Randy Erfa Saputra

Mapping algorithm using ultrasonic and compass sensor on autonomous mobile robot

Mapping is the process to represent the environment into other forms such as a sketch map or the other. Process mapping provides the solution of the problem of how a robot can automatically recognize the environment and how robots can provide information such as maps representations of the environment around the robot. There are many choices of sensors that can be used, depends on method used. In this paper, it will be discussed on mapping algorithm with a simple sensor and a simple method. This paper also discusses the mapping algorithm will use ultrasonic sensors and compass sensors.

A Multi-Robot System Coordination Design and Analysis On Wall Follower Robot Group

Zigbee technology has been developed for short range wireless sensor networks and it follows IEEE 802.15.4 standard. For such sensors, several considerations should be taken including; low data rate and less design complexity in order to achieve efficient performance considering to the transceiver systems. This research focuses on implementing a digital transceiver system for Zigbee sensor based on IEEE 802.15.4 . The system is implemented using offset quadrature phase shift keying (OQPSK) modulation technique with half sine pulse-shaping method. Direct conversion scheme has been used in the design of Zigbee receiver in order to fulfill the requirements mentioned above. System performance is analyzed considering to BER when it encountered adaptive white Gaussian noise (AWGN), besides showing the effect of using direct sequence spread spectrum (DSSS) technique.The inverted pendulum is an under-actuated and nonlinear system, which is also unstable. It is a single-input double-output system, where only one output is directly actuated. This paper investigates a single intelligent control system using an adaptive neuro-fuzzy inference system (ANFIS) to stabilize the inverted pendulum system while tracking the desired position. The non-linear inverted pendulum system was modelled and built using MATLAB Simulink. An adaptive neuro-fuzzy logic controller was implemented and its performance was compared with a Sugeno-fuzzy inference system in both simulation and real experiment. The ANFIS controller could reach its desired new destination in 1.5 s and could stabilize the entire system in 2.2 s in the simulation, while in the experiment it took 1.7 s to reach stability. Results from the simulation and experiment showed that ANFIS had better performance compared to the Sugeno-fuzzy controller as it provided faster and smoother response and much less steady-state error.Association Rule mining plays an important role in the discovery of knowledge and information. Association Rule mining discovers huge number of rules for any dataset for different support and confidence values, among this many of them are redundant, especially in the case of multi-level datasets. Mining non-redundant Association Rules in multi-level dataset is a big concern in field of Data mining. In this paper, we present a definition for redundancy and a concise representation called Reliable Exact basis for representing non-redundant Association Rules from multi-level datasets. The given non-redundant Association Rules are loss less representation for any datasets.This paper presents a novel technique for numeral reading in Indian language speech synthesis systems using the rule-based Concatenative speech synthesis technique. The model uses a set of rules to determine the context of the numeral pronunciation and is being integrated with the waveform concatenation technique to produce speech out of the input text in Indian languages. To analyze the performance of the proposed technique, a set of numerals are considered in different context and a comparison of the proposed technique with an existing numeral reading method is also presented to show the effectiveness of the proposed technique in producing intelligible speech out of the entered text.This paper presents a data processing system based on an architecture comprised of multiple stacked layers of computational processes that transforms Raw Binary Pollution Data com- ing directly from Two EUMETSAT Metop satellites to our servers, into ready to interpret and visualise continuous data stream in near real time using techniques varying from task automation, data preprocessing and data analysis to machine learning using feed forward ar- tificial neural networks. The proposed system handles the acquisition, cleaning, processing, normalizing, and predicting of Pollution Data in our area of interest of Morocco.Advanced Communication Systems are wideband systems to support multiple applications such as audio, video and data so and so forth. These systems require high spectral efficiency and data rates. In addition, they should provide multipath fading and inter-symbol interference (ISI) free transmission. Multiple input multiple output orthogonal frequency division multiplexing (MIMO OFDM) meets these requirements Hence, MIMO-OFDM is the most preferable technique for long term evaluation advanced (LTE-A). The primary objective of this paper is to control bit error rate (BER) by proper channel coding, pilot carriers, adaptive filter channel estimation schemes and space time coding (STC). A combination of any of these schemes results in better BER performance over individual schemes. System performance is analyzed for various digital modulation schemes. In this paper,adaptive filter channel estimated MIMO OFDM system is proposed by integrating channel coding, adaptivefilter channel estimation, digital modulation and space time coding. From the simulation results, channel estimated 2×2 MIMO OFDM system shows superior performance over individual schemes.Electricity markets are different from other markets as electricity generation cannot be easily stored in large amounts and in order to avoid blackouts, the generation of electricity must be balanced with customer demand for it on a second-by-second basis. Customers tend to rely on electricity for day-to-day living and cannot replace it easily so when electricity prices increase, customer demand generally does not reduce significantly in the short-term. As electricity generation and customer demand must be matched perfectly second-by-second, and because generation cannot be stored to a large extent, cost bids from generators must be balanced with demand estimates in advance of real-time. This paper outlines a a forecasting algorithm built on artificial neural networks in order to predict short-term (72 hours ahead) wholesale prices on the Irish Single Electricity Market so that market participants can make more informed trading decisions. Research studies have demonstrated that an adaptive or self-adaptive approach to forecasting would appear more suited to the task of predicting energy demands in territory such as Ireland. Implementing an in-house self-adaptive model should yield good results in the dynamic uncertain Irish energy market. We have identified the features that such a model demands and outline it here.Received May 2, 2018 Revised Jul 9, 2018 Accepted Aug 2, 2018 Zigbee technology has been developed for short range wireless sensor networks and it follows IEEE 802.15.4 standard. For such sensors, several considerations should be taken including; low data rate and less design complexity in order to achieve efficient performance considering to the transceiver systems. This research focuses on implementing a digital transceiver system for Zigbee sensor based on IEEE 802.15.4. The system is implemented using offset quadrature phase shift keying (OQPSK) modulation technique with half sine pulse-shaping method. Direct conversion scheme has been used in the design of Zigbee receiver in order to fulfill the requirements mentioned above. System performance is analyzed considering to BER when it encountered adaptive white Gaussian noise (AWGN), besides showing the effect of using direct sequence spread spectrum (DSSS) technique. Keyword:This paper presents the use of Simelectronics Program for modeling and control of a two degrees-of freedom coupled mass-spring-damper mechanical system.The aims of this paper are to establish a mathematical model that represents the dynamic behaviour of a coupled mass-spring damper system and effectively control the mass position using both Simulink and Simelectronics.The mathematical model is derived based on the augmented Lagrange equation and to simulate the dynamic accurately a PD controller is implemented to compensate for the oscillation sustained by the system as a result of the complex conjugate pair poles near to the imaginary axis.The input force has been subjected to an obstacle to mimic actual challenges and to validate the mathematical model a Simulink and Simelectronics models were developed, consequently, the results of the models were compared. According to the result analysis, the controller tracked the position errors and stabilized the positions to zero within a settling time of 6.5sec and significantly reduced the overshoot by 99.5% and 99. 7% in Simulink and Simelectronics respectively. Furthermore, it is found that Simelectronics model proved to be capable having advantages of simplicity, less time-intense and requires no mathematical model over the Simulink approach.

