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This paper validates the advantage of using an integrated electric vehicle-battery model in torque control application. In the integrated electric vehicle-battery model, battery dynamics is explicitly included in the model. A well-known linear quadratic integral (LQI) design is adopted here to have an optimal controller with zero tracking error. The energy consumption is, however, observed through...
This paper presents design and implementation of face tracking system using servo-motor-controlled Pan-Tilt visual system. The objective is to maintain the position of a tracked object at the center of frame window on the screen. A simple camera is used as visual sensor to obtain the face object's actual position. Combination of Viola-Jones and Template Matching algorithms are used for face detection,...
Energy-efficient system is very desirable in an electric vehicle. Having energy-efficient control systems in the vehicle should be advantageous in this regard. This paper presents an integrated battery-electric vehicle model to capture battery dynamics. In order to evaluate the usefulness of the model for having energy-efficient system, a linear quadratic integral (LQI) control of the vehicle's speed...
This paper presents a comparison of two classifier methods based on accuracy level in Indonesian speaker recognition for unclear pronunciation problem in a word, simple sentences, and complete sentences. The first method is Vector Quantization (VQ) based on distortion distance and the second method is Hidden Markov Model (HMM) based on the probability value of the data is observed. Based on the experiments,...
Humanoid robot is a dynamic robot which can walk with two legs like a human. Many researchers are interested in this class of robot due to its flexibility in reaching a variety of terrain and also its similarity to humans. The main problem often faced by developers is the motion control system which is rather nontrivial. Having 25 DOF with only two legs, it is difficult to model the robot movement...
In this paper, an implementation of gesture recognition using Hidden Markov Model to classify particular gestures on Sigeh Penguten traditional Dance is presented. The preliminary research is focused on recognition of dancers' hand gestures, i.e. ‘Sembah Depan’, ‘Sembah Kiri’, and ‘Sembah Kanan’ gestures based on their collected hands marker positions. The experimental results show that the proposed...
Automation of visual perception on the machine is the automation of the interpretation of the data generated by the camera sensor like humans. Some automated systems such as the robot and intelligent vehicle relies heavily on an understanding of the environment. The most fundamental understanding of the visual environment is the Machine's ability to identify categories of scenery is still a lot of...
This paper proposed for comparison of two methods used to predict the trajectory of a moving object in 3D fields using Kalman Filter and Levenberg-Marquardt Least Squares. The Kalman Filter needs dynamic model of the object to predict trajectory, different from The Levenberg-Marquardt method requires previous movements of the object, and the system can determine the next move, to perform this experiment...
This paper proposed for comparison of two methods used to predict the trajectory of a moving object in 3D fields using Kalman Filter and Levenberg-Marquardt Least Squares. The Kalman Filter needs dynamic model of the object to predict trajectory, different from The Levenberg-Marquardt method requires previous movements of the object, and the system can determine the next move, to perform this experiment...
Humanoid robot is a dynamic robot which can walk with two legs like a human. Many researchers are interested in this class of robot due to its flexibility in reaching a variety of terrain and also its similarity to humans. The main problem often faced by developers is the motion control system which is rather nontrivial. Having 25 DOF with only two legs, it is difficult to model the robot movement...
Automation of visual perception on the machine is the automation of the interpretation of the data generated by the camera sensor like humans. Some automated systems such as the robot and intelligent vehicle relies heavily on an understanding of the environment. The most fundamental understanding of the visual environment is the Machine's ability to identify categories of scenery is still a lot of...
This paper presents a comparison of two classifier methods based on accuracy level in Indonesian speaker recognition for unclear pronunciation problem in a word, simple sentences, and complete sentences. The first method is Vector Quantization (VQ) based on distortion distance and the second method is Hidden Markov Model (HMM) based on the probability value of the data is observed. Based on the experiments,...
In this paper, an implementation of gesture recognition using Hidden Markov Model to classify particular gestures on Sigeh Penguten traditional Dance is presented. The preliminary research is focused on recognition of dancers' hand gestures, i.e. ‘Sembah Depan’, ‘Sembah Kiri’, and ‘Sembah Kanan’ gestures based on their collected hands marker positions. The experimental results show that the proposed...
National educational system was riddled with many problems both in terms of internal and external to date. Internal issues referring to the constraints of some national education standards among which the standard process, teachers and education personnel standards, and competency standards. The standard process has a problem that improvement mindset has not done well in the learning process of the...
Robotic soccer research as a standard problem to foster Artificial Intelligent research in robotics and related fields still needs improvement in game play modeling. Action anticipation decision could be based on opponent game play model. Artificial Neural Network has been used to capture game play model, but still has problems of slow learning convergence and inaccuracy. Artificial Neural Network...
Signal source localization has become an interesting research problem due to its wide applications. Time Difference of Arrival is one of the popular models to estimate the location of signal source using multiple sensors. Closed-form and exact-solution algorithms are commonly utilized to solve non-linear distance equations in the model through linearization process. As an alternative, hyperbola-tracing...
Distributed Hash Tables (DHTs) are the important algorithms for building structured peer-to-peer overlay networks. There are two approaches that used by the DHT’s designers for choosing the number of states maintained by each peer. With the first approach, each peer stores minimal information about other peers, typically increase logarithmically with the number of peers in the network. The DHT protocols...
In this paper, we optimize low speed networks access for designing an efficient Voice over Internet Protocol network, especially in 64 kbps, 128 kbps, and 256 kbps bandwidth capacities. We draw some analytical approach based on Extended E-model to quantify some levels of quality of service. Using the model, those levels are determined by network parameters such as delay, jitter, packet loss level,...
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