Midriem Mirdanies
Research Center for Electrical Power and Mechatronics, Indonesian Institute of Sciences, Komp. LIPI Bandung, Jl. Sangkuriang, Gd. 20. Lt. 2, Bandung 40135

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OPTIMIZATION OF ROBOT TELEMONITORING SYSTEM SOFTWARE USING MULTI-THREAD METHOD Mirdanies, Midriem
INKOM Journal Vol 11, No 1 (2017)
Publisher : Pusat Penelitian Informatika - LIPI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.inkom.550

Abstract

The processor development today is on multi-core and multi-processor which can be used to a speedup of data processing time compared with one processor core only. One of the main ways that can be used to speed up the data processing time is by using multi-thread. Multi-thread method has been implemented on the robot telemonitoring system based a Graphical User Interface (GUI) which has been developed in Research Center for Electrical Power and Mechatronics, Indonesian Institute of Sciences (LIPI). A part that requires high processing time at the telemonitoring systems are the display of real-time thermal cameras and color camera along with tracking algorithm used, it can be seen from the thermal camera display which less smooth. Two threads have been added to process each of the cameras separately. C programming language, with the opencv library and the Integrated Development Environment (IDE) Qt Creator has been used to implement this method into an application program. Based on experiments, it can be seen that both of the camera display with tracking algorithm used can run more quickly, it is demonstrated with the smooth display and the processing time is faster than a sequential program. The processing time based cpu time in sequential program both on color camera and thermal camera is 6 fps, while in multi-thread program (with added two threads), the processing time is 6 fps for color cameras and thermal camera is become 7 fps. The processing time based wall clock time in the sequential program on color camera and thermal camera is 6.31579 fps, while in multi-thread program (with added two threads), the processing time is 6.31579 fps for color cameras and thermal camera becomes 7.5 fps. The speedup and efficiency obtained between the sequential program and with added two threads are 0.84211 and 0.28070. Keywords: multi-thread, telemonitoring, GUI, Qt creator, c language
IDENTIFIKASI PARAMETER KOEFISIEN GESEK MEMAKAI METODE JARINGAN SARAF TIRUAN UNTUK KONTROL DINAMIKA KENDARAAN Mirdanies, Midriem; Rijanto, Estiko
INKOM Journal Vol 5, No 1 (2011)
Publisher : Pusat Penelitian Informatika - LIPI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.inkom.91

Abstract

Dynamical control of vehicle in order to stabilize its maneuver depends on the friction force between tire and road surface. In this paper it will be described a parameter identification method of a   non-linear model using backpropagation, which is one method in an artificial neural network (ANN). The non-linear model used in this paper is friction coefficient between tire and road surface,in which it has two parameters that should be defined. The ANN architecture used in this paper has one input, one hidden layer and one output. Computer simulation has been done using GNU Octave software for three road conditions: slippery road, wet road and dry road. From the simulation results the two parameter values have been obtained so that the equation of friction coefficient on the slip road is µ = 0.4 sin(1,5761.tan-1(10,901.s)), on the wet road is µ = 0.6 sin(1,6443.tan-1(9,5941.s)) and on the dry road is µ = 0.9 sin(-1,6354.tan-1(-10,279.s)).
RANCANG BANGUN SISTEM KONTROL MEKANISME PELACAKAN MATAHARI BESERTA FASILITAS TELEKONTROL HEMAT ENERGI Mirdanies, Midriem; Ardiansyah, Rizqi Andry; Saputra, Hendri Maja; Nugraha, Aditya Sukma; Rijanto, Estiko; Santoso, Adi
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 2, No 1 (2011)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2011.v2.31-40

Abstract

Solar energy produced by concentrated solar heat collector panels requires tracking mechanisms for a more optimal direction. This paper presents the design and construction of a low energy solar tracking control system with telecontrol facilities. To accelerate the movement of the panel in always adjusting itself to the direction of the sun, a combination of the timer and light sensor was used. In this control system, the reference signal is taken from two pieces of light sensors while the feedback is taken from the position and temperature sensors. The program has been developed using C language and was implemented on the microcontroller ATMega8535 as the brain of the system. Telecontrol facilities for monitoring the data to a computer uses transceiver modules via RS-232 connection. A DC motor having power capacity of 0.74 watts was used and was clutched with 1:7,300 gearbox ratio. Experiments on light sensor characteristics and simulated movement of the panel were carried out. From the light sensor experiment it can be concluded that the sensor produces 0-4 volt output signal when bright 3.3-3.9 volts, when cloudy and 1.5-3.3 volts when sunny. From the simulation of panel movement, it is known that the solar tracking control system moves the panel and tracks the direction of the sun movement. 
CONTROL OF PAN-TILT MECHANISM ANGLE USING POSITION MATRIX METHOD Saputra, Hendri Maja; Santoso, Arif; Mirdanies, Midriem; Windarwati, Vikita; Nayanti, Riastus; Maulana, Lukni
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 4, No 2 (2013)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2013.v4.109-116

