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An Image Processing System for Visual Servoing of Soccer Robot
No full textIn this project, presents a global system for mapping and tracking of the movement of some of Soccer Robot using image processing for color filters of the robot and labeling marker for mapping the position of each robot. Robot's marker consists of a combination of two colors as the robot and team identity. To generate a global information, Camera placed on the robot soccer field. Feedback resulting from the coordinate information and soccer robots feature on Soccer games in real time. Output data in the form coordinate position of the ball, robots, and headings. Data will be processed and sent to the robot to control the movement and strategy on the soccer robots
Image Search System with Automatic Weighting Mechanism for Selecting Features
No full textThis paper presents an easy-to-use and highly precise image search system. The key technology of the system is an automatic weighting mechanism for selecting features based on combining color, shape and structure features. Generally, the users should consider and determine weights for features to represent their preferences for selecting the features of an image search. These conventional systems make difficult for the novice users because it needs technical consideration for r e t r i e va l s y s t e m . Th i s p a p e r pr o p o s e s a n e w mechanism of automatic weighting for selecting the features by anal yzing the distribution of color information to determine representative features. The color moments of the image are extracted and manipulated to calculate the color distance, the texture density and the shape property to determine respectively color, structure and shape weights. The color distances are calculated from the first order color moment by applying the shape independent clustering in order to construct and calculate distances of color hierarchy. The texture density is calculated from the second order of color moment to be more sensitive to scene the structures of images. The shape property is obtained from the third order of color moments. This proposed image search system is evaluated with a image retrieval benchmark dataset from Wang image collections. The experimental results clarify effectiveness of the proposed image search system to ease the feature selection and to reach the highly-retrieval precision with designated weights from the automatic weighting mechanism proposed in this paper
A Fast Algorithm for K-Means Optimization using Pillar Algorithm
No full textThe ability of K-means to cluster a kind of huge data very quickly often pays to the incorrect clustering results because of its designated initial centroids as cluster centers which are generated randomly. However, the efforts to improve the precision of K-means clustering results may take a highly execution time by optimizing the determination of initial centroids for K-means. This paper presents a fast algorithm for K-means optimization by improving our Pillar algorithm. The Pillar algorithm [19] is inspired by the thought process of determining a set of pillars’ locations in order to make a stable house or building. The algorithm considers the pillars’ placement which should be located as far as possible from each other to withstand against the pressure distribution of a roof, as identical to the number of centroids amongst the data distribution. Hence, the Pillar algorithm designates positions of initial centroids by using the farthest accumulated distance between them. This algorithm is very effective to position the initial centroids for K-means and improve the precision of the clustering results. However, the algorithm takes highly computational time for clustering huge data which often have many outliers, since its complexity O((k+h+1) n) (where k=number of clusters, h=number of outliers, and n=number of data items) to position the initial centroids. In this paper, we reduce the complexity of our previous work Pillar algorithm by excluding the designated initial centroids’ neighbors from next iterations so that the complexity will decrease in line with iterations and speed up the execution time. The performance of our improved Pillar algorithm is examined in the precision rate and computational time with several benchmark datasets as well as image data and compared the existing algorithms. The experimental results show the improved solution using the proposed approach
PENGGUNAAN PCI 1710 SEBAGAI MEDIA INTERFACE UNTUK IMPLEMENTASI METODE DIRECT TORQUE CONTROL UNTUK PENGATURAN KECEPATAN MOTOR INDUKSI TIGA PHASA
No full textPenelitian ini mengobservasi penggunaan PCI 1710 sebagai interaface untuk implementasi metode pengaturan kecepatan motor induksi tiga fasa berbasis Direct torque Control (DTC) . Respon kecepatan dari sistem diperbaiki dengan Fuzzy Logic Control (FLC). Hasil dari observasi dibandingkan dengan sistem yang dikontrol oleh kontroler PI. Hasil simulasi dengan simulink menunjukkan bahwa dengan kontroler Fuzzy Logic berbasis Direct Torque Control memberikan respon yang lebih baik dari kontroler PI. Hal ini ditunjukkan pada saat terjadi overshoot 2,67%, rise time 0.025 detik dan setling time 0.2 detik, sedangkan pada kontroler PI saat terjadi overshoot 27,5%, rise time 0.035 detik dan setling time 0.425 detik, untuk kecepatan referensi motor 149,02 rad/detik dan torka beban 12,64 Nm. Dari hasil simulasi terbukti menggunakan kontroler Fuzzy Logic berbasis Direct Torque Control respon kecepatan motor induksi tiga fasa menjadi lebih baik
Modeling of Hovering Type AUV Test Bed with Four Thrusters and Two Hulls Design
