Achmad Jazidie
Institut Teknologi Sepuluh Nopember (ITS)

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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

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (51.295 KB)

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.
Perancangan Sistem Navigasi Otonom pada Behavior Based Hexapod Robot Wicaksono, Handy; Prihastono, Prihastono; Anam, Khairul; Effendi, Rusdhianto; Sulistijono, Indra Adji; Kuswadi, Son; Jazidie, Achmad; Sampei, Mitsuji
Jurnal Teknik Elektro Vol 8, No 2 (2008): SEPTEMBER 2008
Publisher : Institute of Research and Community Outreach

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (289.795 KB) | DOI: 10.9744/jte.8.2.70-78

Abstract

Six legged robot (hexapod) has advantage over wheeled robot in its capability to walk over rough terrain. In this paper, hexapod mobility will be tested in order to measure its performance in walk through beam and stair. Behavior based architecture will be used in hexpod, so it can react quickly. Autonomous navigation application has been chosen here in order to prove that the architecture is running well. From simulation result, it can be seen that behavior based hexapod robot has good mobility (it can walk through obstacle that has 10 cm height) and it can accomplish its task to avoid the obstacles and find the light source. Abstract in Bahasa Indonesia: Robot berkaki enam (hexapod) memiliki kelebihan dibanding robot beroda dalam hal kemampuannya melewati daerah tidak rata. Pada penelitian ini, mobilitas pergerakan hexapod akan diuji untuk mengetahui performanya dalam melewati balok dan tangga. Supaya dapat bereaksi dengan cepat, maka arsitektur behavior based akan digunakan pada hexapod. Aplikasi navigasi otonom dipilih untuk menunjukkan bahwa arsitektur tersebut berjalan dengan baik. Dari hasil simulasi nampak bahwa behavior based hexapod robot memiliki mobilitas yang baik (mampu melewati halangan setinggi maksimal 10 cm) dan dapat menyelesaikan tugasnya untuk menghindari halangan dan menemukan sumber cahaya. Kata kunci: mobilitas, hexapod robot, behavior based architecture, sistem navigasi otonom
Development of The PD/PI Extended State Observer to Detect Sensor and Actuator Faults Simultaneously Indriawati, Katherin; Agustinah, Trihastuti; Jazidie, Achmad
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 2: EECSI 2015
Publisher : IAES Indonesia Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eecsi.2.584

Abstract

This paper discusses about an observer based fault detection scheme to detect sensor and actuator faults simultaneously in LTI system. The proposed strategy is to add derivative action on the extended state observer (ESO) in addition to proportional-integral action, so that the structure of the proposed observer is PD/PI or called PD/PI-ESO. The derivative action is performed both in state estimation and fault estimation. This is to achieve fast state estimation as well as fast fault estimation. Furthermore, the effects of disturbance are attenuated by using the H performance approach. The observer gains are then determined based on Linear Matrix Inequalities (LMI) technique. Simulation results of a DC motor speed control system are presented to illustrate the effectiveness of the proposed method.