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The increase in the number of elderly motivates academic researchers to develop technologies that can ensure self-sufficiency in their lives. In this research, prototype of an inexpensive video monitoring system for the elderly using a single RGB camera proposed. In the process is divided into two, namely vision and event recognition module. For event recognition, we use a hierarchical description-based...
Multiple object tracking is one field of study in vision-based navigation. Basically, in many current-research of this study, the common method in object tracking consists two main parts such as object detection and motion prediction, Object detection is highly related to the image processing which has a high tendency in using biggest part of computation resources. But, for the certain purpose, the...
Falling is one of the most common injurious accidents in the elderly which could result in pain, disability, and even death. About 33% of the elderly have falling accident each year. According to the Statistics Indonesia data in 2014, the total population of over-60-year-olds increase to 8.03% of the total population in that year. In this research, we use the accelerometer and a gyroscope sensor for...
This paper presents a controller design and its implementation for an omnidirectional robot. Due to the holonomic nature of an omnidirectional robot, the mobile robot are able to follow any planned trajectory. The path are calculated on the world frame and then transformed using inverse kinematic to each of the mobile robot motor speed. Therefore a kinematic model for the robot are derived and a PID...
Multiple object tracking is one field of study in vision-based navigation. Basically, in many current-research of this study, the common method in object tracking consists two main parts such as object detection and motion prediction, Object detection is highly related to the image processing which has a high tendency in using biggest part of computation resources. But, for the certain purpose, the...
As the number of ageing population and cardiovascular diseases increased, innovations in electrocardiogram (ECG) recording devices with more compact design and capability to be operated while user moving freely and comfortably are needed to help monitoring cardiac activity. Despite of its advantages, the high mobility of ECG leads to the increasing of motion artifacts and baseline drifts which then...
Goal posts detection is a critical robot soccer ability which is needed to be accurate, robust and efficient. A goal detection method using Hough transform to get the detailed goal features is presented in this paper. In the beginning, the image preprocessing and Hough transform implementation are described in detail. A new modification on the θ parameter range in Hough transform is explained and...
Humanoid robot must has an ability to move with dynamic motion. Robot is required to walk even get any interference of other robots or other disturbance, and keep its balance. In general, robot motion system is built by 2 kinematics systems, inverse kinematics and forward kinematics. Inverse kinematics is more often used for robot motion because it is more dynamic compare to forward kinematics. Robot...
Localization is the most fundamental ability for winning the RoboCup Humanoid League Competition. In this paper, we present a vision-based localization method called Monte Carlo Localization (MCL) to deal with the limited landmarks left in RoboCup, such as the yellow goal posts and field markers. In the beginning, we give brief explanation of perception system. Next, we give detailed implementation...
Wall following is a behavior which navigates a robot through an area, by sticking to the nearest wall without turning into it This behavior is very useful for a mobile robot with no odometer but has to cover an area. This paper proposes the design and implementation of Active Object Computing Model for a wall following mobile robot. Active Object Computing Model is a combination of event driven framework...
Behavior-based control present a different approach in designing control system of robot. In this paper will be implemented behavior-based control system into an autonomous robot using Active Object Computing Model technique. With this technique will be demonstrated coordination between behavior in parallel and switching behavior. Map building behavior is a behavior of robot to transform the reading...
Along with the learning convergence and nonstationary equilibria, important thing to be solved in Reinforcement Learning is the slow-learning problem. In highly dynamic and stochastic systems, Markov Decision Processes is often used to model the situation, and RL is used to produce optimum control values which are expressed by optimum policy. However, approaches to solving MDP’s using RL depend on...
This paper propose an implementation of behavioral-based control system architecture for a mobile robot which is equipped with 5 ultrasonic sensors. Using this control system, robot should be able to do some obstacle avoidance sequences. The implementation of behavioral-based control system is using active object computing model, which consist of event driven paradigm, event driven architecture, and...
In this paper, we show a variant of consensus protocol for multi-agent system. Instead of using the linear consensus protocol, we use an additively perturbed linear consensus protocol. We show that our protocol solves the unconstrained control problem. We also show numerical simulation results of our protocol.
The paper presents a method to determine a position of objects in three dimentional coordinates. The proposed method uses a vision-based localization using two low cost cameras. The formulation is derived by using a pin-hole camera principal to project a location of a point in a 2D image into 3D space. This method can be used for indoor unmanned aerial vehicles localization to provide position information...
Bone problem can be examined using ultrasound imaging modalities. Using 3D imaging technologies, information of the bone could be acquired in one go, and analyzed later. Prototype of 3D reconstruction for ultrasound imaging modalities had been developed in this research. However, the system not yet integrated with any position tracker, thus testing for the system only done in a simulation by acquiring...
This paper decribe our design and implementation of lowcost handmade bone phantom ultrasound and its possibilities to be used as educational media for image processing studies. In our research, a segmentation algorithm and 3D reconstruction method had been developed and tested using bone phantom. During test, bone phantom showed capabilities as an asssitive tool to explain, analyze, and test image...
As technologies are continually growing, there should be an option to implement technologies such as robots as entertainer at the tourism places, replacing the old-fashioned clowns and mascots. However, robots with a lot of features need relatively complex data processing. By implementing cloud robotics, all process and data calculation will be done by computers which are separated from the body of...
A service oriented architecture with Robot Operating System is developed for upper part humanoid robot teleoperation with human gesture recognition. This architecture enables the system to distributed in nodes do physically do not change the humanoid weight.
Current localization algorithms for mobile robots require high computation cost and are impractical to implement in a micro controller. In this paper we propose three localization algorithms for hexapod wall-following robot with low computation power and limited sensors. Our algorithms are based on non-fuzzy rule-based classification algorithm, fuzzy rule-based classification algorithm and particle...
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