No full textThis paper proposes a design of hovering Type Autonomous Underwater Vehicle (AUV) using four thruster and two hulls. The state vector representation of AUV kinematics and the mathematical modeling of their dynamics of motion are presented. Several assumptions are used to simplify the design since the effect of that parameter is small enough thus can be neglected in the modeling process. DC motor is used as the actuator of the thruster. The thrusters used in the system are designed to have the same motor power and propeller characteristic
A Low Bit Rate Audio Coder based on Segmental Sinusoidal Model
No full textAudio signal information with high quality would help the television audience to increase the perception of the information displayed. Transmission channel capacity will become limited, while the need of channel communication is increased. The research aim is coding the audio signal on the low bit rate for saving the channel communication usage for digital television broadcasting. The research will be done is develop an audio signal coder on the low bit rate with the suitable decoder. The proposed audio signal coder consists of signal existention detector, period width detector, average amplitude counter, separation of the vibrating and the nonvibrating signal, determination of the period signal and parameters coding. One period signal is coded using sinusoidal model. The decoder consists of the parameters detector, signal synthesizer, and the periodic signal generator. The research results contribution for digital broadcasting is the method developing for decreasing the audio signal rate. So that the communication channel usage can be saved
Multiple Human Face Detection Based on Local Genetic Algorithm Clustering Using Mobile iPhone Platform
No full textThis paper discusses the role of evolutionary computation in visual perception for partner robots. The search of evolutionary computation has many analogies with human visual search. First of all, we discuss the analogies between the evolutionary search and human visual search. Next, we propose the concept of evolutionary robot vision, and multiple human face detection method based on local genetic algorithm clustering. Finally, we show experimental results of the multiple human face detection using mobile platform iPhone platform to discuss the effectiveness of our proposed method
Teknik Pengurangan Arus Inrush dan Pengurangan Harmonisa Pada Kapasitor Bank Untuk Beban Non Linier
No full textDengan semakin mahalnya harga energi listrik disebabkan karena harga bahan bakar yang semakin membumbung serta terbatasnya penyedian data listrik oleh PLN maka saat perlu dilakukan upaya-upaya penghematan pemakaian energi listrik. Pemerintah sejak tahun 1980 sudah sudah mencanangkan kebijakan penghematan pemakaian energi khususnya energi listrik yang dirumuskan dengan kebijakan energi nasional. Pada saat ini pemerintah bahkan sudah menerapkan tarif progresif berupa disinsentif sistem akibat pemakaian beban induktif, sehingga
power factor dapat diperbaiki mendekati unity dan kualitas daya menjadi lebih baik. Namun kelemahan kapasitor bank adalah bila sistem menggandung harmonisa sangat mungkin terjadi resiko resonansi sistem yang bisa merusak peralatan utilitas seperti trafo maupun kapasitor itu sendiri. Sehingga dipasang seri dengan kapasitor, cara ini akan menurunkan arus inrush menjadi 1=4 nya bila dibandingkan dengan tanpa menggunakan aircoil. Untuk pemakaian pada beban dinamis cara yang tepat adalah menggunakan menggunakan kapasitor bank
SISTEM INFORMASI BIRO PERJALANAN DENGAN JSP (JAVA SERVER PAGES)
No full textNow many communities make use transportation service,even land or our transportation to do short travel in order to get to their destination on time. Therefore information about vechicle renting, ordering flight ticket and travel in service provider is really needed by the community. By making use available information technology, we want to perform information and the ordering also renting through WEB. White this community can access information about vechicle renting, ordering filght ticket and travel only by accessing through internet in time 24 hours without come directly to the service provider office. In this case, making WEB about vechicle renting service and ordering flight ticket and travel, we need database for keeping files about renting and ordering. Database which we use is MySQL, and the proram uses JSP. Key word: WEB, MySQL, the Programming JS
PENGATURAN PENCAHAYAAN RUANGAN MENGGUNAKAN SINAR MATAHARI
Get PDFCurrently, most electricity power plants still use fossil fuels. Various service units in the area most of PLN power plants still operate Diesel Power Plant. Energy consumption continues to increase because of population and economic growth increase. Meanwhile, fossil energy, which is the main energy source, its availability is very limited and declining. In this connection, it is to save the energy used for lighting such as home during the day when we can utilize solar energy. Because by making use of sunlight during the day as energy saving lighting solution is environmentally friendly electricity and alternative energy to reduce dependence generated from fossil and nuclear fuels that can accelerate the earth's warming temperatures and damage to the environment resulting from pollution caused. In the Final Project has created a tool that can maximize the light coming into the house at a certain location. To generate a beam of light reflection at the desired location in an optimal, two DC motors required to move the plane mirror and two LDR sensors as an objective reflection of sunlight falling. Plane mirror is used as a regulator of the reflection of sunlight into the house. This will enable to get the maximum light level at a certain place. So that it can illuminate the desired place optimally