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 2, December 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, turbine 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, 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, Bld 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, Bld 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 2, December 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 Electronic edition is available at: www.mevjournal.com ACCREDITATION Accreditation Number: 432/Akred-LIPI/P2MI-LIPI/04/2012 MEV has been certified as a National Scientific Journal by Indonesian Institute of Sciences (LIPI) on 24 April 2012. Valid until: 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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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 2, December 2014 FOREWORD FROM EDITOR-IN-CHIEF Journal of Mechatronics, Electrical Power, and Vehicular Technology (MEV) has been indexed by Google Scholar, EBSCOhost, Index Copernicus, Directory of Open Access Journal (DOAJ), Indonesian Scientific Journal Database (ISJD), Indonesian Publication Index (IPI)/Portal Garuda, Crossref, Mendeley, CiteULike, Academic Journal Database, ResearchBib and Cite Factor. In addition, it has been granted Digital Object Identifier with the DOI Prefix 10.14203. In near future we are planning to be indexed by SCOPUS. This issue publishes nine papers with the total number of paper pages of 72 pages. The selected papers in this issue have passed some levels of reviews and revisions based on the standard operating procedure of the journal. Five topics are related to mechatronics, one topic to electrical power and three topics to vehicular technology. The authors came from USA, Vietnam, Pakistan, Jordan, Philippines and Indonesia. 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 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, December 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 2, December 2014 LIST OF CONTENTS Proportional Derivative Active Force Control for “X” Configuration Quadcopter Ni’am Tamami, Endra Pitowarno, I Gede Puja Astawa 67-74 Design of Vibration Absorber using Spring and Rubber for Armored Vehicle 5.56 mm Caliber Rifle Aditya Sukma Nugraha, Bagus Budiwantoro, Estiko Rijanto 75-82 Evaluation of Potential Usage of Incremental-Type Rotary Encoder Application for Angle Sensing in Steering System Sunarto Kaleg, Aam Muharam, Muhammad Redho Kurnia, Abdul Hapid 83-90 Learning Efficiency of Consciousness System for Robot using Artificial Neural Network Osama Shoubaky, Tala M. Sharari 91-98 Adhesion Detection Analysis by Modeling Rail Wheel Set Dynamics under the Assumption of Constant Creep Coefficient Zulfiqar Ali Soomro 99-106 Design and Development of RC Railed Robot for Coffee Nursery Logistics Marivic G. Dizon, Carlo T. Sevillano, Mark Anthony T. Cabaluna 107-114 Comparison of Unmodulated Current Control Characteristics of Permanent Magnet Synchronous Motor Anwar Muqorobin, Pudji Irasari, Taufik 115-122 Braking System Modeling and Brake Temperature Response to Repeated Cycle Zaini Dalimus 123-128 An Experiment of Ocular Artifacts Elimination from EEG Signals using ICA and PCA Methods Arjon Turnip, Iwan R. Setiawan, Edy Junaidi, Le Hoa Nguyen 129-138 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 2, December 2014 ABSTRACTS SHEET e-ISSN: 2088-6985 Date of issues: 24 December 2014 p-ISSN: 2087-3379 The descriptions given are free terms. This abstracst sheet may be reproduced without permission or change. Ni’am Tamami, Endra Pitowarno, I Gede Puja Astawa (Electronics Engineering Polytechnic Institute of Surabaya, Surabaya, Indonesia) Proportional Derivative Active Force Control for “X” Configuration Quadcopter Mechatronics, Electrical Power, and Vehicular Technology, December 2014, vol. 5, no. 2, p. 67-74, 10 ill, 2 tab, 16 ref. This paper presents a stabilization control method for “x” configuration quadcopter using PDAFC (Proportional Derivative Active Force Control). PD is used to stabilize quadcopter, whereas AFC is used to reject disturbance uncertainty (e.g. wind) by estimating disturbance torque value of quadcopter. Simulation result shows that PDAFC is better than PD and AFC can minimize disturbance uncertainly effect. The sensitivity toward disturbance uncertainly can be set from sensitivity constant to get