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High accuracy in joint angle prediction is very important in the development of devices based on myoelectric control. Joint angle prediction based on a non-pattern recognition method is more preferred due to the robustness and the easiness to adapt to any subject. This paper proposed a new method to predict an elbow joint angle based on electromyography (EMG) which used a time domain feature, zero...
The challenge design of servo state feedback controller is how to determine the parameter value of integral gain and state feedback gains. This paper proposes CDM (Coefficient Diagram Method) to determine gains of servo state feedback controller. We apply this controller in the nonlinear plant, magnetic levitation system, and firstly transform the system to be linear using feedback linearization....
Palmprint recognition method is part of the biometric system that has a significant impact on the advancement of civilization, especially in the areas of sensing identity the person. To get the reliable system, the selection of actions to be taken include choosing a filter of skeleton method, selecting the scale orientation of Gabor method, and using appropriate a dimension reduction. The results...
in this research, the estimation method using IT2FLS (Interval Type 2 Fuzzy Logic System) and ANFIS (Adaptive Neuro-Fuzzy Inference System) as a base to build the membership functions and the rule base is constructed. The differences area of uncertainty is used to determine a model of type 2 fuzzy systems based on the smallest RMSE value. This study uses two methods of type-reducer, namely Enhanced...
To avoid battery failure and keep the battery lifetime, a system needs control its use by considering two of several parameters of Battery Management System (BMS) such as State of Charge (SOH) and State of Health (SOH). The State of Charge in Battery Management System provides the percentage of battery capacity, while the State Of Health measures the battery health. The Thevenin battery model is used...
This paper proposes a method for path planning of Unmanned Surface Vehicle (USV) with the effective period of time to achieve the target using sharp cornering algorithm. This method is used to create the curve between two points of the target. USV uses 9 DOF IMU with Kalman Filter and also the Inertial Navigation System (INS) as a method to combine 9 axis of IMU become pitch, roll and yaw. The generated...
A quadrotor is needed by geologists to do surveillance and monitoring in several disaster-prone areas. Therefore, quadrotors which are able to perform autonomous hovering in order to move from one location to another are required. Based on the problem, This paper presents the trajectory and altitude control for autonomous hovering of quadrotor by using fuzzy logic controller. This algorithm is applied...
Fatigue is a state that the muscle could not able to maintain the contraction. Electromyography signals can be used to determine the state of muscle fatigue. Quantization of muscle fatigue needs to be defined clearly so that it can be used as an indicator or a compensator in the control system. Electromyography signal which is produced during dynamic motion during muscle fatigue assessment is a non-stationary...
This study was performed to evaluate the feasibility of short-time energy as an input vector features that will be used as a key of recognition in the voice biometric system to recognize the Cerebral Palsy (CP). To retrieve the characteristics of the voice, Mel-Frequencies Cepstral Coefficients (MFCC) was used as feature extraction algorithm, while Neuro Fuzzy was used as the classifier algorithm...
Bearing is a mechanical element of machine to reduce friction between two rotating objects. Bearings have an optimal lifetime but in real application, not all of them are able to reach their lifetime and most of them are damaged in a relatively short time. Any flaw on bearing that is not addressed earlier can lead to operation failure on mechanical equipment or machines. Usually type of bearing damage...
This paper addresses the issue of local information on the Artificial Potential Field (APF). The APF is designed as the path planning with global information usually. For the real time platform in the vast area, it is hard for the sensor to acquire data environment in the global view method. Generally, the sensor is attached on the robot itself that only could be obtained the local information. This...
Feature extraction is an important part in the classifier systems. In this study, feature extraction was used to extract the information of the surface electromyography (sEMG) and to predict upper limb elbow joint angle. To predict the upper limb elbow joint angle, we explored the EMG signal characteristics on biceps, triceps lateral head and triceps long head. Time domain of feature extraction is...
This paper discusses a non-pattern recognition method for the exoskeleton implementation. The exoskeleton was controlled using electromyography signal (EMG). The EMG signals were collected at the biceps and processed digitally to control the exoskeleton. The proposed method was a modified low pass filter (LPF) 2nd order using zero crossing (ZC) as a feature extraction. In this study, the proposed...
The accurate battery model and parameters identification are used to produce a reliable Battery Management System (BMS). In this research, the battery model using the equivalent circuit Thevenin model is proposed after considering its complexity, model accuracy, and robustness. Parameters identification is done by using pulse test data that contains current and Vd (the difference between Open Circuit...
Current sensor is an important part of Battery Management System (BMS). Current information of a battery is very important to estimate the value of State of Charge (SOC) as a component of fault detection. Fault detection is very important to implement in BMS because of its function to protect battery from damage caused by over discharge and overcharge. The issue here is expensive current sensors....
The electricity bill of postpaid kWh-meter is calculated from the recorded number of stand meter of kWh-meter. Nowadays, the recording process has been supported by a camera to capture the image of kWh-meter. Unfortunately, the clerks still read the stand meter number manually from the captured kWh-meter image. An automated reading and recording process is proposed based on image processing techniques...
Several previous researchers have conducted research on altitude control of a quadrotor, but the results showed that there were some problems namely long raise time and steady time, oscillation and overshoot when hovering. Hence, this paper presents modification of fuzzy algorithm mamdani method with error and altitude change inputs. The modification of the algorithm includes rule-base, set members...
In this paper, the potential field principle is applied to several UAVs (Unmanned Aerial Vehicles) for optimal path planning. Each UAV has its own goals and it is used the attractive potential field to reach the goals. On the contrary, each UAV is considered as obstacle for other UAVs that must be avoided. In this research, there are two types of obstacles, i.e the static and dynamic. The repulsive...
Time-series prediction in telecommunication industry has been used as the basic process of decision making of broadband data selling in order to increase the company's revenue. The conventional methods such as ARIMA, SARIMA and OLS are good methods to predict time series data, but PSO is a better method than those conventional models. PSO was first introduced by Kennedy and Eberhart on 1995 as a part...
Emotion is a mental condition that appears spontaneously based on self-conscious effort and usually followed by physiological changes. Emotion is especially caused by stimulation. The related information with emotional condition by someone is communicated to all body through ECG. Therefore, it is important to conduct a research in analysis of emotion based on the measurement of ECG. Data emotion was...
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