Proceedings of the

2015 International Conference on Automation, Cognitive

Science, Optics, Micro Electro-Mechanical System, and
Information Technology
(ICACOMIT)

October 29th - 30th, 2015 | Bandung, Indonesia

IEEE Catalog Number: CFP15C22-CDR

ISBN: 978-1-4673-7407-1

Organized by: Technical Co-Sponsored by :

Supported by:
Proceedings of the

2015 International Conference on Automation, Cognitive

Science, Optics, Micro Electro-Mechanical System, and
Information Technology
(ICACOMIT)

Copyright 2015 by the Institute of Electrical and Electronics Engineers, Inc.

All rights reserved.

Copyright and Reprint Permission:

Abstracting is permitted with credit to the source. Libraries are permitted to
photocopy beyond the limit of U.S. copyright law for private use of patrons
those articles in this volume that carry a code at the bottom of the first page,
provided the per-copy fee indicated in the code is paid through Copyright
Clearance Center, 222 Rosewood Drive, Danvers, MA 01923.

For reprint or republication permission, email to IEEE Copyrights Manager at

[email protected]. All rights reserved.
Copyright ©2015 by IEEE.

IEEE Catalog Number: CFP15C22-CDR

ISBN: 978-1-4673-7407-1
Welcome Message
It is our great privilege to welcome you to the 2015 International Conference
on Automation, Cognitive Science, Optics, Micro Electro-Mechanical System, and
Information Technology (ICACOMIT 2015) held in Bandung, West Java,
Indonesia, October 29 - 30, 2015. ICACOMIT 2015 is organized by Research
Group of Technical Implementation Unit for Instrumentation Development,
Indonesian Institute of Sciences (UPT BPI-LIPI) and Technical Co-sponsored by
the IEEE Indonesia Control Systems Society (CSS) & Robotics and Automation
Society (RAS) Joint Chapter. We are confident that ICACOMIT 2015 will provide
a forum for fruitful interaction and exchange of ideas between the participants
coming from around the world. The aim of these international conferences is to
promote interaction among engineers, researchers, and scientists active in the
related areas of the conferences. The events are intended to provide a high level
international forum to exchange, and to discuss recent advances in the field of
automation, cognitive science, optics, micro electro-mechanical system, and
information technology.
No conference can be successful without excellent teamwork. Our special
appreciations go to the sacrifices and perspirations of our colleagues and
organizing committee members. Our special thanks also goes to all individuals and
organizations such as the international program committees (IPC), the reviewers,
and the authors, for their contribution in making ICACOMIT 2015 not only a
successful international conference but also as a memorable gathering event. We
hope this conference will benefit all of us in advancing research activities and
building new friendship. We are truly grateful for your contribution and interest to
the conferences.

Best regards,
Arjon Turnip, Ph.D.
General Chair of ICACOMIT 2015

1
Contents

WELCOME MESSAGE 1
CONTENTS 2
PROGRAM AT A GLANCE 11
PLENARY SESSION 20
Brain-Machine Interface via Light 20
Prof. Keum-Shik Hong, Ph.D. (School of Mechanical Engineering, Pusan National University, Korea) 20
Smart Needle System for Robotics Surgery 20
Parsaoran Hutapea, Ph.D. (Department of Mechanical Engineering, Temple University, Philadelphia, Pennsylvania) 20
Intelligent Sensing: From Macroscopic to Microscopic Scale 20
Poki Chen (National Taiwan University of Science and Technology, Taiwan) 20
ABSTRACTS 21
Effect of Flow Force in the Characteristics of Electrohydraulic Servovalves 21
Iwan Istanto (Pukyong National University, Korea), Kim Hyun Ho (Pukyong National University, Korea), Ji Sang Won (Pukyong National University,
Korea), Lee Ill Yeong (Pukyong National University, Korea), Kim Sang Ho (SG Servo, Korea), Lee Hyeon Cheol (SG Servo, Korea) 21
Embedded Sensor Fusion and Moving-average Filter for Inertial Measurement Unit (IMU) on the Microcontroller-based Stabilized
Platform 21
Grace Gita Redhyka (Indonesian Institute of Sciences, Indonesia), Dika Setiawan (Indonesian Institute of Sciences, Indonesia), Demi Soetraprawata
(Indonesian Institute of Sciences, Indonesia) 21
Numerical Study of Structural Integrity and Strain Response of Double End Beam Load Cell Using Finite Element Simulation 22
Hilman Syaeful Alam (Indonesian Institute of Sciences, Indonesia) 22
Non-Contact Portable Infrared Thermometer for Rapid Influenza Screening 22
Daniel Santoso (Satya Wacana Christian University, Indonesia), Dalu Setiaji (Satya Wacana Christian University, Indonesia) 22
Multi Objective Optimization of the Structural Design of Double End Beam Load Cell 23
Hilman Syaeful Alam (Indonesian Institute of Sciences, Indonesia), Bahrudin (Indonesian Institute of Sciences, Indonesia), Demi Soetraprawata
(Indonesian Institute of Sciences, Indonesia) 23
Frequency-Tunable Electromagnetic Energy Harvester by Means of Damping Switching 23
Beng Lee Ooi (Quest International University Perak, Malaysia), James Gilbert (University of Hull, United Kingdom), A. Rashid A. Aziz (Universiti
Teknologi Petronas, Malaysia) 23
Security Lock with DTMF Polyphonic Tone Sensor 24
Joni W. Simatupang (President University, Indonesia), Herry Azhari Rangkuti (President University, Indonesia) 24
The Comparison of GVF Snake Active Contour Method and Ellipse Fit in Optic Disc Detection for Glaucoma Diagnosis 24
Dwi Esti Kusumandari (Indonesian Institute of Science, Indonesia), Aris Munandar (Indonesian Institute of Science, Indonesia), Grace G Redhyka
(Indonesian Institute of Science, Indonesia) 24
Finger Movement Pattern Recognition Method Using Artificial Neural Network Based on Electromyography (EMG) Sensor 25
Mochammad Ariyanto (Diponegoro University, Indonesia), Wahyu Caesarendra (University of Wollongong; Diponegoro University, Australia), Khusnul
Mustaqim (Diponegoro University, Indonesia), Mohamad Irfan (Diponegoro University, Indonesia), Jonny Pakpahan (Diponegoro University,
Indonesia), Joga Setiawan (Diponegoro University, Australia), Andri Winoto (Diponegoro University, Indonesia) 25
An Experiment of Lie Detection Based EEG-P300 Classified by SVM Algorithm 25
Artha Ivonita Simbolon (Indonesian Institute of Science, Indonesia), Arjon Turnip (Indonesian Institute of Science, Indonesia), Jeperson Hutahaean
(STIMIK Royal, Indonesia), Yessica Siagian (STIMIK Royal, Indonesia), Novica Irawati (STIMIK Royal, Indonesia) 25
An Application of Online ANFIS Classifier for Wheelchair Based Brain-Computer Interface 26
Mardi Turnip, Abdi Dharma, Hendra H.S. Pasaribu (Prima Indonesia University, Indonesia), M Faizal Amri (Indonesian Institute of Sciences, Indonesia),
Arjon Turnip (Indonesian Institute of Sciences, Indonesia) 26
EEG Based Pattern Recognition Method for Classification of Four Mental Tasking 26
Wahyu Caesarendra (Diponegoro University, Indonesia), Mochammad Ariyanto (Diponegoro University, Indonesia), Syahara U. Lexon (Diponegoro
University, Indonesia), Elta D. Pasmanasari (Diponegoro University, Indonesia), Cindy R. Chang (University of Wollongong, Australia), Joga D. Setiawan
(Universiti Teknologi Petronas, Malaysia) 26
Particle Swarm Optimization and Fuzzy Logic Control in Gas Leakage Detector Mobile Robot 27
Kanda Januar Miraswan (Sriwijaya University, Indonesia), Nur Maulidevi (Institute Technology of Bandung, Indonesia) 27
Effect of Gamma Irradiation on Protein Profile of Rodent Tuber (Typhonium flagelliforme Lodd.) in Vitro Mutant Based on 1D and 2D
PAGE Analyses 27
Nesti Sianipar (Bina Nusantara University, Indonesia), Ragapadmi Purnamaningsih (Icabiograd, Indonesia), Chelen (Alumni of Pelita Harapan University,
Indonesia) 27
Development of PV Simulator by Integrating Software and Hardware for Laboratory Testing 28
Aryuanto Soetedjo (National Institute of Technology (ITN) Malang, Indonesia), Abraham Lomi (ITN Malang, Indonesia), Yusuf Ismail Nakhoda (National
Institute of Technology (ITN) Malang, Indonesia), Gunawan Eko Hendroyono (ITN Malang, Indonesia) 28
Guaranteed Cost Filter Design for Discrete-time Neutral Systems 28
Erwin Susanto (Telkom University, Indonesia), Ig prasetya Dwi (Telkom University, Indonesia), Junartho Halomoan (Telkom University, Indonesia),
Agung Surya Wibowo (Telkom University, Indonesia), Mitsuaki Ishitobi (Kumamoto University, Japan) 28
Mathematical Modelling and Simulation of Temperature Control System for Artificial Catfish Spawning 29
Hanif Fakhrurroja (Indonesian Institute of Sciences, Indonesia), Iwan Setiawan (Indonesian Institute of Sciences, Indonesia) 29
The Comparison of Characteristics Solution Conductivity FeSO4, MnSO4, CaCl2 and MgCl2 Effect on 9.3 mT Pulse Magnetic Field 29