best performance of disturbance rejection. Constant disturbance simulation result shows that the best sensitivity constant ( ) is 0.15, the quadcopter maximum error is 0.125 radian and can stable in 5 seconds. Fluctuated disturbance simulation result shows that PDAFC with 0.18 sensitivity constant gives lowest RMS error value, there are 0.074 radian for sine disturbance, 0.055 radian for sawtooth disturbance, and 0.092 radian for square pulse disturbance. (Author) Keywords: “x” configuration quadcopter, PD, AFC. Aditya Sukma Nugraha a , Bagus Budiwantoro b , Estiko Rijanto a ( a Research Center for Electrical Power and Mechatronics, Indonesian Institute of Sciences, Bandung, Indonesia; b Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Indonesia) Design of Vibration Absorber using Spring and Rubber for Armored Vehicle 5.56 mm Caliber Rifle Mechatronics, Electrical Power, and Vehicular Technology, December 2014, vol. 5, no. 2, p. 75-82, 12 ill, 4 tab, 21 ref. This paper presents a design of vibration absorber using spring and rubber for 5.56 mm caliber rifle armored vehicle. Such a rifle is used in a Remote-Controlled Weapon System (RCWS) or a turret where it is fixed using a two degree of freedom pan-tilt mechanism. A half car lumped mass dynamic model of armored vehicles was derived. Numerical simulation was conducted using fourth order Runge Kutta method. Various types of vibration absorbers using spring and rubber with different configurations are installed in the elevation element. Vibration effects on horizontal direction, vertical direction and angular deviation of the elevation element was investigated. Three modes of fire were applied i.e. single fire, semi- automatic fire and automatic fire. From simulation results, it was concluded that the parallel configuration of damping rubber type 3, which has stiffness of 980,356.04 (N/m 2 ) and damping coefficient of 107.37 (N.s/m), and Carbon steel spring whose stiffness coefficient is 5.547 x 106 (N/m 2 ) provides the best vibration absorption. (Author) Keywords: vibration absorber, spring, rubber, armored vehicle, rifle. Sunarto Kaleg, Aam Muharam, Muhammad Redho Kurnia, Abdul Hapid (Research Center for Electrical Power and Mechatronics, Indonesian Institute of Sciences, Bandung, Indonesia) Evaluation of Potential Usage of Incremental-Type Rotary Encoder Application for Angle Sensing in Steering System Mechatronics, Electrical Power, and Vehicular Technology, December 2014, vol. 5, no. 2, p. 83-90, 13 ill, 0 tab, 15 ref. The main target of a steering system isthat the driver can change vehicle trajectory in accordance with the desired direction. Power steering has become a standard feature in automobile. It provides assisting power when the driver turns the steering wheel. The well- knownpower steering types include; Hydraulic Power Steering (HPS), Electro - Hydraulic Power Steering (EHPS), and Electric Power Steering (EPS). EHPS or EPS uses an Electronic Control Unit (ECU), which is specific for each vehicle. The ECU should be able to regulate power of electric motor to provide corresponding assisting power for the steering wheel. Therefore, ECU requires input signals, one of which is vehicle wheel angle that can be indicated from the vehicle steering wheel angle. Incremental type of Rotary Encoder (RE) is used in steering angle sensor on a minibus. RE specification used was 60 pulses per rotation and the minibus steering transmission specification is 3.5 round of right wheel off angle to the left wheel off angle. So we get the RE angular resolution of 6º per pulse and 105 number of pulses to half of the steering transmission ratio. Repeatability then tested against a steering angle counter module. Testing is donewith a test cycle consisting 3 repetitions: condition center of the steering wheel, the steering wheel is turned to full right, then to the full left, then back to the right up to the steering wheel center. The results obtained was 2 pulses deviation, or equivalent to 12º of steering angle. (Author) Keywords: vehicle steering system, rotary encoder, incremental, steering wheel angle, repeatability. Osama Shoubaky a , Tala M. Sharari b ( a Computer and Intelligent SystemsCenter, Jordan; b Institute of Engineering &Technology, Department of Electrical Engineering, Control Laboratory and 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 