MEV Journal of Mechatronics, Electrical Power, and Vehicular Technology e-ISSN 2088-6985 www.mevjournal.com p-ISSN 2087-3379 Journal of Mechatronics, Electrical Power, and Vehicular Technology Volume 07, Issue 1, July 2016 AIM AND SCOPE Journal of Mechatronics, Electrical Power, and Vehicular Technology (MEV) is an international 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. 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POSTAL ADDRESS Research Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences (RCEPM - LIPI) Komp LIPI Jl. Sangkuriang, Building 20, 2 nd Floor, R209 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 http://www.mevjournal.com/ Journal of Mechatronics, Electrical Power, and Vehicular Technology e-ISSN 2088-6985 www.mevjournal.com p-ISSN 2087-3379 Journal of Mechatronics, Electrical Power, and Vehicular Technology Volume 07, Issue 1, July 2016 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 Prof. Ir. Jamasri, Ph.D. Department of Mechanical and Industrial Engineering, Gadjah Mada University Jl. Grafika No. 2, Yogyakarta, 55281, Indonesia Prof. Tapan Kumar Saha Electrical Engineering, The University of Queensland St. Lucia, Qld-4072, Australia 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 Prof. Taufik Director of Electric Power Institute, California Polytechnique San Luis Obispo, CA 93407, United States Prof. Dr. Tagawa Yasutaka Tokyo University of Agriculture and Technology Naka-machi 2 - 24 – 16, Koganei – shi, Tokyo, 184 – 8588, Japan Prof. Dr. Bambang Riyanto School of Electrical Engineering and Informatics, Bandung Institute of Technology Jl. Ganesha No. 10, Bandung 40135, Indonesia Prof. Dr. Ir. R. Danardono Agus Sumarsono, DEA, PE Department of Mechanical Engineering, University of Indonesia Kampus UI Depok 16424 Depok, Jawa Barat, Indonesia Prof. Dr. Adi Soeprijanto Department of Electrical Engineering, Faculty of Industrial Technology, Institut Teknologi Sepuluh Nopember (ITS) Campus ITS Keputih, Surabaya 60111, Indonesia Prof. Keum Shik Hong Department of Mechanical Engineering, Pusan National University, Korea, Republic of Prof. Josep M Rossell Control, Dynamics and Applications (CoDAlab), Department of Mathematics Universitat Politècnica de Catalunya (UPC) Avda. Bases de Manresa, 61-73 08242 - Manresa (Barcelona), Spain Assoc. Prof. John Young School of Engineering and IT, The University of New South Wales Australian Defence Force Academy, PO Box 7916, Canberra BC ACT 2610, Australia George Anwar, Ph.D. University of California, 101 Sproul Hall, Berkeley, CA 94704, United States Dr. Tatacipta Dirgantara Mechanical and Aerospace Engineering, Bandung Institute of Technology Jl. Ganesha No. 10, Bandung 40135, Indonesia Dr. Agus Sunjarianto Pamitran Department of Mechanical Engineering, University of Indonesia Kampus UI Depok 16424 Depok, Jawa Barat, Indonesia Dr. Jose Guivant School of Mechanical and Manufacturing Engineering, The University of New South Wales Ainsworth Building (J17) Level 3, Room 311B, Kensington Campus, Australia Dr. Ir. Pekik Argo Dahono School of Electrical Engineering and Informatics, Bandung Institute of Technology Jl. Ganesha No. 10, Bandung 40135, Indonesia Riza Muhida, Ph.D. STKIP Surya Jl. Scientia Boulevard Blok U/7Summarecon Gading Serpong, Tangerang, Banten, 15810, Indonesia Dr. Larissa Lorenz Bauhaus Luftfahrt e.V, Lyonel-Feininger-Str. 28, 80807 Munchen, Germany Dr. Arjon Turnip Technical Management Unit for Instrumentation Development - LIPI Komp LIPI Jl Sangkuriang, Bld 40, Bandung 40135, Indonesia Dr.Eng. Budi Prawara Research Centre for Electrical Power and Mechatronics – LIPI Komp LIPI Bandung, Blg 20, 2 nd Fl, Bandung 40135, Indonesia javascript:openRTWindow('http://www.mevjournal.com/index.php/mev/about/editorialTeamBio/741') javascript:openRTWindow('http://www.mevjournal.com/index.php/mev/about/editorialTeamBio/743') javascript:openRTWindow('http://www.mevjournal.com/index.php/mev/about/editorialTeamBio/745') Journal of Mechatronics, Electrical Power, and Vehicular Technology e-ISSN 2088-6985 www.mevjournal.com p-ISSN 2087-3379 ADVISORY EDITOR Dr. Endra Joelianto Engineering Physics, Bandung Institute of Technology Jl. Ganesha No. 10, Bandung 40135, Indonesia Journal of Mechatronics, Electrical Power, and Vehicular Technology e-ISSN 2088-6985 www.mevjournal.com p-ISSN 2087-3379 Journal of Mechatronics, Electrical Power, and Vehicular Technology Volume 07, Issue 1, July 2016 DEPUTY EDITORS Aam