2
 Novan Agung Mahardiono (Indonesian Institute of Sciences, Indonesia), Hanif Fakhrurroja (Indonesian Institute of Sciences, Indonesia), Hariyadi
(Indonesian Institute of Sciences, Indonesia) 29
Tunable Spacing of O-band Multiwavelength Brillouin Fiber Laser 30
Siti Fatimah Norizan (International Islamic University Of Malaysia, Malaysia), Mohd Zamani Zulkifli (University of Malaya, Malaysia) 30
Fast Optical Signals During Median Nerve Stimulation by Using Continuous-Wave NIRS 30
Hendrik Santosa (Pusan National University, Korea), Keum-Shik Hong (Pusan National University, Korea) 30
Active Brain Area Identification Using EEG-NIRS Signal Acquisition 30
Muhammad Jawad Khan (Pusan National University, Korea), Keum-Shik Hong (Pusan National University, Korea) 30
Design and Implementation of Data Storage System Using USB Flash Drive in A Microcontroller Based Data Logger 31
Oka Mahendra (Indonesian Institute of Sciences, Indonesia), Marcella Astrid (Universitas Multimedia Nusantara, Indonesia), Djohar Syamsi (Indonesian
Institute of Sciences, Indonesia), Ade Ramdan (Indonesian Institute of Sciences, Indonesia) 31
Business Process Improvement Design of Indonesian National Standard (SNI) Product Certification 31
Mas'ud Adhi Saputra (Ministry of Industry, Indonesia), Rina Meyilani (Ministry of Public Works and Housing, Indonesia) 31
The Design of High Throughput WiFi Mesh Networked Wireless Sensor Network Using OLSR Protocol 32
Ahmad Sumarudin (Politeknik Negeri Indramayu, Indonesia), Willy Permana Putra (Politeknik Negeri Indramayu, Indonesia), Trio Adiono (Institut
Teknologi Bandung, Indonesia) 32
Design and Development of Customer Distribution Mapping Based on Geographical Information System 32
Hanif Fakhrurroja (Indonesian Institute of Sciences, Indonesia), Muhammad Ilham Rizqyawan (Indonesian Institute of Sciences, Indonesia) 32
Adaptive Neuro-Fuzzy Inference System for Texture Image Classification 33
B Ari Kuncoro (Bina Nusantara University, Indonesia), Suharjito (Bina Nusantara University, Indonesia) 33
Indonesian Medical Question Classification with Pattern Matching 33
Wiwin Suwarningsih (Institut Teknologi Bandung; Indonesian Institute of Science, Indonesia), Iping Supriana (Institut Teknologi Bandung, Indonesia),
Ayu Purwarianti (Institut Teknologi Bandung, Indonesia) 33
Extraction of Predicate-Argument Structures from Sentence Based of PICO Frames 34
Wiwin Suwarningsih (Institut Teknologi Bandung; Indonesian Institute of Science, Indonesia), Iping Supriana (Institut Teknologi Bandung, Indonesia),
Ayu Purwarianti (Institut Teknologi Bandung, Indonesia) 34
A Touchless Interface for Interventional Radiology Procedures 34
Sivaramakrishnan Krishnaiyer Raman (Philips India Limited, India), Kumar Raja Gattamaneni (Philips India Limited, India), Girish Kumar Chegu (Philips
India Limited, India) 34
Beef Freshness Classification by Using Color Analysis, Multiwavelet Transformation, and Artificial Neural Network 35
Danika Trientin (Telkom University, Indonesia), Bambang Hidayat (Institut Teknologi Telkom, Indonesia), Sjafril Darana (Padjadjaran University,
Indonesia) 35
ECG Signal Classification Using Hjorth Descriptor 35
Achmad Rizal (Telkom University, Indonesia), Sugondo Hadiyoso (Telkom University, Indonesia) 35
Security Mechanism for IPv6 Stateless Address Autoconfiguration 36
Supriyanto Praptodiyono (Universitas Sultan Ageng Tirtayasa; National Advanced IPv6 Centre, USM, Indonesia), Iznan Hasbullah (National Advanced
IPv6 Centre, Universiti Sains Malaysia, Malaysia), Mohammed M. Kadhum (Queen's University; Universiti Sains Malaysia, Canada), Raja Kumar
Murugesan (Taylor's University, Malaysia), Yung-Wey Chong (Universiti Sains Malaysia, Malaysia), Azlan Osman (USM, Penang, Malaysia) 36
Mobile Game Testing: Case Study of A Puzzle Game Genre 36
Roy Deddy Hasiholan Tobing (Institut Teknologi Del, Indonesia), Arlinta Barus (Del Institute of Technology, Indonesia) 36
R-TTT Module with Modified Residual Signal for Improving Multichannel Audio Signal Accuracy 37
Ikhwana Elfitri (Andalas University, Indonesia), Amirul Luthfi (Andalas University, Indonesia), Fitrilina (Andalas University, Indonesia) 37
Robotic Needling System for Brachytherapy Procedure 37
Bardia Konh (Temple University, USA), Harold H. Lee (Temple University, USA), Vincent P. Martin (Temple University, USA), Vincent Zhao (Temple
University, USA), Parsaoran Hutapea (Temple University, USA) 37
Channel Characterization of a Last-mile Access Radio Over Combined Fibre and Free-Space Optics System 38
Jan Bohata (Czech Technical University in Prague, Czech Republic), Stanislav Zvanovec (Czech Technical University in Prague, Czech Republic), Zabih
Ghassemlooy (Northumbria University, United Kingdom), Mojtaba Mansour Abadi (Northumbria University, United Kingdom) 38
Design of Instrumentation for Flatness Measurement of Railroads 38
Yayan Nugraha (Bandung Institute of Technology, Indonesia), Dwi Hanto (Indonesian Institute of Sciences, Indonesia), Andi Setiono (Indonesian
Institute of Sciences, Indonesia) 38
Design of Multi Wavelength Optical Power Meter using Feedback Resistor Combination 39
D. Hanto (Indonesian Institute of Sciences, Indonesia), Tomi B. Waluyo (Indonesian Institute of Sciences, Indonesia), A. Setiono (Indonesian Institute of
Sciences, Indonesia), Rini Khamimatul Ula (Indonesian Institute of Sciences, Indonesia), Bambang Widiyatmoko (Indonesian Institute of Sciences,
Indonesia), A. R. Permata Sari (Engineering Physics, ITS, Indonesia) 39
Study on a Narrow Linewidth DFB LD and LD-Based Injection Locking Circuit 39
Claudia Khansa’ Atikah Hidayat (Universitas Indonesia, Indonesia) 39
File Data Security with Applications Using Ridhcrypt Rijndael Algorithm 40
David JM. Sembiring (Sekolah Tinggi Poliprofesi Medan, Indonesia), Sinek Mehuli Br. Parangin (Sekolah Tinggi Poliprofesi Medan, Indonesia), Donni
Nasution (AMIK Royal Kisaran, Indonesia), Nova Mayasari (Pembangunan Pancabudi University, Indonesia) 40
Numerical Simulation of Organic Solar Cell TiO2 Porosity-based Nano-Electrode 40
Irana Eka Putri (Indonesia Institute of Science, Indonesia), Anto Tri S (Indonesia Institute of Science, Indonesia), Doty Dewi Risanti (Institut Teknologi
Sepuluh Nopember, Indonesia) 40
Active species formation of pulsed plasma in water with ring-to-cylinder reactor type electrode 41
Anto Tri Sugiarto (Indonesia Institute of Science, Indonesia), Takayuki Ohshima (Gunma University, Japan) 41
Optimal Design of Parmameters for Digital Controllers Using Nonlinear Programing Technique 41

