Maralo Sinaga
Swiss German University

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A Study on Bipedal and Mobile Robot Behavior Through Modeling and Simulation Nirmala, Nirmala; Tanaya, Prianggada Indra; Sinaga, Maralo
CommIT (Communication and Information Technology) Journal Vol 9, No 1 (2015): CommIT Vol. 9 No. 1 Tahun 2015
Publisher : Bina Nusantara University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21512/commit.v9i1.1647

Abstract

The purpose of this work is to study and analyze mobile robot behavior. In performing this, a framework is adopted and developed for mobile and bipedal robot. The robots are design, build, and run as proceed from the development of mechanical structure, electronics and control integration, and control software application. The behavior of those robots are difficult to be observed and analyzed qualitatively. To evaluate the design and behavior quality, modeling and simulation of robot structure and its task capability is performed. The stepwise procedure to robot behavior study is explained. Behavior cases study are experimented to bipedal robots, transporter robot and Autonomous Guided Vehicle (AGV) developed at our institution. The experimentation are conducted on those robots by adjusting their dynamic properties and/or surrounding environment. Validation is performed by comparing the simulation result and the real robot execution. The simulation gives a more idealistic behavior execution rather than realistic one. Adjustments are performed to fine tuning simulation's parameters to provide a more realistic performance.
Machine Vision Implementation in Rapid PCB Prototyping Murijanto, Yosafat Surya; Rusyadi, Rusman; Sinaga, Maralo
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 | Full PDF (452.807 KB) | DOI: 10.14203/j.mev.2011.v2.79-84

Abstract

Image processing, the heart of machine vision, has proven itself to be an essential part of the industries today. Its application has opened new doorways, making more concepts in manufacturing processes viable. This paper presents an application of machine vision in designing a module with the ability to extract drills and route coordinates from an un-mounted or mounted printed circuit board (PCB). The algorithm comprises pre-capturing processes, image segmentation and filtering, edge and contour detection, coordinate extraction, and G-code creation. OpenCV libraries and Qt IDE are the main tools used. Throughout some testing and experiments, it is concluded that the algorithm is able to deliver acceptable results. The drilling and routing coordinate extraction algorithm can extract in average 90% and 82% of the whole drills and routes available on the scanned PCB in a total processing time of less than 3 seconds. This is achievable through proper lighting condition, good PCB surface condition and good webcam quality.Â