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- 저자 : Djoko Purwanto (검색결과 2 건)
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A Navigation System for Service Robot using Stereo Vision and Kalman Filtering
Widodo Budiharto,Ari Santoso,Djoko Purwanto,Achmad Jazidie 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
The objective of this paper is to propose a method for navigating a vision-based service robot using stereo vision and Kalman Filtering. We have develop modules for face recognition system, visual tracking and multiple moving obstacles avoidance using stereo camera. Someone that walks will be identified as moving obstacle and we propose a method to avoid the multiple moving obstacles. Kalman filtering for distance estimation using stereo camera used for stability of measurement and removing noise from the input images. To overcome the inaccuracies of vision sensor, Bayesian approach is used for estimate the absense and direction of obstacles. Algorithms for moving obstacles avoidance method proposed and experiment results implemented to a service robot also presented. Our system can overcome the drawbacks of popular obstacle avoidance methods because it provides a complete mechanism for a vision-based service robot so that it can avoid the moving obstacles.Various experiments show that our proposed method very fast, and successfully implemented to service robot called Srikandi III in our laboratory.
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Mochammad Amrun Hidayat,Diah Ayu Maharani,Djoko Agus Purwanto,Bambang Kuswandi,Mochammad Yuwono 한국생물공학회 2020 Biotechnology and Bioprocess Engineering Vol.25 No.2
A simple paper-based colorimetric biosensor based on immobilized tyrosinase and 3-methyl-2- benzothiazolinone hydrazone (MBTH) was developed for assessing total polyphenol content (TPC) of various green tea beverages. The patterned biosensing zone of the paperbased biosensor showed a sensitive response to catechin (a typical green tea polyphenol) by generating pink color adducts that can be captured for further color image analysis using a scanometric method. This color change can be connected to the TPC of the samples. The analytical performance of the biosensor in scanometric set-up was optimized. The biosensor showed a response time of 13 min in the linear range between 0.08-1.03 mM of catechin (r = 0.9979). The detection limit (LOD) of the biosensor was 0.071 mM while reproducibility was found at 3.11% RSD (relative standard deviation). TPC of green tea beverages was assessed by the biosensor, and the results were in accordance with the UV/Vis spectrophotometric method.
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