3
 Le Hoa Nguyen (Danang University of Science and Technology-The Unversity of Danang, Vietnam), Demi Soetraprawata (Indonesian Institute of
Sciences, Indonesia), Arjon Turnip (Indonesia Institute of Science, Indonesia) 41
A Classification Method for Prediction of Qualitative Properties of Multivariate EEG-P300 Signals 42
Darmeli Nasution (Universitas Pembangunan Panca Budi Medan, Indonesia), T. Henny F. Harumy (Universitas Pembangunan Panca Budi Medan,
Indonesia) , Eko Haryanto(Universitas Pembangunan Panca Budi Medan, Indonesia), Ferry Fachrizal, Julham (Politeknik Negeri Medan, Indonesia),
Arjon Turnip (Indonesia Institute of Science, Indonesia) 42
Active Suspension System based Lyapunov Method and Ground-hook Reference Model 42
Ayub Wimatra (Academy of Engineering and Flight Safety, Medan, Indonesia), Sunardi (Academy of Engineering and Flight Safety, Medan, Indonesia),
Julfansyah Margolang (Academy of Engineering and Flight Safety, Medan, Indonesia), Edi Sutrisno(Academy of Engineering and Flight Safety, Medan,
Indonesia), Darmeli Nasution(Universitas Pembangunan Panca Budi Medan, Indonesia), Suherman (Universitas Pembangunan Panca Budi Medan,
Indonesia), Taufik Hiadayat (Indonesia Institute of Science, Indonesia), Arjon Turnip (Indonesia Institute of Science, Indonesia) 42
Multiwavelength Erbium Doped Fiber Laser based on Nonlinear Polarization Rotation 43
Nurul Shahrizan Shahabuddin and Ruzita Abu Bakar (Department of Electrical Engineering, Nilai University, Negeri Sembilan, Malaysia) 43
Queue Length Optimization of Vehicles at Road Intersection Using Parabolic Interpolation Method 43
Mutiara Maulida (Bandung Institute of Technology, Indonesia), Endra Joelianto (Bandung Institute of Technology, Indonesia), Herman Y. Sutarto
(Harapan Bangsa Institute of Technology, Bandung, Indonesia), Agus Samsi (Bandung Institute of Technology, Indonesia) 43
Finite State Approximation of Stochastic Differential Equations with Switching Dynamics 44
Iwan R. Setiawan and Arjon Turnip (Indonesian Institute of Sciences, Indonesia) T.A. Tamba (Institute of Technology Bandung, Indonesia) 44
Estimation of Wave Propagation Distance in Swash Zone with Image Analysis Results of CCTV-Coastal Telemetry 44
M. Luqman Hakim (Bandung Institute of Technology, Indonesia), Endra Joelianto(Bandung Institute of Technology, Indonesia), Suprijanto (Bandung
Institute of Technology, Indonesia) 44
Adventure Game as Learning Media for Introducing Music Interval and Ear Training to Kids 45
Muhammad Ilham Rizqyawan (Indonesian Institute of Sciences, Indonesia), Galih Hermawan (UNIKOM, Indonesia) 45
Meniscus Recognition on Volumetric Glassware Calibration Using Image Processing 45
Triya Haiyunnisa (Indonesia Institute of Science, Indonesia), Hilman Syaeful Alam (Indonesia Institute of Science, Indonesia) 45
BANDUNG MAP 46
PLACES TO VISIT AT BANDUNG 47
Contact 52

4
 2015 INTERNATIONAL CONFERENCE ON
AUTOMATION, COGNITIVE SCIENCE, OPTICS, MICRO ELECTRO-MECHANICAL SYSTEM, AND
INFORMATION TECHNOLOGY