Muharam, M.T. Electrical Engineering Tinton D Atmaja, M.T. Informatic Systems and Electrical Engineering MANAGING EDITORS, CENTRAL OFFICE Ghalya Pikra, M.T. Mechanical Engineering Merry I Devi, S.T. Industrial Engineering Hendri M Saputra, M.T. Robotics and Mechatronics MANAGING EDITOR, ASIA PACIFIC REGION Yanuandri Putrasari, M.Eng. Mechanical Engineering MANAGING EDITOR, EUROPE REGION Naili Huda, M.Eng.Sc. Industrial Engineering EDITORS Aditya Sukma Nugraha, M.T. Mechanical Engineering Agus Risdiyanto, M.T. Electrical Engineering Amin, M.T. Electrical Engineering Arief A Firdaus, S.I.Kom. Communication Science Arini Wresta, M.Eng. Chemical Engineering Bambang Wahono, M.Eng. Mechanical Engineering Dian Andriani, M.Eng. Bioenergy Engineering Dr. Edwar Yazid Dynamics and Control System Kadek Heri Sanjaya, Ph.D Ergonomics, Biomechanics, Physiology Maulana Arifin, M.T. Mechanical Engineering Midriem Mirdanies, M.T. Computer Engineering Muhammad Kasim, M.RenEn Electrical Engineering Nur Rohmah, M.T. Chemical Engineering Rakhmad Indra Pramana, M.T. Mechanical and Material Engineering Rifa Rahmayanti, M.Sc Mechatronics and Robotics Sapdo Utomo, M.T. Mechatronics and Robotics Vita Susanti, S.Kom Computer Science Yayat Ruhiyat, A.Md. Electrical Engineering WEB ADMIN Dadan R Saleh, M.T. Informatics Engineering SECRETARIAT Andri J Purwanto, S.T. Mechanical Engineering GRAPHIC DESIGNER Yukhi Mustaqim Kusuma Sya Bana, S.Sn. 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Journal of Mechatronics, Electrical Power, and Vehicular Technology e-ISSN 2088-6985 www.mevjournal.com p-ISSN 2087-3379 i Journal of Mechatronics, Electrical Power, and Vehicular Technology Volume 07, Issue 1, July 2016 FOREWORD FROM EDITOR-IN-CHIEF Journal of Mechatronics, Electrical Power, and Vehicular Technology (JMEV) is an international journal indexed by Google Scholar, Directory of Open Access Journal (DOAJ), Indonesian Scientific Journal Database (ISJD), Indonesian Publication Index (IPI)/Portal Garuda, Crossref, Mendeley, CiteULike, Academic Journal Database, ResearchBib, Cite Factor, and others. Its Digital Object Identifier (DOI) Prefix is 10.14203. In this issue, seven papers are published with the total number of paper pages of 66 pages. The selected papers have passed high level of reviews and revisions based on the standard operating procedure of the journal. The authors come from Indonesia, Malaysia, Vietnam, Japan, Iraq, Australia, and United Kingdom. Four topics of the papers are related to mechatronics which address Empirical Mode Decomposition (EMD) method for characterization of random vibration signals, nonlinear tracking control of a 3-D overhead crane, review on the application of physiological and biomechanical measurement methods in driving fatigue detection, and optimized object tracking technique using Kalman filter. One topics are related to electrical power concerning CFD model for analysis of performance, water and thermal distribution, and mechanical related failure in PEM fuel cells. In the scope of vehicular technology there are two papers presented those are ABS based on Fuzzy Logic Control and cooperative braking in electric and hybrid vehicles. Since the first issue, our journal provides discretion in financial term by waiving the article processing charge. We are planning to improve the quality by registering the journal to other international academic citation index. We wish to offer our thanks to the Indonesian Institute of Sciences (LIPI) for their continuing unwaving support. Also, we would like to acknowledge our immense gratitude to our International Editorial Board members, reviewers and authors. We hope this publication would contribute to the enhancement of science and technology. Bandung, July 2016 Editor-in-Chief Journal of Mechatronics, Electrical Power, and Vehicular Technology e-ISSN 2088-6985 www.mevjournal.com p-ISSN 2087-3379 Journal of Mechatronics, Electrical Power, and Vehicular Technology Volume 07, Issue 1, July 2016 ii LIST OF CONTENTS Hardware simulation of automatic braking system based on fuzzy logic control Noor Cholis Basjaruddin, Kuspriyanto, Suhendar, Didin Saefudin, Virna Apriani Azis 1-6 A CFD model for analysis of performance, water and thermal distribution, and mechanical related failure in PEM fuel cells Maher A.R. Sadiq Al-Baghdadi 7-20 Application of empirical mode decomposition method for characterization of random vibration signals Setyamartana Parman, Edwar Yazid 