Automation, Jordan) Learning Efficiency of Consciousness System for Robot using Artificial Neural Network Mechatronics, Electrical Power, and Vehicular Technology, December 2014, vol. 4, no. 2, p. 91-98, 9 ill, 4 tab, 18 ref. This paper presents learning efficiency of a consciousness system for robot using artificial neural network. The proposed conscious system consists of reason system, feeling system and association system. The three systems are modeled using Module of Nerves for Advanced Dynamics (ModNAD). Artificial neural network of the type of supervised learning with the back propagation is used to train the ModNAD. The reason system imitates behaviour and represents self-condition and other-condition. The feeling system represents sensation and emotion. The association system represents behaviour of self and determines whether self is comfortable or not. A robot is asked to perform cognition and tasks using the consciousness system. Learning converges to about 0.01 within about 900 orders for imitation, pain, solitude and the association modules. It converges to about 0.01 within about 400 orders for the comfort and discomfort modules. It can be concluded that learning in the ModNAD completed after a relatively small number of times because the learning efficiency of the ModNAD artificial neural network is good. The results also show that each ModNAD has a function to imitate and cognize emotion. The consciousness system presented in this paper may be considered as a fundamental step for developing a robot having consciousness and feelings similar to humans. (Author) Keywords: consciousness, robot, artificial neural network. Zulfiqar Ali Soomro (Directorate of Post-graduate Studies, Mehran University of Engg &Tech Jamshoro (Sindh), Pakistan) Adhesion Detection Analysis by Modeling Rail Wheel Set Dynamics under the Assumption of Constant Creep Coefficient Mechatronics, Electrical Power, and Vehicular Technology, December 2014, vol. 4, no. 2, p. 99-106, 5 ill, 0 tab, 21 ref. Adhesion level controlplays significant role in order to keep smooth running of a train. To design a proper adhesion controller, adhesion dynamics needs to be analyzed. In this paper adhesion is analyzed by modeling rail wheel set dynamics under the assumption of constant creep coefficient. Equations of creepage and creep forces were derived in longitudinal, lateral and angular directions. Numerical simulation was conducted under assumption of constant creep coefficient. The creep coefficient was obtained by applying Coulomb’s law of friction. From the simulation results it can be concluded that adhesion level for suitable dynamic model determination depends on assumption of creep analysis to avoid slip or derailment of rail wheelset. (Author) Keywords: adhesion, rail wheel set, creep coefficient, longitudinal, lateral. Marivic G. Dizon, Carlo T. Sevillano, Mark Anthony T. Cabaluna (Cavite State University, Indang, Cavite, Philippines) Design and Development of RC Railed Robot for Coffee Nursery Logistics Mechatronics, Electrical Power, and Vehicular Technology, December 2014, vol. 4, no. 2, p. 107-114, 10 ill, 5 tab, 12 ref. The Remote Controlled (RC) Railed Robot was designed and developed to transfer polybags from manual operation to an automated logistic system. Gizduino microcontroller was used to read and interpret commands sent and received by the transceivers to the robot and a remote to command instructions to the robot. The project was tested and evaluated at the Coffee Nursery of Cavite State University by determining the speed of the robot, the effectiveness of the remote control and the accuracy of the robot to lift a pallet and place it into an empty space. Results showed that the robot was able to receive and interpret commands provided by the remote control as well as perform the tasks successfully. The most significant recommendation was to use a counterweight at the rear side of the robot to avoid unnecessary derailments of the robot if lifting the heavier or greater number of pallets are desired. (Author) Keywords: remote control, coffee nursery, gizduino microcontroller, automated logistic system. Anwar Muqorobin a , Pudji Irasari a , Taufik b ( a Research Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences, Bandung; b Electric Power Institute, California Polytechnic State University, San Luis Obispo, United