October 29th-30th,2015 | Aston Tropicana Hotel, Bandung, Indonesia

This conference aims to bring together leading academic scientists, researchers and research scholars to exchange
and share their experiences and research results about all aspects of Instrumentation Control, Automation, Cognitive
Science, Optics, Micro Electro-Mechanical System, and Informatics and Information Technology. It also provides the
premier interdisciplinary and multidisciplinary forum for researchers, practitioners and educators to present and
discuss the most recent innovations, trends, and concerns, practical challenges encountered and the solutions
adopted in those field. Topic of interest for submission include, but are not limited to:

Instrumentation Control and Automation

Adaptive Control; Robust Control; Process Control; Complex Systems; Co-Operative Control; Identification and
Estimation; Nonlinear Systems; Intelligent Systems; Discrete Event Systems; Hybrid Systems; Networked Control
Systems; Sensor Networks; Delay Systems; Neural Networks; Fuzzy Systems; Control of Biological Systems; Precision
Motion Control; Control Applications; Control Engineering Education; Process Automation; Intelligent Automation;
Factory Modeling and Simulation; Home, Laboratory and Service Automation; Network-Based Systems; Planning,
Scheduling and Coordination; Nano-Scale Automation and Assembly; Instrumentation Systems.

Cognitive Science and Technology

Cognitive and Computation Models; Human Reasoning Mechanisms; Modeling Brain Information Processing
Mechanisms; Brain Learning Mechanisms; Human Cognitive Functions and Their Relationships; Modeling Human
Multi-Perception Mechanisms and Visual, Auditory, and Tactile Information Processing; Neural Structures and
Neurobiological Process; Cognitive Architectures; Brain Information Storage, Collection, and Processing; Formal
Conceptual Models of Human Brain Data; Knowledge Representation and Discovery in Neuroimaging; Brain-
Computer Interface; Cognition-Inspired Complex Systems; Expert Systems, Knowledge Representation and
Reasoning; Reasoning Techniques, Constraint Satisfaction and Machine Learning; Logic Programming, Fuzzy Logic,
Neural Networks, and Uncertainty; State Space Search, Ontologies and Data Mining; Games, Planning and Scheduling;
Natural Languages Processing and Advanced User Interfaces; Cognitive, Reactive and Proactive Systems; Ambient
Intelligence, Perception and Vision; Pattern Recognition.

Optics

Fiber Optics; Biomedical Optics; Computational Optical Sensing and Imaging; Optical Instrumentation; Optics in
Astronomy and Astrophysics; Spectroscopy, Imaging and Metrology; Optical Communications and Networking;
Artificial Vision; Photorefractive Effects, Materials, and Devices; System Reliability and Security; Optical Materials;
Display Technology; Organic and Bio-photonics; Nanophotonics; Microwave Photonics; Power Photonic; Photonics
and Optoelectronic Materials and Devices; Photonic in Communications and Switching; Ultrafast Electronics,
Photonics and Optoelectronics; Green Photonics; Photodetectors, Sensors and Imaging; Nonlinear Optics; High
Intensity Lasers and High Field Phenomena; Quantum Electronics and Laser Science; Quantum Information and
Measurement; Biomedical and Therapeutic Laser Applications; Optoelectronics; Laser Microscopy; Fiber Lasers and
Applications; Waveguide Lasers; Semiconductor Lasers and LEDs; Weapons and Military Technology; Plasma
Technologies.

5
 Micro/Nano Electro-Mechanical System

Smart Material, Design, Simulation and Analysis Tools with Experimental Verification; Fabrication Technologies and
Processes; Silicon and Non-Silicon Materials; Electro-Mechanical Integration Techniques; Assembly and Packaging
Approaches; Metrology and Operational Evaluation Techniques; System Architecture, Microfluidic and Nanofluidic
Devices; Lab-on-Chip and Biochemical Sensors; Medical Microsystems, for Example Probes, Implantables, Minimally
Invasive Devices; Physical Sensors; Electromagnetic Transducers; Microactuators; Microdevices for Power Supply
and Energy Harvesting.

Informatics and Information Technology

Machine Learning and Data Mining; Classification and Clustering; Multi-resolution Techniques; Information Retrieval;
Evolution Strategies; Genetic Programming and Evolutionary Programming; Computer Vision and Image Analysis;
Intelligent Image, Signal, and Speech Processing; Information Systems; Mobile Computing; Multimedia Applications;
Natural Language Processing; Parallel and Distributed Computing; Performance Evaluation; Programming
Languages; Re-configurable Computing Systems; Security & Cryptography; Automated Software Engineering;
Bioinformatics; Computer Architecture & VLSI; Computer Architecture and Embedded Systems; Computer Games,
Graphics & Virtual Reality; Computer Modeling; Computer Networks and Security; Computer Vision; Computer-aided
Design/Manufacturing; Computing Ethics; Data Communications, Compression and Encryption; Data Mining;
Databases; Digital Library; Distributed Systems; Event Driven Programming; Expert Systems; High Performance
Computing; Theoretical Computer Science; User Interface; Dilution of Organizational Boundaries; The centrality of
Information System (IS) and IT in Organizational Processes; Innovation and IS; Enterprise Application Integration;
Enterprise Resource Planning; Business Process Change; Iterative and Incremental Methodologies; Agile
Methodologies; E-Learning and Teaching.

6
Conference Organization
General Chair
Arjon Turnip, Indonesian Institute of Science, Indonesia

Co-General Chair
Augie Widyotriatmo (Institute of Technology Bandung, Indonesia)

Technical Program Chair

Endra Joelianto (Institute of Technology Bandung, Indonesia)
Secretary Chair
Hanif Fakhrurroja (Indonesian Institute of Science, Indonesia)
Treasury Chair
Hilman Saeful Alam (Indonesian Institute of Science, Indonesia)
Publication Chair
Muhammad Ary Murti (Telkom University, Indonesia)
Publicity Chair
Anto Tri Sugiarto (Indonesian Institute of Science, Indonesia)

