Pengembangan Sistem Odometri Untuk Akuisisi Sinyal B-Scan GPR

Yasar, Arriza Fajar Zhafar (2024) Pengembangan Sistem Odometri Untuk Akuisisi Sinyal B-Scan GPR. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 5024201013-Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only until 1 October 2026. Download (10MB) | Request a copy

Abstract

Ground Penetrating Radar (GPR) merupakan alat penting untuk pemindaian bawah permukaan, terutama dalam inspeksi struktur beton. Penelitian ini bertujuan mengembangkan sistem odometri terintegrasi dengan GPR, menggunakan Raspberry Pi sebagai pengendali utama. Sistem ini dirancang untuk memantau pergerakan perangkat GPR, mengumpulkan data dari sensor, serta menyimpan dan memvisualisasikan data secara otomatis. Komponen utama yang digunakan meliputi enkoder roda berlubang, IR-Sensor, LiteVNA, dan platform mobil robot chassis 4WD. Metodologi penelitian mencakup desain dan persiapan perangkat keras dan lunak, integrasi sistem odometri dengan GPR, dan pengujian untuk validasi sistem. Hasil penelitian menunjukkan bahwa sistem odometri yang dirancang mampu mendeteksi jumlah putaran roda dengan akurat dan menyimpan data berdasarkan interval pulsa yang ditentukan, dengan interval 8 pulsa memberikan hasil paling konsisten dengan standar deviasi terkecil. Data S-parameter yang dihasilkan dari LiteVNA dapat dianalisis dan ditampilkan dalam bentuk sinyal A-Scan dan B-Scan. Kesimpulan dari penelitian ini adalah bahwa sistem odometri yang dikembangkan berhasil meningkatkan akurasi interpretasi data GPR dan membantu pemetaan data ke lokasi fisik dengan lebih akurat. Saran untuk pengembangan lebih lanjut meliputi peningkatan kapasitas power supply, integrasi sistem odometri dengan driver motor untuk menentukan arah gerakan, dan kalibrasi NanoVNA secara berkala untuk memastikan akurasi data.
====================================================================================================================================
Ground Penetrating Radar (GPR) is a crucial tool for subsurface scanning, especially in concrete structure inspections. This research aims to develop an odometry system integrated with GPR, utilizing a Raspberry Pi as the main controller. The system is designed to monitor the movement of the GPR device, collect data from sensors, and automatically store and visualize the data. The main components used include perforated wheel encoders, IR sensors, LiteVNA, and a 4WD robot chassis platform. The research methodology includes the design and preparation of hardware and software, integration of the odometry system with GPR, and testing for system validation. The results indicate that the designed odometry system can accurately detect wheel rotations and store data based on specified pulse intervals, with an 8-pulse interval providing the most consistent results with the smallest standard deviation. The S-parameter data generated by LiteVNA can be analyzed and displayed in the form of A-Scan and B-Scan signals. The conclusion of this research is that the developed odometry system successfully enhances the accuracy of GPR data interpretation and assists in mapping the data to physical locations more accurately. Recommendations for further development include increasing the power supply capacity, integrating the odometry system with motor drivers to determine movement direction, and periodically calibrating the NanoVNA to ensure data accuracy.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Ground Penetrating Radar, odometry, Raspberry Pi, LiteVNA,
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105 Data Transmission Systems T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7871.674 Detectors. Sensors
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Computer Engineering > 90243-(S1) Undergraduate Thesis
Depositing User:	Arriza Fajar Zhafar Yasar
Date Deposited:	29 Jul 2024 01:03
Last Modified:	29 Jul 2024 01:03
URI:	http://repository.its.ac.id/id/eprint/109176

Actions (login required)

View Item