control, conventional sliding mode control, chattering. Eka Samsul Ma’arif a,b , Endra Pitowarno a , Rusminto Tjatur W a ( a Electronic Engineering Polytechnic Institute of Surabaya, Indonesia; b Astra Manufacturing Polytechnic, North Jakarta, Indonesia) A Trajectory Generation Method Based on Edge Detection for Auto-Sealant Cartesian Robot Mechatronics, Electrical Power, and Vehicular Technology, July 2014, vol. 5, no. 1, p. 27-36, 19 ill, 5 tab, 17 ref Journal of Mechatronics, Electrical Power, and Vehicular Technology e-ISSN 2088-6985 Accreditation Number: 432/Akred-LIPI/P2MI-LIPI/04/2012 p-ISSN 2087-3379 iv This paper presents algorithm ingenerating trajectory for sealant process using captured image. Cartesian robot as auto-sealant in manufacturing process has increased productivity, reduces human error and saves time. But, different sealant path in many engine models means not only different trajectory but also different program. Therefore robot with detection ability to generate its own trajectory is needed. This paper describes best lighting technique in capturing image and applies edge detection in trajectory generation as the solution. The algorithm comprises image capturing, Canny edge detection, integral projection in localizing outer most edge, scanning coordinates, and generating vector direction codes. The experiment results show that the best technique is diffuse lighting at 10 Cd. The developed method gives connected point to point trajectory which forms sealant path with a point to next point distance is equal to 90° motor rotation. Directional movement for point to point trajectory is controlled by generated codes which are ready to be sent by serial communication to robot controller as instruction for motors which actuate axes X and Y directions. (Author) Keywords: canny edge detection, integral projection, scanning the coordinate, vector direction code. Roni Permana Saputra a,b , Tinton Dwi Atmaja a , Budi Prawara a ( a Research Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences, Bandung, Indonesia; b School of Mechanical and Manufacturing Engineering, The University of New South Wales, Australia) Distributed Control System Design for Portable PC Based CNC Machine Mechatronics, Electrical Power, and Vehicular Technology, July 2014, vol. 5, no. 1, p. 37-44, 13 ill, 1 tab, 21 ref. The demand on automated machining has been increased and emerges improvement research to achieve many goals such as portability, low cost manufacturability, interoperability, and simplicity in machine usage. These improvements are conducted without ignoring the performance analysis and usability evaluation. This research has designed a distributed control system in purpose to control a portable CNC machine. The design consists of main processing unit, secondary processing unit, motor control, and motor driver. A preliminary simulation has been conducted for performance analysis including linear accuracy and circular accuracy. The results achieved in the simulation provide linear accuracy up to 2 μm with total cost for the whole processing unit is up to 5 million IDR. (Author) Keywords: Distributed control, portable CNC machine, linear interpolation, circular interpolation. Dany Perwita Sari a , Kang-Pyo Cho b ( a Research Center for Biomaterials, Indonesian Institute of Sciences, Cibinong, Indonesia; b CKP Wind Solutions, Gimje Si, South Korea) CFD and Wind Tunnel Analysis for Mounted-Wind Turbine in A Tall Building for Power Generation Mechatronics, Electrical Power, and Vehicular Technology, July 2014, vol. 5, no. 1, p. 45-50, 5 ill, 1 tab, 13 ref. A mounted wind turbine on the top of a tall building may provide high wind power in regions of high wind speed and low turbulence. The objective of this study is to evaluate wind speed on roof top models to optimize the wind turbine performance for power generation. Comparative analyses from three different roof top models were conducted. Computational Fluid Dynamics (CFD) simulation and wind tunnel testing were performed to evaluate the performance of wind turbine. Wind speed on the building model with a geometric scale of 1:150 was measured in CFD simulation then it was validated in wind tunnel test. Results presented in this paper suggest that an increase of wind speed could be achieved with ¼ circular shapes around the rooftop which can provide additional wind speed of 55.24%, respectively. (Author) Keywords: wind speed, roof shape, CFD, wind tunnel, tall building. Merry Indahsari Devi a , Kristian Ismail a , Arifin Nur a ( a Research Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences, Indonesia) Techno-Economic Analysis of Biogas Utilization as an Alternative Fuel Mechatronics, Electrical Power, and Vehicular Technology, July 2014, vol. 5, no. 1, p. 51-58, 2 ill, 12 tab, 16 ref. This paper will discuss the feasibility and economic analysis of biogas energy as a supply for the diesel engine generator. The techno-economic analysis was performed by using three parameters which are Net Present Value (NPV), Internal Rate of Return (IRR), and Payback Period (PP) as the feasibility indicators of the biogas power plant project. Calculation of substitution was obtained from the comparison between data of diesel engine using diesel fuel and dual-fuel with biogas. Economic calculations include the substitution percentage of diesel fuel by biogas for dual-fuel. Meanwhile, the calculation of savings was based on the ratio of energy content between diesel fuel and biogas. The eventual outcome is determined using economic comparison between the use of diesel fuel and dual-fuel mode. Feasibility shows that the pilot plant of 1 to 6 kWh using diesel fuel and dual-fuel are not feasible while techno-economic parameter analysis shows that NPV<0, IRR