International Program Commite

Abderrazak Hachani, Tunisia Augustin Prodan, Romania
Adi Saptari, Malaysia Avinash Shingh, India
Adya Pramudita, Indonesia Aymen Boudguiga, French
Agus Budiyono, Korea Azilah Saparon, Malaysia
Ah Heng You, Malaysia Babul SalamKader Ibrahim, Malaysia
Ahmad Agus Setiawan, Indonesia Bahman Arasteh, Iran
Alaa Sheta, Egypt Baisakhi Chakraborty, India
Alexander Gegov, United Kingdom Bappaditya Mandal, Singapore
Ali Khenchaf, France Behnam Faghih, Iran
Alireza T. Boloorchi, USA Bhavnesh Kumar, India
Amir Moghtadaei Rad, Iran Binod Kumar, India
Amir Nakib, French Borhan Marzaougui, Tunisia
Andrew Samraj, India Burhanuddin Yeop Majlis, Malaysia
Andriyan Bayu Suksmono, Indonesia Byung-Rae Lee, South Korea
Anitawati Mohd Lokman, Malaysia Cecilia E. Nugraheni, Indonesia
Ankit Thakkar, India Cezarina Adina Tofan, Romania
Anna Antonyova, Slovakia Chan Yee Kit, Malaysia
Anuradha Dhull, India Chang Wu Yu, Taiwan
Anzar Ahmd, India Chen Liu, China
Apurva Mohan, USA Chengjie Wu, USA
Aqueel-ur-rehman, Pakistan Chien-lin Huang, Japan
Arata Saraiva, Brazil Ching-Hsien Hsu, Taiwan
Arif Nur Afandi, Japan Choo Kim Tan, Malaysia
Ashish Bagwari, India Christian Buddendick, USA
Ashish Mani, India Ci-Wei Lan, Taiwan
Ashok Kumar, USA Dan Milici, Romania
Ashraf Osman Ibrahim, Malaysia Dana Kusumo, Indonesia
Atta ur Rehman Khan, Pakistan Daniel Abasolo, United Kingdom

7
Daobilige Su, Australia Ikhwana Elfitri, Indonesia
Dedy H. B. Wicaksono, Malaysia Issa Panahi, USA
Dhanalakshmi Kaliaperumal, India Istvan Szenasy, Hongaria
Dimitrios Rovas, Yunani Izzati Muhimmah, Indonesia
Dinesh Bhatia, USA Jaime lloret Mauri, Spain
Eko Adhi Setiawan, Indonesia Jalel Ben Othman, French
Elayas Palantei, Indonesia Jamil Al Asfar, Jordan
Engels R, India Jamil Salleh, Malaysia
Erne Suzila Kassim, Malaysia Jason Quinlan, Ireland
Estiko Rijanto, Indonesia Jenny Dankelman, Netherlands
Faisal Mohd Yasin, Australia Jianyuan Feng
Faizal Arya Samman, Indonesia Jinghong Low, Malaysia
Farid Nait-Abdesselam, France Joberto Martins, Brazil
Farid Nasir Ani, Malaysia Joberto S. B. Martins, Brazil
Farid Touati, Qatar Joerg Widmer, Spain
Federico Tramarin, Italy John Moore, United Kingdom
Felix Pasila, Indonesia Jorge Sa Silva, Portugal
Fionn Murtagh, United Kingdom Joshua Ellul, Malta
Florian Kongoli, Canada Juliana Johari, Malaysia
Ford Lumban Gaol, Indonesia Junaid Baber, Thailand
Francesco Cannone, Italy Kaikai Xu, China
Frank den Hartog, Belanda Kamarulzaman Ab. Aziz, Malaysia
Fu-Jen Kao, Taiwan Kasemsak Uthaichana, Thailand
Galia V. Tzvetkova, Bulgaria Kashif Azim Janjua, Pakistan
Gerard Parr, Irela Kasim Al-Aubidy, Jordan
Ghulam Abbas, United Kingdom Kazumi Nakamatsu, Japan
Giuseppe Fedele, Italy Khairur Rijal Jamaludin, Malaysia
Grienggrai Rajchakit, Thailand Khalid Yusoff, Malaysia
Gunawan Wibisono, Indonesia Kiran Manjappa
Gunawan Witjaksono, Malaysia Koay Mei Hyie, Malaysia
Gyanendra Joshi, South Korea Kong Sin Thang, Malaysia
Habtamu Abie, Norway Krzysztof Galkowski, Poland
Hadj Bourdoucen, Oman Lakhoua Najeh
Hamid Al-Asadi, Iraq Laksana Tri Handoko, Indonesia
Hamid Magrez, Morocco Lau Kok Tee, Malaysia
Hamidreza Kermajani, Spain Le Hoa Nguyen, Vietnam
Hamidreza Namazi, Singapore Leandros Maglaras
Hans Joachim Hof, Germany Leong Loong Kong, Malaysia
Hanung Adi Nugroho, Indonesia Low Cheng Yee, Malaysia
Harshal Arolkar, India M Nazrul Islam, Bangladesh
Harya Widiputra, Indonesia M Udin Harun Al Rasyid, Indonesia
Hidetusugu Kobayashi, Japan Manoj Mukul, India
Hin Yong Wong, Malaysia Marco Musetta, Italy
Hisham Al-Rawi, Bahrain Maria D. R-Moreno, Spain
Hishamuddin Jamaluddin, Malaysia Marimin, Indonesia
Hiskia, Indonesia Mario Collotta
Hubert Roth, Germany Mario Donato Marino, Brazil
Hui Kang, USA Mart Min, Estonia
Huiyu Zhou, United Kingdom Marwan Nafea, Malaysia
I Made Wartana, Thailand Maryam Shahriari-Kahkeshi, Iran

8
Masaaki Kondo, Jepang Prima Kristalina, Indonesia
Maulika Patel, India Prospero Naval, Philippine
Maysam Abbod, United Kingdom Quang Hieu Ngo, Vietnam
Maythem Kamal Abbas, Malaysia R. Balachandran, United Kingdom
Md Asdaque Hussain, Ethiopia R.S.Ponmagal, India
Md. Hasanuzzaman, Malaysia Rabie Ramadan, Egypt
Mhamed Bakrim, Maroko Rajesh Narayana Perumal, India
Michael Condry, USA Rajeswari Mukesh, India
Ming Fei Siyau, United Kingdom Rashmi Ranjan Rout, India
Modris Greitans, Latvia Razana Juhaida Johari, Malaysia
Mohamed Mosbah, French Razia Haider, Pakistan
Mohamed Zayan, Egypt Rehan Qureshi, Pakistan
Mohd Azlan Bin Mohd, Malaysia Ren-Song-Ko, Taiwan
Mohd Jailani Mohd Nor, Malaysia Risat Pathan, Swedish
Mohd. Faizal Abdollah, Malaysia Robert Szabolcsi, Budapest
Mohsin Jamil, Pakistan Rodolfo Oliveira, Portugal
Montassar Najari, Tunisia Rohaizat Bin Baharun, Malaysia
Mosbeh Kaloop, Egypt Rohit Gupta, India
Muhammad I. Herdiansyah, Indonesia Roland Potthast, United Kingdom
Muhammad Naufal Mansor, Malaysia Rosaura Palma Orozco, Mexico
Mujibur Rahman, Malaysia Rosli bin Abu Bakar, Malaysia
Muralindran Mariappan, Malaysia Roziah Binti Kambol, Malaysia
Muralishankar R, India Rusnani Ariffin, Malaysia
Mu-Song Chen, Taiwan Ryojun Ikeura, Japan
Navdeep Malhotra, India Ryosuke Ando, Japan
Nazarinia Mehdi, Scottland S G Ponnambalam, Malaysia
Nguyen Van Cuong, Vietnam Sabira Khatun, Malaysia
Nico Saputro, Indonesia Sadjaad Ozgoli, Iran
Nik Rumzi NikIdris, Malaysia Saiful Akbar, Indonesia
Noemi.ca Emanuela Cazzaniga, Italy Salmah, Indonesia
Noorziah Mohd Salleh, Malaysia Sam Cubero, Uni Arab Emirates
Nor Hisham Khasim, Malaysia Samaksh Kr. Sharma, Singapore
Nor Shahniza Kamal Bashah, Malaysia Sangharatna Godboley, India
Norlida Buniyamin, Malaysia San-Nan Lee, Taiwan
Noureddine Boudriga, Tunisia Sarjiya, Indonesia
Noureddine Hassini, Algeria Satya Kumara, Indonesia
Nuno M. Garcia, Portugal Saurabh Dixit, USA
Nursurianti Jamil, Malaysia Scott Midkiff, USA
Nurul Taufiqu Rochman, Indonesia Selvakumar Manickam, Malaysia
Nutthita Chuankrerkkul, Thailand Seng Poh Lim, Malaysia
Olimpiu Stoicuta, Rumania Seno Panjaitan, Indonesia
Omid Ghasemi, Amerika Serikat Senthilkumar Palaniswamy, India
Ong Chee Tiong, Malaysia Shahanum Md Shah, Malaysia
Ong Thian Song, Malaysia Shahid Raza, Swedish
Panagiotis D. Diamantoulakis, Greek Shahrul Kamaruddin, Malaysia
Paolo Bientinesi, Germany Shahrum Shah Abdullah, Malaysia
Parbati Kumar Manna, USA Shajith Ali, Malaysia
Peter lim Shamsiah Abdullah, Malaysia
Philipp Fechteler, Germany Shankar H N, India
Po-Hsun Cheng, Taiwan Shien-Kuei Liaw, Taiwan