21-26 Nonlinear tracking control of a 3-D overhead crane with friction and payload compensations Anh-Huy Vo, Quoc-Toan Truong, Ha-Quang-Thinh Ngo, Quoc-Chi Nguyen 27-34 Review on the spplication of physiological and biomechanical measurement methods in driving fatigue detection Kadek Heri Sanjaya, Soomin Lee, Tetsuo Katsuura 35-48 Modeling and design of cooperative braking in electric and hybrid vehicles using induction machine and hydraulic brake Zaini Dalimus, Khallid Hussain, Andrew J. Day 49-56 Optimized object tracking technique using Kalman filter Liana Ellen Taylor, Midriem Mirdanies, Roni Permana Saputra 57-66 Further articles can be found at http://www.mevjournal.com http://www.mevjournal.com/ Journal of Mechatronics, Electrical Power, and Vehicular Technology e-ISSN 2088-6985 www.mevjournal.com p-ISSN 2087-3379 iii Journal of Mechatronics, Electrical Power, and Vehicular Technology Volume 07, Issue 1, July 2016 ABSTRACTS SHEET e-ISSN: 2088-6985 Date of issues: 29 July 2016 p-ISSN: 2087-3379 The descriptions given are free terms. This abstracst sheet may be reproduced without permission or change. Noor Cholis Basjaruddin a , Kuspriyanto b , Suhendar a , Didin Saefudin a , Virna Apriani Azis a ( a Department of Electrical Engineering, Politeknik Negeri Bandung, Jl. Gegerkalong Hilir, Ds. Ciwaruga, Bandung, Indonesia; b School of Electrical Engineering and Informatics, Institut Teknologi Bandung, Jl. Ganesha no. 10, Bandung, Indonesia) Hardware Simulation of Automatic Braking System Based on Fuzzy Logic Control Journal of Mechatronics, Electrical Power, and Vehicular Technology, July 2016, vol. 7, no. 1, p. 1-6, 13 ill, 4 tab, 20 ref. In certain situations, a moving or stationary object can be a barrier for a vehicle. People and vehicles crossing could potentially get hit by a vehicle. Objects around roads as sidewalks, road separator, power poles, and railroad gates are also a potential source of danger when the driver is inattentive in driving the vehicle. A device that can help the driver to brake automatically is known as Automatic Braking System (ABS). ABS is a part of the Advanced Driver Assistance Systems (ADAS), which is a device designed to assist the driver in driving the process. This device was developed to reduce human error that is a major cause of traffic accidents. This paper presents the design of ABS based on fuzzy logic which is simulated in hardware by using a remote control car. The inputs of fuzzy logic are the speed and distance of the object in front of the vehicle, while the output of fuzzy logic is the intensity of braking. The test results on the three variations of speed: slow-speed, medium-speed, and high-speed shows that the design of ABS can work according to design. (Author) Keywords: automatic braking system; advanced driver assistance system; fuzzy logic. Maher A.R. Sadiq Al-Baghdadi a ( a Department of Mechanical Engineering, Faculty of Engineering, University of Kufa, Najaf, Kufa, Iraq) A CFD Model for Analysis of Performance, Water and Thermal Distribution, and Mechanical Related Failure in PEM Fuel Cells Journal of Mechatronics, Electrical Power, and Vehicular Technology, July 2016, vol.7, no. 1, p. 7-20, 13 ill, 3 tab, 24 ref. This paper presents a comprehensive three-dimensional, multi- phase, non-isothermal model of a Proton Exchange Membrane (PEM) fuel cell that incorporates significant physical processes and key parameters affecting the fuel cell performance. The model construction involves equations derivation, boundary conditions setting, and solution algorithm flow chart. Equations in gas flow channels, gas diffusion layers (GDLs), catalyst layers (CLs), and membrane as well as equations governing cell potential and hygro- thermal stresses are described. The algorithm flow chart starts from input of the desired cell current density, initialization, iteration of the equations solution, and finalizations by calculating the cell potential. In order to analyze performance, water and thermal distribution, and mechanical related failure in the cell, the equations are solved using a computational fluid dynamic (CFD) code. Performance analysis includes a performance curve which plots the cell potential (Volt) against nominal current density (A/cm 2 ) as well as losses. Velocity vectors of gas and liquid water, liquid water saturation, and water content profile are calculated. Thermal distribution is then calculated together with hygro-thermal stresses