Widodo Budiharto

A Robust Obstacle Avoidance for Service Robot Using Bayesian Approach

The objective of this paper is to propose a robust obstacle avoidance method for service robot in indoor environment. The method for obstacles avoidance uses information about static obstacles on the landmark using edge detection. Speed and direction of people that walks as moving obstacle obtained by single camera using tracking and recognition system and distance measurement using 3 ultrasonic sensors. A new geometrical model and maneuvering method for moving obstacle avoidance introduced and combined with Bayesian approach for state estimation. The obstacle avoidance problem is formulated using decision theory, prior and posterior distribution and loss function to determine an optimal response based on inaccurate sensor data. Algorithms for moving obstacles avoidance method proposed and experiment results implemented to service robot also presented. Various experiments show that our proposed method very fast, robust and successfully implemented to service robot called Srikandi II that equipped with 4 DOF arm robot developed in our laboratory.

Indoor Navigation Using Adaptive Neuro Fuzzy Controller for Servant Robot

We present our ongoing work on the development of Adaptive Neuro Fuzzy Inference System (ANFIS) Controller for humanoid servant robot designed for navigation based on vision. In this method, black line on the landmark used as a track for robot’s navigation using webcam as line sensor. We proposed architecture of ANFIS controller for servant robot based on mapping method, 3 input and 3 output applied to the controller. Only 45 training data used for navigation and best error starting at epoch 62. Each of the components are described in the paper and experimental results are presented. Humanoid servant robot also equipped with 4DOF arm robot, face recognition and text to speech processor. In order to demonstrate and measure the usefulness of such technologies for human-robot interaction, all components have been integrated and have been used for a servant robot named Srikandi I. Based on experiments, ANFIS controller successfully implemented as controller for robot’s navigation.

Genetic algorithm and neural network for optical character recognition

Computer system has been able to recognize writing as human brain does. The method mostly used for character recognition is the backpropagation network. Backpropagation network has been known for its accuracy because it allows itself to learn and improving itself thus it can achieve higher accuracy. On the other hand, backpropagation was less to be used because of its time length needed to train the network to achieve the best result possible. In this study, backpropagation network algorithm is combined with genetic algorithm to achieve both accuracy and training swiftness for recognizing alphabets. Genetic algorithm is used to define the best initial values for the network’s architecture and synapses’ weight thus within a shorter period of time, the network could achieve the best accuracy. The optimized backpropagation network has better accuracy and less training time than the standard backpropagation network. The accuracy in recognizing character differ by 10, 77%, with a success rate of 90, 77% for the optimized backpropagation and 80% accuracy for the standard backpropagation network. The training time needed for backpropagation learning phase improved significantly from 03 h, 14 min and 40 sec, a standard backpropagation training time, to 02 h 18 min and 1 sec for the optimized backpropagation network.

Development of coffee maker service robot using speech and face recognition systems using POMDP

There are many development of intelligent service robot in order to interact with user naturally. This purpose can be done by embedding speech and face recognition ability on specific tasks to the robot. In this research, we would like to propose Intelligent Coffee Maker Robot which the speech recognition is based on Indonesian language and powered by statistical dialogue systems. This kind of robot can be used in the office, supermarket or restaurant. In our scenario, robot will recognize user’s face and then accept commands from the user to do an action, specifically in making a coffee. Based on our previous work, the accuracy for speech recognition is about 86% and face recognition is about 93% in laboratory experiments. The main problem in here is to know the intention of user about how sweetness of the coffee. The intelligent coffee maker robot should conclude the user intention through conversation under unreliable automatic speech in noisy environment. In this paper, this spoken dialog problem is treated as a partially observable Markov decision process (POMDP). We describe how this formulation establish a promising framework by empirical results. The dialog simulations are presented which demonstrate significant quantitative outcome.

A Framework for Obstacles Avoidance of Humanoid Robot using Stereo Vision

In this paper, we propose a framework for multiple moving obstacles avoidance strategy using stereo vision for humanoid robot in indoor environment. We assume that this model of humanoid robot is used as a service robot to deliver a cup to customer from starting point to destination point. We have successfully developed and introduced three main modules to recognize faces, to identify multiple moving obstacles and to initiate a maneuver. A group of people who are walking will be tracked as multiple moving obstacles. Predefined maneuver to avoid obstacles is applied to robot because the limitation of view angle from stereo camera to detect multiple obstacles. The contribution of this research is a new method for multiple moving obstacles avoidance strategy with Bayesian approach using stereo vision based on the direction and speed of obstacles. Depth estimation is used to obtain distance calculation between obstacles and the robot. We present the results of the experiment of the humanoid robot called Gatotkoco II which is used our proposed method and evaluate its performance. The proposed moving obstacles avoidance strategy was tested empirically and proved effective for humanoid robot.