Abstract

Control of a Pan-Tilt Mechanism (PTM) angle for the bomb disposal robot Morolipi-V2 using inertial sensor measurement unit, x-IMU, has been done. The PTM has to be able to be actively controlled both manually and automatically in order to correct the orientation of the moving Morolipi-V2 platform. The x-IMU detects the platform orientation and sends the result in order to automatically control the PTM. The orientation is calculated using the quaternion combined with Madwick and Mahony filter methods. The orientation data that consists of angles of roll (?), pitch (?), and yaw (?) from the x-IMU are then being sent to the camera for controlling the PTM motion (pan & tilt angles) after calculating the reverse angle using position matrix method. Experiment results using Madwick and Mahony methods show that the x-IMU can be used to find the robot platform orientation. Acceleration data from accelerometer and flux from magnetometer produce noise with standard deviation of 0.015 g and 0.006 G, respectively. Maximum absolute errors caused by Madgwick and Mahony method with respect to Xaxis are 48.45º and 33.91º, respectively. The x-IMU implementation as inertia sensor to control the Pan-Tilt Mechanism shows a good result, which the probability of pan angle tends to be the same with yaw and tilt angle equal to the pitch angle, except a very small angle shift due to the influence of roll angle..
ALGORITHM OF 32-BIT DATA TRANSMISSION AMONG MICROCONTROLLERS THROUGH AN 8-BIT PORT Mirdanies, Midriem; Saputra, Hendri Maja; Rijanto, Estiko
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 6, No 2 (2015)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2015.v6.75-82

Abstract

This paper proposes an algorithm for 32-bit data transmission among microcontrollers through one 8-bit port. This method was motivated by a need to overcome limitations of microcontroller I/O as well as to fulfill the requirement of data transmission which is more than 10 bits. In this paper, the use of an 8-bit port has been optimized for 32-bit data transmission using unsigned long integer, long integer, and float types. Thirty-two bit data is extracted intobinary number, then sent through a series of 8-bit ports by transmitter microcontroller. At receiver microcontroller, the binary data received through 8-bit port is reconverted into 32 bits with the same data type. The algorithm has been implemented and tested using C language in ATMega32A microcontroller. Experiments have been done using two microcontrollers as well as four microcontrollers in the parallel, tree, and series connections. Based on the experiments, it is known that the data transmitted can be accurately received without data loss. Maximum transmission times among two microcontrollers for unsigned long integer, long integer, and float are 630 ?s, 1,880 ?s, and 7,830 ?s, respectively. Maximum transmission times using four microcontrollers in parallel connection are the same as those using two microcontrollers, while in series connection are 1,930 ?s for unsigned long integer, 5,640 ?s for long integer, and 23,540 ?s for float. The maximum transmission times of tree connection is close to those of the parallel connection. These results prove that the algorithm works well.
DATA TRANSMISSION METHOD ON A ROOM CONDITION TELEMONITORING APPLICATION (IOT) Mirdanies, Midriem
Lontar Komputer Vol. 10, No. 3 December 2019
Publisher : Research institutions and Community Service, University of Udayana

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24843/LKJITI.2019.v10.i03.p05

Abstract

Data transmission system in IoT applications such as telemonitoring, using cable or wireless, requires a robust data transmission method. In this paper, a room condition telemonitoring application has been made where all data are read from raspberry pi, and sent to a pc server every minute using LAN and Wifi media, then update to a webserver. The data are sent using the method proposed in this paper which using the UDP mechanism with several improvements. Experiments have been done using LAN and Wifi, and it is found that the data can be received perfectly, although there are interferences from communication media. The average processing time on a raspberry pi is 19 ms, while the average processing time on the pc server is 5 us. In addition, the average processing speed of the transmission data from raspberry pi to a pc server until ack is received by raspberry pi using LAN media is 0.04 second, while using Wifi media is 0.08 seconds. Based on the experiments, it was found that the proposed method was successfully implemented in the room condition telemonitoring.
EXPERIMENTAL REVIEW OF DISTANCE SENSORS FOR INDOOR MAPPING Mirdanies, Midriem; Saputra, Roni Permana
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 8, No 2 (2017)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2017.v8.85-94

