Widodo Budiharto
Bina Nusantara University

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Multiple Moving Obstacles Avoidance of Service Robot using Stereo Vision Budiharto, Widodo; Santoso, Ari; Purwanto, Djoko; Jazidie, Achmad
TELKOMNIKA Telecommunication, Computing, Electronics and Control Vol 9, No 3: December 2011
Publisher : Universitas Ahmad Dahlan

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Abstract

In this paper, we propose a multiple moving obstacles avoidance using stereo vision for service robots in indoor environments. We assume that this model of service robot is used to deliver a cup to the recognized customer from the starting point to the destination. The contribution of this research is a new method for multiple moving obstacle avoidance with Bayesian approach using stereo camera. We have developed and introduced 3 main modules to recognize faces, to identify multiple moving obstacles and to maneuver of robot. A group of people who is walking will be tracked as a multiple moving obstacle, and the speed, direction, and distance of the moving obstacles is estimated by a stereo camera in order that the robot can maneuver to avoid the collision. To overcome the inaccuracies of vision sensor, Bayesian approach is used for estimate the absense and direction of obstacles. We present the results of the experiment of the service robot called Srikandi III which uses our proposed method and we also evaluate its performance. Experiments shown that our proposed method working well, and Bayesian approach proved increasing the estimation perform for absence and direction of moving obstacle.
PENGEMBANGAN SISTEM KLASIFIKASI UKURAN PAKAIAN MENGGUNAKAN METODE BODY MEASUREMENT DAN FUZZY LOGIC BERBASIS SENSOR KINECT Gunawan, Alexander A. S.; Erwin, Erwin; Budiharto, Widodo
Computatio : Journal of Computer Science and Information Systems Vol 1, No 1 (2017): Computatio : Journal of Computer Science and Information Systems
Publisher : Faculty of Information Technology Tarumanagara University

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Abstract

Di dalam kehidupan sehari-hari, penentuan klasifikasi ukuran pakaian biasanya dilakukan dengan mencoba-coba pakaian terlebih dahulu sehingga membutuhkan waktu yang lebih lama. Dalam makalah ini, kita ingin membangun sistem untuk mengidentifikasi ukuran tubuh manusia dengan kamera. Selanjutnya dilakukan klasifikasi ukuran pakaian secara otomatis berdasarkan ukuran tubuh tersebut. Pendekatan yang diajukan untuk memecahkan hal ini adalah dengan metode body measurement dan Fuzzy Logic dengan menggunakan Kinect sebagai sensor. Metode body measurement digunakan untuk mengukur ukuran anggota tubuh manusia berdasarkan citra yang berasal dari sensor Kinect. Fuzzy Logic digunakan untuk menentukan klasifikasi ukuran pakaian berdasarkan hasil pengukuran yang diperoleh. Sistem pengukuran dak klasifikasi ini dapat mempermudah penentuan klasifikasi ukuran pakaian yang pas. Hasil dari penelitian ini menunjukkan bahwa sistem klasifikasi yang dibangun dapat menentukan ukuran pakaian dengan False Match Rate (FMR) sekitar 2.69%.
Counselove: Marital Counseling Android-based Application to Promote Marital Satisfaction Budiharto, Widodo; Meliana, Meliana; C.B. Rumondor, Pingkan
International Journal of Electrical and Computer Engineering (IJECE) Vol 7, No 1: February 2017
Publisher : Institute of Advanced Engineering and Science

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This paper presents the development of Android-based framework for improving marital satisfaction. Classic research in psychology found that stability of marriage is based on the ability to create and maintain a positive interaction ratio five times more than negative interactions. Based on that, we present Counselove, a mobile application intended to record information of daily positive behaviors (joking, showing affection) of couples who use the application. We propose a method where the apps can determine users? marital satisfaction level and also can help users increasing their marital satisfaction based on the relationship satisfaction questionnaire and the assessment of user?s self reported behaviors to their partners using fuzzy logic. The experimental results shown the application is running well on mobile devices based on Android platform. Lastly, we provide result of in depth interview with two users. Further research and development of the Counselove apps are discussed.
Sistem Kontrol Akses Berbasis Real Time Face Recognition dan Gender Information Nurmala, Putri; Gazali, Wikaria; Budiharto, Widodo
ComTech: Computer, Mathematics and Engineering Applications Vol 6, No 2 (2015): ComTech
Publisher : Bina Nusantara University

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Face recognition and gender information is a computer application for automatically identifying or verifying a person's face from a camera to capture a person's face. It is usually used in access control systemsand it can be compared to other biometrics such as finger print identification system or iris. Many of face recognition algorithms have been developed in recent years. Face recognition system and gender information inthis system based on the Principal Component Analysis method (PCA). Computational method has a simple and fast compared with the use of the method requires a lot of learning, such as artificial neural network. In thisaccess control system, relay used and Arduino controller. In this essay focuses on face recognition and gender - based information in real time using the method of Principal Component Analysis ( PCA ). The result achievedfrom the application design is the identification of a person’s face with gender using PCA. The results achieved by the application is face recognition system using PCA can obtain good results the 85 % success rate in face recognition with face images that have been tested by a few people and a fairly high degree of accuracy.