An Improved Face Recognition System for Service Robot Using Stereo Vision

Service robot is an emerging technology in robot vision, and demand from household and industry will be increased significantly in the future. General vision-based service robot should recognizes people and obstacles in dynamic environment and accomplishes a specific task given by a user. The ability to face recognition and natural interaction with a user are the important factors for developing service robots. Since tracking of a human face and face recognition are an essential function for a service robot, many researcher have developed face-tracking mechanism for the robot (Yang M., 2002) and face recognition system for service robot( Budiharto, W., 2010). The objective of this chapter is to propose an improved face recognition system using PCA(Principal Component Analysis) and implemented to a service robot in dynamic environment using stereo vision. The variation in illumination is one of the main challenging problem for face recognition. It has been proven that in face recognition, differences caused by illumination variations are more significant than differences between individuals (Adini et al., 1997). Recognizing face reliably across changes in pose and illumination using PCA has proved to be a much harder problem because eigenfaces method comparing the intensity of the pixel. To solve this problem, we have improved the training images by generate random value for varying the intensity of the face images. We proposed an architecture of service robot and database for face recognition system. A navigation system for this service robot and depth estimation using stereo vision for measuring distance of moving obstacles are introduced. The obstacle avoidance problem is formulated using decision theory, prior and posterior distribution and loss function to determine an optimal response based on inaccurate sensor data. Based on experiments, by using 3 images per person with 3 poses (frontal, left and right) and giving training images with varying illumination, it improves the success rate for recognition. Our proposed method very fast and successfully implemented to service robot called Srikandi III in our laboratory. This chapter is organized as follows. Improved method and a framework for face recognition system is introduced in section 2. In section 3, the system for face detection and depth estimation for distance measurement of moving obstacles are introduced. Section 4, a detailed implementation of improved face recognition for service robot using stereo vision is presented. Finally, discussions and future work are drawn in section 5.

Intelligent surveillance robot with obstacle avoidance capabilities using neural network

For specific purpose, vision-based surveillance robot that can be run autonomously and able to acquire images from its dynamic environment is very important, for example, in rescuing disaster victims in Indonesia. In this paper, we propose architecture for intelligent surveillance robot that is able to avoid obstacles using 3 ultrasonic distance sensors based on backpropagation neural network and a camera for face recognition. 2.4 GHz transmitter for transmitting video is used by the operator/user to direct the robot to the desired area. Results show the effectiveness of our method and we evaluate the performance of the system.

THE DEVELOPMENT OF AN EXPERT CAR FAILURE DIAGNOSIS SYSTEM WITH BAYESIAN APPROACH

In this study we propose a model of an Expert System to diagnose a car failure and malfunction using Bayesian Approach. An expert car failure diagnosis system is a computer system that uses specific knowledge which is owned by an expert to resolve car problems. Our specific system consists of knowledge base and solution to diagnose failure of car from Toyota Avanza, one of the favorite car used in Indonesia today and applying Bayesian approach for knowing the belief of the solution. We build Knowledge representation techniques of symptoms and solution froman experts using production rules. The experimental results presented and we obtained that the system has been able to perform diagnosis on car failure, giving solution and also gives the probability value of that solution.

Fast brain control systems for electric wheelchair using support vector machine

This paper proposes a technology which enables healthy human brain to control electronic wheelchair movement. The method involves acquiring electroencephalograph (EEG) data from specific channels using Emotiv Software Development Kit (SDK) into Windows based application in a tablet PC to be preprocessed and classified. The aim of this research is to increase the accuracy rate of the brain control system by applying Support Vector Machine (SVM) as machine learning algorithm. EEG samples are taken from several respondents with disabilities but still have healthy brain to pick most suitable EEG channel which will be used as a proper learning input in order to simplify the computational complexity. The controller system based on Arduino microcontroller and combined with .NET based software to control the wheel movement. The result of this research is a brain-controlled electric wheelchair with enhanced and optimized EEG classification.

Blind speech separation system for humanoid robot with FastICA for audio filtering and separation

Nowadays, there are many developments in building intelligent humanoid robot, mainly in order to handle voice and image. In this research, we propose blind speech separation system using FastICA for audio filtering and separation that can be used in education or entertainment. Our main problem is to separate the multi speech sources and also to filter irrelevant noises. After speech separation step, the results will be integrated with our previous speech and face recognition system which is based on Bioloid GP robot and Raspberry Pi 2 as controller. The experimental results show the accuracy of our blind speech separation system is about 88% in command and query recognition cases.