Claim Missing Document
Check
Articles

Found 3 Documents
Search
Journal : International Journal of Reconfigurable and Embedded Systems (IJRES)

Implementing hue-saturation-value filter and circle hough transform for object tracking on ball-wheeled robot Sugiarto, Kharis; Kusuma, Vicky Andria; Firdaus, Aji Akbar; Suprapto, Sena Sukmananda; Putra, Dimas Fajar Uman
International Journal of Reconfigurable and Embedded Systems (IJRES) Vol 13, No 1: March 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijres.v13.i1.pp52-58

Abstract

The ball-wheeled robot relies on a camera for receiving information on the object to be followed. Object tracing is one of the methods that can be used for detecting object movement. In recognizing objects around it, the robot requires an image analysis process that involves visual perception. Image processing is the process of processing and analyzing images that involves visual perception, and is characterized by input data and output information in the form of images. This is how the robot can see objects around it and then be assisted by computer vision to make a decision. The object tracking method with hue-saturation-value (HSV) colour filtering and shape recognition with circle hough transform (CHT) is applied to the ball-wheeled robot. The front vision of the robot uses HSV colour filtering with various test values to determine the thresholding value, and it was found that the ball could be identified up to a distance of 1,000 cm. To further improve the performance of recognizing the ball object, CHT was applied. It was found that the ball could be identified up to a distance of 700 cm. Furthermore, the ball can be identified in obstructed conditions up to 75%.
Optimized Kalman filtering in dynamical environments for thumb robot motion estimation Herlambang, Teguh; Susanto, Fajar Annas; Firdaus, Aji Akbar; Kusuma, Vicky Andria; Suprapto, Sena Sukmananda; Muhaimin, Muhaimin; Arof, Hamzah
International Journal of Reconfigurable and Embedded Systems (IJRES) Vol 13, No 3: November 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijres.v13.i3.pp512-519

Abstract

Stroke, a prevalent nerve disorder in Indonesia, necessitates post-stroke rehabilitation like physical and occupational therapy. Hand and finger muscle training, crucial for restoring movement, often involves innovative solutions like finger prosthetic robotics arms. In particular, the advancement in thumb robotics emphasizes the estimation of thumb motion, where the ensemble Kalman filter square root (EnKF-SR) and H-infinity methods are deemed dependable for both linear and nonlinear models. Simulation results, using 400 ensembles, demonstrated nearly identical accuracy between the methods, exceeding 99%, with a 6-7% increase in accuracy compared to 200 ensembles. These advancements offer promising prospects for effective post-stroke rehabilitation and improved thumb movement restoration.
Design and build an airbag system for elderly fall protection using the MPU6050 sensor module Suprapto, Sena Sukmananda; Kusuma, Vicky Andria; Firdaus, Aji Akbar; Putra, Wahyu Haryanto; Yuniar, Risty Jayanti
International Journal of Reconfigurable and Embedded Systems (IJRES) Vol 13, No 1: March 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijres.v13.i1.pp111-116

Abstract

The use of technology has a significant impact to reduce the consequences of accidents. Sensors, small components that detect interactions experienced by various components, play a crucial role in this regard. This study focuses on how the MPU6050 sensor module can be used to detect the movement of people who are falling, defined as the inability of the lower body, including the hips and feet, to support the body effectively. An airbag system is proposed to reduce the impact of a fall. The data processing method in this study involves the use of a threshold value to identify falling motion. The results of the study have identified a threshold value for falling motion, including an acceleration relative (AR) value of less than or equal to 0.38 g, an angle slope of more than or equal to 40 degrees, and an angular velocity of more than or equal to 30 °/s. The airbag system is designed to inflate faster than the time of impact, with a gas flow rate of 0.04876 m3 /s and an inflating time of 0.05 s. The overall system has a specificity value of 100%, a sensitivity of 85%, and an accuracy of 94%.