and deformation. The CFD model was executed under boundary conditions of 20°C room temperature, 35% relative humidity, and 1 MPA pressure on the lower surface. Parameters values of membrane electrode assembly (MEA) and other base conditions are selected. A cell with dimension of 1 mm x 1 mm x 50 mm is used as the object of analysis. The nominal current density of 1.4 A/cm 2 is given as the input of the CFD calculation. The results show that the model represents well the performance curve obtained through experiment. Moreover, it can be concluded that the model can help in understanding complex process in the cell which is hard to be studied experimentally, and also provides computer aided tool for design and optimization of PEM fuel cells to realize higher power density and lower cost. (Author) Keywords: CFD; PEM; fuel cell; multi-phase; hygro thermal stress. Setyamartana Parman a , Edwar Yazid b ( a Mechanical Engineering Departement, Universiti Teknologi Petronas, Bandar Seri Iskandar, 31750 Tronoh, Perak, Malaysia; b Research Center for Electrical Power and Mechatronics, Indonesian Institute of Sciences, Jl. Sangkuriang Komplek LIPI Gedung 20, 40135 Bandung, Indonesia) Application of Empirical Mode Decomposition Method for Characterization of Random Vibration Signals Journal of Mechatronics, Electrical Power, and Vehicular Technology, July 2016, vol. 7, no. 1, p. 21-26, 8 ill, 2 tab, 10 ref. 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 Journal of Mechatronics, Electrical Power, and Vehicular Technology e-ISSN 2088-6985 www.mevjournal.com p-ISSN 2087-3379 iv (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. (Author) Keywords: EMD, BPF, IMF, vibration signals. Anh-Huy Vo a , Quoc-Toan Truong a , Ha-Quang-Thinh Ngo a,b and Quoc-Chi Nguyen a,b ( a Department of Mechatronics, Ho Chi Minh City University of Technology, 268 Ly Thuong Kiet st., Dist. 10, 703500, Ho Chi Minh City, Vietnam; b Control and Automation Laboratory, , Ho Chi Minh City University of Technology,268 Ly Thuong Kiet st., Dist. 10, 703500, Ho Chi Minh City, Vietnam) Nonlinear Tracking Control of a 3-D Overhead Crane with Friction and Payload Compensations Journal of Mechatronics, Electrical Power, and Vehicular Technology, July 2016, vol. 7, no. 1, p. 27-34, 9 ill, 0 tab, 21 ref In this paper, a nonlinear adaptive control of a 3D overhead crane is investigated. A dynamic model of the overhead crane was developed, where the crane system is assumed as a lumped mass model. Under the mutual effects of the sway motions of the payload and the hoisting motion, the nonlinear behavior of the crane system is considered. A nonlinear control model-based scheme was designed to achieve the three objectives: (i) drive the crane system to the desired positions, (ii) suppresses the vibrations of the payload, and (iii) velocity tracking of hoisting motion. The nonlinear control scheme employs adaptation laws that estimate unknown system parameters, friction forces and the mass of the payload. The estimated values were used to compute control forces applied to the trolley of the crane. The asymptotic stability of the crane system is investigated by using the Lyapunov method. The effectiveness of the proposed control scheme is verified by numerical simulation results. (Author) Keywords: 3-D overhead crane; nonlinear adaptive control; Lyapunov method; Euler-Lagrange equation; sway control. Kadek Heri Sanjaya a , Soomin Lee b , Tetsuo Katsuura c ( a Research Centre for Electrical Power and Mechatronics, Indonesian Institute of Sciences, 2nd Floor, 20th Building, Komplek LIPI, Jalan Cisitu No. 21/154D, Bandung, Indonesia; b Center for Environment, Health, and Field Sciences, Chiba University, 6-2-1 Kashiwa-no-ha, Kashiwa, Chiba Prefecture 277-0882, Japan; c Humanomics Laboratory, Graduate School of Engineering, Chiba University, 1- 33 Yayoi-cho, Inage-ku, Chiba-shi, Japan) Review on the Application of Physiological and Biomechanical Measurement Methods in Driving Fatigue Detection Journal of Mechatronics, Electrical Power, and Vehicular Technology, July 2016, vol. 7, no. 1, p. 35-48, 11 ill, 0 tab, 92 ref. Previous studies have identified driving fatigue as the main cause of road traffic accidents, therefore, the aim of this literature review is to explore the characteristics of driving fatigue both physically and mentally as well as to explore the technology available to measure the process of fatigue physiologically. We performed