Monitor and control panel of building security system integrated to Android smart phone

This paper presents the mobile aplication based on Android as a control panel of building security system. This application acts as a liaison between users and the system. With some features in it this application helps users in keeping the building security from everywhere and at anytime by the smartphone. The features are “Alarm Activation” “Door lock Control” and on home screen of the application displays the captured image of somebody who comes into the building. Based on the design this application can get the captured image and can activate the alarm and the door lock.

Analysis realization of Viola-Jones method for face detection on CCTV camera based on embedded system

In this paper the use a face detection system with Viola-Jones method mounted on a surveillance camera in a room as a CCTV is conducted. The camera turns on automatically and moves toward an object corresponding to the input received from a laser range finder. It makes use of the camera becomes more efficient. The output of this research is that the use of Viola-Jones method can immediately detect a human face more than once shoot it in real-time and know the ideal face position to be detected. The results of face detection are captured by the camera and then the final pictures are sent to the server for further processing by a mobile application.

Coordination control for simple autonomous mobile robot

This paper presents the realization of a coordination control for mobile robot. The developed system has been tested in the environment of formation change of multiple robots when a robot encounters a specific obstacle. Multi robots are assumed to have the same hardware specifications. Each robot has its own tasks although its mission is the same. This paper will explain how to build coordination controls on multiple robots.

Autonomous quadruped robot locomotion control using inverse kinematics and sine pattern methods

In this paper, it will be explained how to solve robot locomotion using inverse kinematics and sine pattern methods on autonomous quadruped robot with 3 DOF for each leg using geometrical approach. It also includes python code examples inside. By using inverse kinematic method, it could be found the angle for every actuator from end effector position by calculation within the method of sine pattern which can generates values group of end effector position in a pattern of sine wave. So that it could solve multi value problem on inverse kinematics.