9
Shuhui Li, USA Vedram Singh, India
Siddharth Swarup, India Vincenzo Piuri, Italy
Sinan Hanay, Japan Vinod Kumar Jain, India
Siti Zaiton Mohn Hashim, Malaysia Waleed khalil Ahmed, Arab
Soleh U Al Ayubi, Indonesia Wan Dalila, Malaysia
Son Kuswadi, Indonesia Wan Nor Hazimah Wan Azib, Malaysia
Sourav Choubey, India Wayan Suparta, Malaysia
Sri Wahjuni, Indonesia Wee Kuok Kwee, Malaysia
Steve Chan, United Kingdom Yaghoub Tadi Beni, Iran
Suleiman Zubair, Malaysia Yancho Todorov, Bulgaria
Sumanta Guha, Thailand Yanumula Reddy, USA
Suneth Namel, Sri Lanka Yassine Salih Alj, Maroko
Surapong Chatpun, Thailand Yilun Shang, Singapore
Syazli Fathi, Malaysia Yoji Yamato, Japan
Takashi Ikebe, Japan Yoshihiro Yamamoto, Japan
Tanmoy Maity, India Yoshinari Awaji, Japan
Tetsuo Tomiyama, United Kingdom Zaharudin Mohamed, Malaysia
Tetsuya Kawanishi, Japan Zahriladha Zakaria, Malaysia
Timbul Manik, Indonesia Zaid Altahat, USA
Togar Saragi, Indonesia Zainal Abidin Zainuddin, Malaysia
Tom Igoe, USA Zeineb Chelly, Tunis
Tom Ziemke, Sweden Zhi Wang, USA
Uttam Kolekar, India Zina Jerjees, United Kingdom
Vahid Akbari, Norwegian

10
 Active Suspension System based Lyapunov Method
and Ground-hook Reference Model

Ayub Wimatra, Sunardi, Darmeli Nasution, Suherman Taufik Hidayat, Arjon Turnip
Julfansyah Margolang, Edi Faculty of Computer Science Technical Implementation Unit for
Sutrisno Universitas Pembangunan Panca Instrumentation Development
Academy of Engineering and Flight Budi Indonesian Institute of Sciences,
Safety, Medan, Indonesia Bandung, Indonesia
Medan, Indonesia E-mails: E-mail: [email protected]
Emails: [email protected], [email protected],
[email protected], [email protected]
[email protected],
[email protected]

Abstract— An alternative design technique for active softer that desirable. This leads to the concept of an adaptable
suspension system of vehicle using a developved ground-hook suspension which can change its characteristics bases on
damping system as a reference is proposed. The controller measured performance. By using an adaptation algorithm, it is
parameters are determined using Lyapunov method and can be expected that the optimal performance can be maintained over
tuned to precisely achieve the type of desired response which the wide range of input conditions typically encountered by a
given by reference model. The simulation result show that the vehicle. In this paper, an alternative design technique for active
designed active suspension system based ground-hook reference suspension system of vehicle using adaptive controller based
model is able to significantly improve the ride comfort and the skyhook damper model is proposed. The reference model and
road holding compared with semi-active suspension.
the controller systems are designed and determined using
Keywords—suspension; quarter-vehicle; adaptive control;
skyhook model and Lyapunov method, respectively. The
model reference; Lypunov control design was applied to two different suspension models,
namely the body vertical acceleration and the suspension
deflection models, each representing comfort and safety
I. INTRODUCTION factors.
In recent years there has been a significant growth in the
II. DYNAMIC OF SUSPENSION SYSTEM
design of suspension systems by which should reduce vibration
due to the external disturbances to the maximum possible A. A QuarterActive Model of Suspension System
degree [1-16]. Two criteria of good vehicle suspension
performance are typically their ability to provide good road In most cases, dynamic systems are stimulated by the
handling and increased passenger comfort. It is difficult to movement of anchorages. The suspension system of car is
meet both requirements, since this involves opposing stimulated as a result of moving on the ruggedness of the road.
tendencies in the selection of the main parameters of A car is moving on a bumpy road in which some forces are
suspension, i.e. stiffness and damping. Suspension should be exerted on the passengers as the result of the change of the
rigid enough to effectively carry the static load, and soft length of springs and dampers. The schematic diagram of a
enough to ensure the good isolation of vibrations. These two quarter-vehicle suspension system under investigation can be
factors are related to the body vertical acceleration and the presented as in Fig. 1, where ms and mu each represents the
suspension deflection. If the suspension system is unable to sprung mass and unsprung mass respectively, ca represents
absorb the vibration caused by the unevenness of the road absorber coefficient, ka represents spring constants, kt
surface, a significant deflection of the suspension will occur represents the tire equivalent constants, zr represents surface
resulting unsafe condition of the vehicle. Moreover, the sprung roughness of road, zs represents vehicle body position and zu
mass of the vehicle will also exhibit a large vertical represent the tire vehicle position. The variable Q represents an
acceleration which can be the reason of a ride discomfort. In applied actuator force for the active suspension. The values of
order to achieve a good ride quality, the performance of the the parameters in this model, which are taken from a typical
suspension system plays an important role. passenger car, are collected in Table 1. However, the value of
ka is unknown therefore it can be assumed that there is no
Since most of the vehicle suspensions do not operate with a limitation in generating the actuator force Q. Using Newton’s
single well defined roadway input, real suspensions are rarely second law, the equations of motion for the model in Fig. 1 are
optimal for any particular road and speed. On smooth roads the given by
suspension will be stiffer than necessary and on rough roads
ms zs  ka zs   zu  Q (1) ms zs  kb ( z s  zu )  c( zs  zu ) (4)
mu zu  ka zs  zu   kt ( zu  zr )  Q . (2)
mu zu  kb ( z s  zu )  c g zu  c( z s  zu )  kt1 ( zu  z r ) (5)
By defining x1  zs , x2  zs , x3  zs  zu , and
where, cb and c g are indicate a variable damper and a
x4  zs  zu , then the equations (1) and (2) can be expressed
in the state space form as follows: coefficient that connected between the unsprung mass and the
fixed fictitious frame on the ground, respectively. z s , zu ,
X  AX  Bu  Czr (3) zs  zu are the velocities of sprung mass, unsprung mass, and
relative velocity between sprung mass and unsprung mass.
wh ere, the matrices A, B, and C are given by Theoretically, ground-hook damper model will improve the
responses of the unsprung system [18]. The ideal ground-hook
 0 1 0 0 damper model is given by: if  zu ( zs  zu )  0 then f  c g zu ,
 ka 
 0 0 0 if  zu ( zs  zu )  0 then f  0 , where f is ground-hook
 ms ,
A 0 0 0 1 damper model force. The generated forces by the ground-hook
  k a k a  kt  
 kt
model are added to the passive vehicle model which used as a
0    0
 mu m mu   reference on acttive suspension controller design.
 s