e-searching in the field of fatigue detection methods through keywords tracking. The instruments studied have their own strength and weakness, and some are intrusive while the others are non-intrusive. The accuracy and stability of measurements are also varied between those instruments. In order to create more reliable fatigue detection methods, it is necessary to involve more instruments with an inter- disciplinary approach. Our intention is to make this study as a stepping stone for a more comprehensive in-vehicle real-time man- machine interaction study. Such study will not only be useful to prevent traffic accidents but also to bridge man and machine communication in the vehicle control along with developing newer technology in the field of vehicle automation. (Author) Keywords: driving fatigue; physiology; biomechanics; man- machine interface. Zaini Dalimus a , Khallid Hussain b , Andrew J. Day b ( a Electrical Engineering Department, Andalas University, Indonesia; b School of Engineering, Design and Technology, University of Bradford, U.K) Modeling and Design of Cooperative Braking in Electric and Hybrid Vehicles Using Induction Machine and Hydraulic Brake Journal of Mechatronics, Electrical Power, and Vehicular Technology, July 2016, vol. 7, no. 1, p. 49-56, 16 ill, 2 tab, 15 ref. In mixed-mode braking applications, the electric motor / generator (M/G) and hydraulic pressure valve are controlled to meet the driver’s braking demand. Controlling these braking elements is achieved by modulating the current generated by the M/G and adjusting the fluid pressure to the wheel brake cylinders. This paper aims to model and design combined regenerative and hydraulic braking systems which, comprise an induction electric machine, inverter, NiMH battery, controller, a pressure source, pressure control unit, and brake calipers. A 15 kW 1500 rpm induction machine equipped with a reduction gear having a gear ratio of 4 is used. A hydraulic brake capable to produce fluid pressure up to 40 bar is used. Direct torque control and pressure control are chosen as the control criteria in the M/G and the hydraulic solenoid valve. The braking demands for the system are derived from the Federal Testing Procedure (FTP) drive cycle. Two simulation models have been developed in Matlab ® /Simulink ® to analyze the performance of the control strategy in each braking system. The developed model is validated through experiment. It is concluded that the control system does introduce torque ripple and pressure oscillation in the braking system, but these effects do not affect vehicle braking performance due to the high frequency nature of pressure fluctuation and the damping effect of the vehicle inertia. Moreover, experiment results prove the effectiveness of the developed model. (Author) Keywords: mixed-mode braking, regenerative brake, induction machine, hydraulic brake, direct torque, pulse-wide modulation. Liana Ellen Taylor a , Midriem Mirdanies b , Roni Permana Saputra b ( a School of Engineering and Information Technology - Universityof New South Wales (UNSW), Canberra, ACT 2600, Australia; b Research Center for Electrical Power and Mechatronics, Indonesian Institute of Sciences (LIPI), Komplek LIPI Bandung, Jl. Sangkuriang, Gd. 20. Lt. 2, Bandung 40135, Indonesia) Optimized Object Tracking Technique Using Kalman Filter Journal of Mechatronics, Electrical Power, and Vehicular Technology, July 2016, vol. 7, no. 1, p. 57-66, 14 ill, 5 tab, 16 ref. This paper focused on the design of an optimized object tracking technique which would minimize the processing time required in the object detection process while maintaining accuracy in detecting the desired moving object in a cluttered scene. A Kalman filter based cropped image is used for the image detection process as the processing time is significantly less to detect the object when a search window is used that is smaller than the entire video frame. This technique was tested with various sizes of the window in the cropping process. MATLAB ® was used to design and test the proposed method. This paper found that using a cropped image with 2.16 multiplied by the largest dimension of the object resulted in significantly faster processing time while still providing a high success rate of detection and a detected center of the object that was reasonably close to the actual center. (Author) Keywords: kalman filter; object tracking; object detection; cropping; color segmentation.