DESIGN OF SOFT ROBOT PRESSURE CONTROL SYSTEM FOR BRONCHOSCOPY WITH NEEDLE VALVE
Tuberculosis (TB) is a disease caused by infection with the bacteria Mycobacterium tuberculosis and is currently still a public health problem both in Indonesia and internationally. In Indonesia, TB diagnosis is based on clinical symptoms and laboratory tests. The TB testing method is by examining s...
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| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/79691 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | Tuberculosis (TB) is a disease caused by infection with the bacteria Mycobacterium tuberculosis and is currently still a public health problem both in Indonesia and internationally. In Indonesia, TB diagnosis is based on clinical symptoms and laboratory tests. The TB testing method is by examining sputum obtained using bronchoscopy or bronchoalveolar lavage.
In this research, a pressure regulator has been designed and built by utilizing the concept of pressure regulation with a needle valve. This needle valve is a type of flow control valve that can regulate the fluid flow rate proportionally by regulating the cross-sectional area through which the fluid passes. The pressure regulator in this research uses a needle and servo valve system produced through a 3D printing process. This pressure regulator valve is used in pneumatic systems to regulate the movement of the soft robot. This pneumatic system is capable of regulating pressure in the range of 0.2 – 1.2 bar, with transient settling time characteristics in the range of 0.891 – 2.182 seconds, and without overshoot. Apart from that, the system was also tested using a pressure setpoint in the form of a 2 step signal for 3 minutes, then a sinusoidal and triangular signal for 6 minutes. In this research, the control system shows good performance when the smallest pressure setpoint is at least 0.2 bar.
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