B  0  1 / ms 0  (1 / ms  1 / mu )T ,

C  0 0 0  kt / mu T
zs
Vehicle body

ms Q
Hydrolic
actuator
ca ka
mu zu

Fig. 2 Ground-hook reference model of a quarter-vehicle

Active
component
Tire k t zr suspension system

In the state space form, equations (4) and (5) is written as

Fig. 1 Schematic diagram of a quarter-vehicle model

Table 1. System parameters. X d  Ad X d  Cd zr (6)

Parameter Value
where the matrices Ad and Cd are given by
Sprung mass ( ms ) 412.5 kg
Unsprung mass ( mu ) 51 kg  0 1 0 0 
210 N/m  0  c g / ms  k b / ms  cb / ms 
Tire stiffness ( k t )  
Rattle space ( z s  zu )max 91 mm Ad   0 0 0 1 
k  cg cg   kb kb  kt1   cb cb 
 t1            
 mu  ms mu

  ms mu   ms mu 
B. A Ground-hook Damper as Reference Model
In order to specify the desired performance of the Cd  0 0 0  kt1 / mu T .
suspension system, the reference model is derived from
quarter-vihicle ground-hook model (see Fig. 2). Ground-hook
proposed the control method Ground-hook that in which an III. CONTROLLER DESIGN
assumed amortize has been incorporated between the One of the main approach often used in adaptive control
sprung mass and the ground in order to reduce dynamic
design is the model-reference adaptive system, which is
force of tire and to improve the conductibility of the car. In
Fig. 2, The linear equation of the state for reference model illustrated in Fig. 3. Here, the desired performance is
Ground-hook from the order of four has been presented as expressed in terms of a reference model, which gives the
follows: desired response to a command signal. The desired output of
the model is compared to the output of plant, where its
different or the error, e is used to generate an actuating signal. or

 
One of most critical point in the design is how to make the
1
error e as small as possible. This will depend on the model, the V  eT AdT P  PAd  T BT PeX T  T 
 (15)
system, and the command signal. If it would be possible to 2
make the error equal to zero for all command signals, then   BT PeX T , then equation (15) can be
perfect model-following would be achieved. By chosing 
yd simplify as
Reference Model
1
Adjustable controller Adjustment V   eT e . (16)
mechanism 2

Q u y Then the parameter adjustment law is obtained as

Controlled
Controller
Suspension
  BTp BT PeX T . (17)
Fig. 3 The scheme of active suspension system based
lyapunov method and ground-hook reference model
IV. DISCUSSIONS
As shown in Fig. 3, a feedback adaptive controller whose
parameters were adjusted by an adaptive law based on the To investigate and observe the performance of the designed
measurement of the error. Choosing the control law as adaptive controller to changing dynamics of the vehicle
suspension systems, two different types of input signals (i.e.,
follows:
sinusoid and random signals) representing different types of
road to stimulate the dynamics of suspension of the vehicle
Q  X , (7) have been identified. It is desired that when the vehicle runs on
the three different road types, the controller will choose the
where   [1 2 3 4 ] is an adjustable controller gain coefficients of controller  such that the closed-loop output
matrix, then equation (3) becomes response of each model will be close to the model-reference
response for any changes of the dynamic suspension system.
X   A  B X  Czr . (8) Revisiting the ground-hook scheme in Fig. 2, the variables
cb and c g define the control gains that are used in computing
Assumed that C  Cd , then the error and its dynamic between u in proportion to z s  zu and zu . Fig. 4 shows that, as the
the states in Fig. 3 can writen as damping coefficients c1 and c2 (to indicate cb and c g ,
respectively) increases, the peaks of the accelerations of the
e  X  Xd . (9)
sprung and the unsprung masses at their natural frequencies
e  X  X d  Ad e  ( A  Ad  B ) X (10) decrease, while the acceleration levels in the frequency range
4-8 Hz and in the frequency range 12 Hz and higher increase.
In order to make e goes to zero, then there must be exist a set Decreasing cb while increasing c g results in an increase of the
of unknown constant gain  * such that amplitude of the unsprung-mass natural frequency, with the
gain of the reduction of the amplitude of other frequency
ranges. Another notable observation is that the transmissibility
A  B *  Ad . (11) to the sprung-mass acceleration with constant cb in the higher
frequency range of over 12 Hz is constant for any value of c g .
By substituting (11) into (10), we have The dynamic response of the system for different values of the
damping coefficients is clearly a weighted combination of the
damping coefficients of the skyhook control. The controlled
e  Ame  BX (12) skyhook then is used as reference model in the adaptive
controller design.
where      * . In order to drive the adjustment law of the The magnitudes of the frequency responses of the sprung-
parameter, the Lyapunov function is introduced as mass acceleration with respect to the road disturbance are
shown in Fig. 5. The solid line and the dotted line represent the

 
magnitude plots of the frequency responses of the semi-active
1 T
V e Pe  T  (13) (with ground-hook controller) and the active. In Fig. 5, the
2 dashed line depicts a large improvement according to the other
1