States of America) Comparison of Unmodulated Current Control Characteristics of Permanent Magnet Synchronous Motor Mechatronics, Electrical Power, and Vehicular Technology, December 2014, vol. 4, no. 2, p. 107-114, 13 ill, 5 tab, 29 ref. This paper discusses comparison of unmodulated current controls in PMSM, more specifically, on-off, sliding mode, predictive and hybrid controls. The purpose of this study is to select the most appropriate control technique to be adopted. The comparison method is preceded by modeling the motor and entering the values of the motor parameters. PI control is used for speed control and zero d-axis current is employed. Furthermore, performing simulation for each type of the selected current controls and analyzing their responses in terms of dq and abc currents, q-axis current response with step reference, as well as THD. Simulation results show that the on-off control gives the best overall performance based on its abc-axis current ripple and THD at large load torque. The hybrid control shows the best response occurring only at the fastest transient time of q-axis current but its response exhibits bad qualities compared with other controls. The predictive control yields the best responses offering the smallest d-axis ripple current and THD at small load torque condition. The sliding mode control, however, does not exhibit any prominent performance compared to the others. Results presented in this paper further indicate that for the PMSM used in the simulation the most appropriate control is the predictive control. (Author) Keywords: unmodulated current controls, on-off control, sliding mode control, predictive control, hybrid control. Zaini Dalimus ( a Electrical Engineering Department, Andalas University, Indonesia) Braking System Modeling and Brake Temperature Response to Repeated Cycle Mechatronics, Electrical Power, and Vehicular Technology, December 2014, vol. 4, no. 2, p. 123-128, 12 ill, 2 tab, 9 ref. Braking safety is crucial while driving the passenger or commercial vehicles. Large amount of kinetic energy is absorbed by four brakes fitted in the vehicle. If the braking system fails to work, road accident could happen and may result in death. This research aims to model braking system together with vehicle in Matlab/Simulink software and measure actual brake temperature. First, brake characteristic and vehicle dynamic model were generated to estimate friction force and dissipated heat. Next, Arduino based prototype brake temperature monitoring was developed and tested on the road. From the experiment, it was found that brake temperature tends to increase steadily in long repeated deceleration and acceleration cycle. (Author) Keywords: raking, kinetic energy, brake characteristic, Arduino. Arjon Turnip a , Iwan R. Setiawan a , Edy Junaidi b , Le Hoa Nguyen c ( a Technical Implementation Unit for Instrumentation Development, Indonesian Institute of Sciences, Bandung, Indonesia; b Department of Physics, Indonesian University of Education, Bandung, Indonesia; c Dept. of Electrical Engineering, The University of Danang, Vietnam) 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 v An Experiment of Ocular Artifacts Elimination from EEG Signals using ICA and PCA Methods Mechatronics, Electrical Power, and Vehicular Technology, December 2014, vol. 4, no. 2, p. 129-138, 9 ill, 3 tab, 25 ref. In the modern world of automation, biological signals, especially Electroencephalogram (EEG) is gaining wide attention as a source of biometric information. Eye-blinks and movement of the eyeballs produce electrical signals (contaminate the EEG signals) that are collectively known as ocular artifacts. These noise signals are required to be separated from the EEG signals to obtain the accurate results. This paper reports an experiment of ocular artifacts elimination from EEG signal using blind source separation algorithm based on independent component analysis and principal component analysis. EEG signals are recorded on three conditions, which are normal conditions, closed eyes, and blinked eyes. After processing, the dominant frequency of EEG signals in the range of 12-14 Hz either on normal, closed, and blinked eyes conditions is obtained. (Author) Keywords: EEG, EOG, ICA, PCA, artifacts elimination. 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 vi This page is left blank