Pernantin Tarigan
Universitas Sumatera Utara

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Design of Contactless Hand Biometric System With Relative Geometric Parameters Antonius Siswanto; Pernantin Tarigan; Fahmi Fahmi
Singuda ENSIKOM 2013: VOL 5 : SPECIAL ISSUE IN IMAGE PROCESSING
Publisher : Singuda ENSIKOM

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Abstract

The main concern in contactless biometric system is the position of the hand that may vary relatively to camera. This variation of position result in different parameters of hand geometry captured from the same person, in different time, which is a serious problem in identification process. This paper presents a novel contactless biometric verification system based on relative geometric parameters of the hand, as the biometric feature. A webcam captured color image of the hand, which will be transformed into binary image for segmentation, based on thresholding technique. Binary image was extracted to get nine absolute geometrical sizes. The relative geometric parameters derived from ratios between those geometrical sizes were calculated. Feature extraction was processed by scanning technique. Matching was conducted based on match score, which is the output result by feeding relative geometric parameters to backpropagation-trained artificial neural network. Our design provided accuracy of 87.237%, precision of 85.798%, False Match Rate (FMR) of 14.780%, and False Non Match Rate (FNMR) of 10.747%.
Implementasi Arsitektur Behavior-Based dengan Menggunakan Fuzzy untuk Navigasi Car-Like Mobile Robot dalam Lingkungan yang Tak Dikenal Sarmayanta Sembiring; Usman Baafai; Tulus Tulus; Pernantin Tarigan
Generic Vol 9 No 2 (2014): Vol 9, No 2 (2014)
Publisher : Fakultas Ilmu Komputer, Universitas Sriwijaya

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Abstract

Sebuah fuzzy logic controller dengan arsitektur behavior-based dirancang untuk menavigasi Car-Like Mobile Robot dalam lingkungan tak dikenal. Sistem ini terdiri dari tiga perilaku dasar, yaitu goal seeking behavior, obstacle avoidance behavior, dan move backward behavior. Setiap perilaku memberikan informasi untuk mengendalikan sudut kemudi dan kecepatan linear. Sebuah behavior-controller dirancang untuk mengatur penggunaan behavior berdasarkan perioritas dalam mengendalikan sudut kemudi dan kecepatan linear. Hasil eksperimen menunjukkan bahwa arsitektur ini dapat membawa car-like mobile robot menuju target dengan aman tanpa bertabrakan pada lingkungan yang tak dikenal, dapat menghindari rintangan, dan dapat keluar dari kondisi kebuntuan saat menghadapi rintangan cekung.