V  eT Pe eT Pe  2T 
2
 (14)
values. However, the dashed line shows a deterioration of ride
comfort in the frequency range 4-8 Hz and the deterioration of
noise & harshness in the frequency range of 12 Hz and higher,
0.15
when compared with the passive suspension. Fig. 6 and 7 show
Active
the comparison of output responses between the desired Semi-active
reference model with output response of the controlled
0.1
suspension model which dynamic has changed during vehicle

Sprung mass displacement (m)

running, each for body vertical acceleration model and
suspension deflection model respectively. 0.05

If the results between semi-active and active suspension

systems are compared in Figs. 6-8, it can be seen that, for the
0
same input road disturbance in the form of random, the output
response of semi-active suspension will follow the disturbance,
whereas for the active suspension using the designed model -0.05
reference adaptive technique then the output response does not
react accordingly to the disturbance. This means that the
designed active suspension performs better than the semi- -0.1
0 1 2 3 4 5 6 7 8 9 10
active one when the vehicle is subject to different road Time (s)
disturbance. In Fig. 6 it can also be observed that the output
response of the controlled suspension will follow almost Fig. 6 Sprung mass displacement response.
exactly the output of the reference model.
3
10 1
Active
0.8 Semi-active
2]

0.6
Sprung mass velocity (m/s)
Sprung mass Acceleration [m/s

2 0.4
10

0.2
c1=4000, c2=4000
c1=3000, c2=4000
0
c1=2500, c2=4000
c1=2000, c2=4000
-0.2
1 c1=1000, c2=4000
10
Passive:c1=2000, c2=0
-0.4
.
-0.6
0 1 2 0 1 2 3 4 5 6 7 8 9 10
10 10 10
Time (s)
Frequency [Hz]

Fig. 4 Comparison of the magnitude plots of the frequency Fig. 7 Sprung mass velocity response.
responses of zs (s) / zr (s) for various damping coefficients.
30
3 Active
10
Semi-active
Active
20
Semi-active
Sprung mass acceleration (m2/s)

Passive
Sprung mass Acceleration [m/s2]

10

2
10
0

-10

1
10
-20

0 1 2 -30
10 10 10 0 1 2 3 4 5 6 7 8 9 10
Frequency [Hz] Time (s)

Fig. 5 Comparison of the frequency responses of Fig. 8 Sprung mass acceleration response.
zs (s) / zr (s) .
 REFERENCES
40
Active [1] E. Guglielmino, T. Sireteanu, C. W. Stammers, G. Ghita and
30 Semi-active M. Giuclea: Semiactive suspension control, (2008), Springer
Verlag London Limited.
20 [2] A. Turnip, K.-S. Hong and S. H. Park: Modeling of Hydraulic
Unsprung mass velocity (m/s)

Engine Mount for Active Pneumatic Engine Vibration Control

10 Using the Extended Kalman Filter, Journal of Mechanical
Science and Technology, vol.23, no.1, (2009) p.229-236.
0
[3] D. Karnopp: Active damping in road vehicle suspensions,
Vehicle System Dynamics, 12, (1983), p. 291–316.
-10
[4] D. Karnopp, M. J. Crosby and R. A. Harwood: Vibration
-20
control using semi-active for generators, SME Journal of
Engineering for Industry, 96 (May), (1974), p. 619–626.
-30 [5] D. Karnopp and G. Heess: Electronically controllable vehicle
suspensions, Vehicle System Dynamics, 20 (May), (1991), p.
-40 207–217.
0 1 2 3 4 5 6 7 8 9 10
Time (s)
[6] A. Turnip and K.-S. Hong: Road-frequency based optimization
of damping coefficients for semi-active suspension systems,
Fig. 9 Unsprung mass velocity response. International Journal of Vehicle Design, vol. 63, no. 1, (2013)
p. 84-101.
[7] M. Ahmadian, X. Song and S. C. Southward: No-jerk skyhook
3000
control methods for semi-active suspensions, Journal of
Active
Vibration and Acoustics, 126(4), (2004), p. 580–584.
Semi-active
2000 [8] A. Turnip, S. H. Park and K.-S. Hong: Sensitivity Control of a
MR-Damper Semi-Active Suspension, International Journal of
Unsprung mass acceleration (m2/s)

Precision Engineering and Manufacturing, vol.11, no.2, (2010)

1000
p.5-13.
[9] M. Ahmadian and A.P. Christopher: A Quarter-Car
0 Experimental Analysis of Alternative Semi-Active Control
Methods, Journal of Intelligent Material Systems and
Structures, Vol. 11, (2000), p. 604-612.
-1000
[10] A. S. Cherry, R. P. Jones and T. E. C. Potter: The Use of
Multibody System Modeling and Multivariable System
-2000 Decoupling Technique in Vehicle Ride Control,” ASME
Transactions, Journal of Dynamic Systems, Measurement, and
Control, Vol. 121, No. 3 (1999), p. 479-486.
-3000
0 1 2 3 4 5 6 7 8 9 10 [11] A. Turnip, D. Soetraprawata, Hariyadi and D.E. Kusumandari:
Time (s) Design of an adaptive intelligent controller in a semi-active
suspension systems, Teknologi Indonesia, vol. 36, no. 1 (2013),
Fig. 10 Unsprung mass acceleration response. p. 9-15.
[12] S. B. Choi, S. K. Lee and Y. P. Park: A Hysteresis Model for
V. CONCLUSIONS the Field-Dependent Damping Force of a Magnetorheological
Damper, Journal of Sound and Vibration, Vol. 2, (2011), p.
The controller based Lyapunov method and ground-hook 375-383.
reference model for suspension system is designed. The effects [13] F. D. Goncalves and M. Ahmadian: A Hybrid Conrol Policy for
of the road excitation frequency and road roughness in Semi-Active Vehicle Suspensions, Shock and Vibration, Vol.
association with the ride comfort and the road holding of the 10, (2003), p. 59-69.
vehicle were studied. The simulation result show that an active [14] A. Turnip and H. Fakhrurroja: Estimation of the wheel-ground
suspension system with the proposed control strategy is able to contact tire forces using extended Kalman Filter, International
improve the ride comfort and the road holding, significantly Journal of Instrumentation Science, vol. 2, no. 2 (2013), p. 34.
compared with the conventional passive suspension systems as [15] K. S. Hong, D. S. Jeon, W. S.Yoo, H. Sunwoo, S. Y. Shin, C.
well with semi-active suspension. M. Kim and B. S. Park: A New Model and an Optimal Pole-
placement Control of the Macpherson Suspension System, SAE
International Congress and Exposition, Detroit, MI, SAE paper
ACKNOWLEDGMENT No. 1999-01-1331, (1999), p. 267-276.
This research was supported by the thematic program [16] Y. Liu, T. P. Waters and M. J. Brennan: A Comparison of Semi-
through the Bandung Technical Management Unit for Active Damping Control Strategies for Vibration Isolation of
Instrumentation Development (Deputy for Scientific Services) Harmonic Disturbances, Journal of Sound and Vibration, Vol.
funded by Indonesian Institute of Sciences, Indonesia. 280, (2005), p. 21-39.