Abstract

One of the most important required ability of a mobile robot is perception. An autonomous mobile robot has to be able to gather information from the environment and use it for supporting the accomplishing task. One kind of sensor that essential for this process is distance sensor. This sensor can be used for obtaining the distance of any objects surrounding the robot and utilize the information for localizing, mapping, avoiding obstacles or collisions and many others. In this paper, some of the distance sensor, including Kinect, Hokuyo UTM-30LX, and RPLidar were observed experimentally. Strengths and weaknesses of each sensor were reviewed so that it can be used as a reference for selecting a suitable sensor for any particular application. A software application has been developed in C programming language as a platform for gathering information for all tested sensors. According to the experiment results, it showed that Hokuyo UTM-30LX results in random normally distributed error on measuring distance with average error 21.94 mm and variance 32.11. On the other hand, error measurement resulted by Kinect and RPLidar strongly depended on measured distance of the object from the sensors, while measurement error resulted by Kinect had a negative correlation with the measured distance and the error resulted by RPLidar sensor had a positive correlation with the measured distance. The performance of these three sensors for detecting a transparent object shows that the Kinect sensors can detect the transparent object on its effective range measurement, Hokuyo UTM-30LX can detect the transparent object in the distance more than equal to 200 mm, and the RPLidar sensor cannot detect the transparent object at all tested distance. Lastly, the experiment shows that the Hokuyo UTM-30LX has the fastest processing time significantly, and the RPLidar has the slowest processing time significantly, while the processing time of Kinect sensor was in between. These processing times were not significantly affected by various tested distance measurement.
DC BRUSHLESS MOTOR CONTROL DESIGN AND PRELIMINARY TESTING FOR INDEPENDENT 4-WHEEL DRIVE REV-11 ROBOTIC PLATFORM Saputra, Roni Permana; Ardiansyah, Rizqi Andry; Mirdanies, Midriem; Santoso, Arif; Nugraha, Aditya Sukma; Muqorobin, Anwar; Saputra, Hendri Maja; Susanti, Vita; Rijanto, Estiko
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 2, No 2 (2011)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2011.v2.85-94

Abstract

This paper discusses the design of control system for brushless DC motor using microcontroller ATMega 16 that will be applied to an independent 4-wheel drive Mobile Robot LIPI version 2 (REV-11). The control system consists of two parts which are brushless DC motor control module and supervisory control module that coordinates the desired command to the motor control module. To control the REV-11 platform, supervisory control transmit the reference data of speed and direction of motor to control the speed and direction of each actuator on the platform REV-11. From the test results it is concluded that the designed control system work properly to coordinate and control the speed and direction of motion of the actuator motor REV-11 platform. 
OBJECT RECOGNITION SYSTEM IN REMOTE CONTROLLED WEAPON STATION USING SIFT AND SURF METHODS Mirdanies, Midriem; Prihatmanto, Ary Setijadi; Rijanto, Estiko
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 4, No 2 (2013)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2013.v4.99-108

Abstract

Object recognition system using computer vision that is implemented on Remote Controlled Weapon Station (RCWS) is discussed. This system will make it easier to identify and shoot targeted object automatically. Algorithm was created to recognize real time multiple objects using two methods i.e. Scale Invariant Feature Transform (SIFT) and Speeded Up Robust Features (SURF) combined with K-Nearest Neighbors (KNN) and Random Sample Consensus (RANSAC) for verification. The algorithm is designed to improve object detection to be more robust and to minimize the processing time required. Objects are registered on the system consisting of the armored personnel carrier, tanks, bus, sedan, big foot, and police jeep. In addition, object selection can use mouse to shoot another object that has not been registered on the system. Kinect? is used to capture RGB images and to find the coordinates x, y, and z of the object. The programming language used is C with visual studio IDE 2010 and opencv libraries. Object recognition program is divided into three parts: 1) reading image from kinect? and simulation results, 2) object recognition process, and 3) transfer of the object data to the ballistic computer. Communication between programs is performed using shared memory. The detected object data is sent to the ballistic computer via Local Area Network (LAN) using winsock for ballistic calculation, and then the motor control system moves the direction of the weapon model to the desired object. The experimental results show that the SIFT method is more suitable because more accurate and faster than SURF with the average processing time to detect one object is 430.2 ms, two object is 618.4 ms, three objects is 682.4 ms, and four objects is 756.2 ms. Object recognition program is able to recognize multi-objects and the data of the identified object can be processed by the ballistic computer in realtime.
OPTIMIZED OBJECT TRACKING TECHNIQUE USING KALMAN FILTER Taylor, Liana Ellen; Mirdanies, Midriem; Saputra, Roni Permana
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 7, No 1 (2016)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2016.v7.57-66

Abstract

This paper focused on the design of an optimized object tracking technique which would minimize the processing time required in the object detection process while maintaining accuracy in detecting the desired moving object in a cluttered scene. A Kalman filter based cropped image is used for the image detection process as the processing time is significantly less to detect the object when a search window is used that is smaller than the entire video frame. This technique was tested with various sizes of the window in the cropping process. MATLAB® was used to design and test the proposed method. This paper found that using a cropped image with 2.16 multiplied by the largest dimension of the object resulted in significantly faster processing time while still providing a high success rate of detection and a detected center of the object that was reasonably close to the actual center.