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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.
An Expert System of Measurement of Individual Knowledge for Teeth Treatment
Debora Valentina Silitonga,Widodo Budiharto 보안공학연구지원센터 2015 International Journal of Software Engineering and Vol.9 No.4
Knowing how to take a good care of teeth is very important to be known by every people to have the healthy and strong teeth. Taking care in the wrong way will make teeth broken and cause many teeth problem. Expert system is a system which is built to solve problem for user in certain field. This research aims to design an expert system-based application to assist someone to know their level of knowledge in taking care of teeth. Through this application, user could know how to take care of teeth so then they could minimize the teeth problem.
The Framework of Home Remote Automation System Based on Smartphone
Akbar Satria,Muhammad Luthfi Priadi,Lili Ayu Wulandhari,Widodo Budiharto 보안공학연구지원센터 2015 International Journal of Smart Home Vol.9 No.1
The purpose of this paper is creating a mobile app on a Smartphone device so that the user can control electronic devices; see the amount of flow that has been used in the amount of dollars, so the problem is the difficulty in saving electricity can be resolved. Development and design was done by collecting data using questionnaires to the respondents. Design method using observations, distributing questionnaires and to study literature, and then after that do the design in hardware (microcontroller) made United Modeling Language (UML), database design, code implementation and creation of user interfaces on IOS and Android. The result of this research is the implementation of a remote home automation application in mobile which can help users in order to control the home and determine the cost of electricity that has been used in every electronic device so that the optimization can be achieved.