Son Kuswadi
Departemen Teknik Elektro, Politeknik Elektronika Negeri Surabaya

Published : 6 Documents
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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 (71.575 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
Teleautonomous Control on Rescue Robot Prototype Wicaksono, Handy; Khoswanto, Handry; Kuswadi, Son
TELKOMNIKA Telecommunication, Computing, Electronics and Control Vol 10, No 4: December 2012
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (62.287 KB)

Abstract

Robot application in disaster area can help responder team to save victims. In order to finish task, robot must have flexible movement mechanism so it can pass through uncluttered area. Passive linkage can be used on robot chassis so it can give robot flexibility. On physical experiments, robot is succeeded to move through gravels and 5 cm obstacle. Rescue robot also has specialized control needs. Robot must able to be controlled remotely. It also must have ability to move autonomously. Teleautonomous control method is combination between those methods. It can be concluded from experiments that on teleoperation mode, operator must get used to see environment through robot’s camera. While on autonomous mode, robot is succeeded to avoid obstacle and search target based on sensor reading and controller program. On teleautonomous mode, robot can change control mode by using bluetooth communication for data transfer, so robot control will be more flexible.
Behaviors Coordination and Learning on Autonomous Navigation of Physical Robot Wicaksono, Handy; Khoswanto, Handry; Kuswadi, Son
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 (62.287 KB)

Abstract

Behaviors coordination is one of keypoints in behavior based robotics. Subsumption architecture and motor schema are example of their methods. In order to study their characteristics, experiments in physical robot are needed to be done. It can be concluded from experiment result that the first method gives quick, robust but non smooth response. Meanwhile the latter gives slower but smoother response and it is tending to reach target faster. Learning behavior improve robots performance in handling uncertainty. Q learning is popular reinforcement learning method that has been used in robot learning because it is simple, convergent and off policy. The learning rate of Q affects robots performance in learning phase. Q learning algorithm is implemented in subsumption architecture of physical robot. As the result, robot succeeds to do autonomous navigation task although it has some limitations in relation with sensor placement and characteristic.
Optimasi Sistem Navigasi Robot Bencana dengan Algoritma Bug dan Jaringan Syaraf Tiruan Kuswadi, Son; Natasya GO, Ardelia; Tamara, Muhamad Nasyir; Sulistijono, Indra Adji
Jurnal Teknologi Informasi dan Ilmu Komputer Vol 5, No 5: Oktober 2018
Publisher : Fakultas Ilmu Komputer, Universitas Brawijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (883.775 KB) | DOI: 10.25126/jtiik.2018551153

Abstract

Agar robot bencana bisa melaksanakan tugas tertentu pada medan yang tak beraturan dan tidak diketahui keadaannya secara dinamis, harus memiliki kemampuan pemetaan. Berdasarkan peta yang telah dibuat, maka robot bisa bergerak sesuai dengan peta tersebut. Makalah ini membahas implementasi pemetaan dan navigasi robot, dengan menggunakan algoritma buguntuk membuat lintasan yang dapat menghindari halangan. Lintasan tersebut kemudian dioptimalkan dengan menggunakan jaringan syaraf tiruan untuk memilih lintasan terpendek. Metode yang diusulkan ini kemudian diuji baik menggunakan perangkat lunak dan eksperimen di medan laboratorium. Abstract In order to perform certain task in a cluttered and unknown dynamic field, a disaster robot should have mapping capability. Based on the map, then robot will move accordingly. This paper describes the implementation of mapping and navigation of the robot by using bug algorithm to avoid the obstacle. The paths optimized by using artificial neural networks to select the shortest one. The proposed method then implemented both by simulation and experimental in lab scale field.
Real Performance Evaluation On MQTT and COAP Protocol in Ubiquitous Network Robot Platform (UNRPF) for Disaster Multi-robot Communication Yamin, Muhammad Ikrar; Kuswadi, Son; Sukaridhoto, Sritrusta
EMITTER International Journal of Engineering Technology Vol 6, No 2 (2018)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24003/emitter.v6i2.305

Abstract

Disaster multi-robot has a significant role in a disaster area to do many tasks like detection of fire, search and rescue of victims, etc. It needs to build good communication between the operator and multi-robot and among multi-robot themselves to perform their tasks quickly and efficiently. This relates with the queue message protocol system. In this research, we implemented the queue message protocol on mesh topology and integrated it on the robot platform. Recently, development of IoT (Internet of Things) Technology causes development of communication protocol. MQTT and CoAP are among the communication protocols used for IoT needs.  Both  protocols performance were compared when  used and implemented into disaster multi-robot. We also integrated MQTT protocol and robot  platform python based (UNR-PF). The result shows that MQTT protocol is easier to be  implemented on to disaster multi-robot platform (UNR-PF) on mesh topology than CoAP, and that data transfer rate of MQTT protocol has data transfer rate higher than CoAP.
Improved echocardiography segmentation using active shape model and optical flow Sigit, Riyanto; Roji, Calvin Alfa; Harsono, Tri; Kuswadi, Son
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 17, No 2: April 2019
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (887.458 KB) | DOI: 10.12928/telkomnika.v17i2.11821

Abstract

Heart disease is one of the most dangerous diseases that threaten human life. The doctor uses echocardiography to analyze heart disease. The result of echocardiography test is a video that shows the movement of the heart rate. The result of echocardiography test indicates whether the patient’s heart is normal or not by identifying a heart cavity area. Commonly it is determined by a doctor based on his own accuracy and experience. Therefore, many methods to do heart segmentation is appearing. But, the methods are a bit slow and less precise. Thus, a system that can help the doctor to analyze it better is needed. This research will develop a system that can analyze the heart rate-motion and automatically measure heart cavity area better than the existing method. This paper proposes an improved system for cardiac segmentation using median high boost filter to increase image quality, followed by the use of an active shape model and optical flow. The segmentation of the heart rate-motion and auto measurement of the heart cavity area is expected to help the doctor to analyze the condition of the patient with better accuracy. Experimental result validated our approach.