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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.
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

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (629.763 KB) | DOI: 10.11591/ijece.v7i1.pp542-550

Abstract

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.
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%.
The Performance of Boolean Retrieval and Vector Space Model in Textual Information Retrieval Yulianto, Budi; Budiharto, Widodo; Kartowisastro, Iman Herwidiana
CommIT (Communication and Information Technology) Journal Vol 11, No 1 (2017): CommIT Vol. 11 No. 1 Tahun 2017
Publisher : Bina Nusantara University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21512/commit.v11i1.2108

Abstract

Boolean Retrieval (BR) and Vector Space Model (VSM) are very popular methods in information retrieval for creating an inverted index and querying terms. BR method searches the exact results of the textual information retrieval without ranking the results. VSM method searches and ranks the results. This study empirically compares the two methods. The research utilizes a sample of the corpus data obtained from Reuters. The experimental results show that the required times to produce an inverted index by the two methods are nearly the same. However, a difference exists on the querying index. The results also show that the numberof generated indexes, the sizes of the generated files, and the duration of reading and searching an index are proportional with the file number in the corpus and thefile size.
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

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21512/comtech.v6i2.2264

Abstract

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.
EDGE DETECTION USING CELLULAR NEURAL NETWORK AND TEMPLATE OPTIMIZATION Budiharto, Widodo; Purwanto, Djoko; Purnomo, Mauridhi Hery
CCIT Journal Vol 4 No 1 (2010): CCIT JOURNAL
Publisher : Universitas Raharja

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Abstract

Result of edge detection using CNN could be not optimal, because the optimal result is based on template applied to the images. During the first years after the introduction of the CNN, many templates were designed by cut and try techniques. Today, several methods are available for generating CNN templates or algorithms. In this paper, we presented a method to make the optimal result of edge detection by using TEMPO (Template Optimization). Result shown that template optimization improves the image quality of the edges and noise are reduced. Simulation for edge detection uses CANDY Simulator, then we implementing the program and optimized template using MATLAB. Comparing to Canny and Sobel operators, image shapes result from CNN edge detector also show more realistic and effective to user.
Inovasi Digital di Industri Smart Farming: Konsep dan Implementasi Budiharto, Widodo
Seminar Nasional Lahan Suboptimal 2019: Prosiding Seminar Nasional Lahan Suboptimal ?Smart Farming yang Berwawasan Lingkungan untuk Ke
Publisher : Seminar Nasional Lahan Suboptimal

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Abstract

Budiharto W.  2019. Digital innovation in the smart farming industry: concept and implementation. In: Herlinda S et al. (Eds.), Prosiding Seminar Nasional Lahan Suboptimal 2019, Palembang 4-5 September 2019. pp. 31-37. Palembang: Unsri Press.Agriculture is one of the oldest industrial sectors ever created by humans. The FAO predicts that by 2050 the world population will be 9.6 billion. That means agricultural production must increase by 70% in that year in order to meet the needs of the population with this amount. Yet as we know that there is a classic problem of food namely the population increases but the amount of agricultural land is getting narrower. Therefore, increasing agricultural technology-based productivity is very urgent, one of which is based on the Internet of Things (IoT). IoT is the latest technology where devices around us can communicate with each other through the internet network. Wireless Sensor Network (WSN) technology was applied more broadly to IoT-based agriculture which came to be known as Smart Farming. The sensors used in agricultural land are used to determine the chemical condition of the soil, the quality of plant health and other useful information. Smart farming, which was originally called Precision Agriculture, is predicted to become a compulsory concept of agriculture in the future because of limited land. Smart farming utilizes technologies such as big data, machine learning, robotics and IoT to improve the quality and quantity of production in the agricultural industry. This paper gradually explains the concept of smart farming and its implementation in Indonesia.Keywords: concept, implementation, smart farming
Implementasi dan Evaluasi Penerapan Globus Toolkit untuk Aplikasi Grid Computing Budiharto, Widodo
ComTech: Computer, Mathematics and Engineering Applications Vol 3, No 1 (2012): ComTech
Publisher : Bina Nusantara University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21512/comtech.v3i1.2469

Abstract

Grid computing is a distributed computing technology that utilizes resources connected through a free computer network, yet coordinated with a specific mechanism. The development of grid computing infrastructure is not easy because it takes skill and experience in the installation and configuration of both Linux-based and open source program. In this study, the author built a grid computing infrastructure based on Debian 4, and used Globus Toolkit 4.1.2 on three computers. The WSRF technology was tried to run as an indication that the grid infrastructure has been successfully built. Based on some experiments in this study, grid computing can run well on the three computers with a user interface of web-based grid system using the UCLA Grid Portal. Overall the system runs fine, but it requires high experiences and comprehensions upon the Linux operating systems as well as computer networks in the installation process.
Online Training for Face Recognition System Using Improved PCA Budiharto, Widodo
ComTech: Computer, Mathematics and Engineering Applications Vol 2, No 2 (2011): ComTech
Publisher : Bina Nusantara University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21512/comtech.v2i2.2952

Abstract

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. 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, this research proposes an online face recognition system using improved PCA for a service robot in indoor environment based on stereo vision. Tested images are improved by generating random values for varying the intensity of face images. A program for online training is also developed where the tested images are captured real-time from camera. Varying illumination in tested images will increase the accuracy using ITS face database which its accuracy is 95.5 %, higher than ATT face database?s as 95.4% and Indian face database?s as 72%. The results from this experiment are still evaluated to be improved in the future.