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An LMI Approach to Hâ Performance Analysis of Continuous-Time Systems with Two Additive TimeVarying Delays Ridwan, Wrastawa; Trilaksono, Bambang Riyanto
Journal of Engineering and Technological Sciences Vol 43, No 2 (2011)
Publisher : ITB Journal Publisher, LPPM ITB

ThisÂ paperÂ investigatesÂ theÂ problemÂ ofÂ Hâ performanceÂ analysisÂ for continousâtime systems with two additive time -varying delays in the state.Â Our objective is focused onÂ stabilityÂ analysis ofÂ aÂ continuousÂ system with two timevaryingÂ delaysÂ withÂ anÂ Hâ disturbanceÂ attenuationÂ levelÂ Î³.Â ByÂ exploiting Â Lyapunov-Krasovski functional and introducing free weighting matrix variables, LMI stability condition have been derived.

Hâ Control of Polynomial Fuzzy Systems: A Sum of Squares Approach Wibowo, Bomo S.; Trilaksono, Bambang Riyanto; Syaichu-Rohman, Arief
Journal of Engineering and Technological Sciences Vol 46, No 2 (2014)
Publisher : ITB Journal Publisher, LPPM ITB

This paper proposes the control design ofa nonlinear polynomial fuzzy system with Hâ performance objective using a sum of squares (SOS) approach. Fuzzy model and controller are represented by a polynomial fuzzy model and controller. The design condition is obtained by using polynomial Lyapunov functions that not only guarantee stability but also satisfy the Hâ performance objective. The design condition is represented in terms of an SOS that can be numerically solved via the SOSTOOLS. A simulation study is presented to show the effectiveness of the SOS-based Hâ control designfor nonlinear polynomial fuzzy systems.

Klasifikasi Topik Keluhan Pelanggan Berdasarkan Tweet dengan Menggunakan Penggabungan Feature Hasil Ekstraksi pada Metode Support Vector Machine (SVM) Pratama, Enda Esyudha; Trilaksono, Bambang Riyanto
JEPIN (Jurnal Edukasi dan Penelitian Informatika) Vol 1, No 2 (2015): Volume 1, No 2
Publisher : Program Studi Informatika

Pemanfaatan twitter sebagai layanan customer serevice perusahaan sudah mulai banyak digunakan, tak terkecuali Speedy. Mekanisme yang ada saat ini untuk proses klasifikasi bentuk dan jenis keluhan serta informasi tentang jumlah keluhan lewat twitter masih dilakukan secara manual. Belum lagi data twitter yang bersifat tidak terstruktur tentunya akan menyulitkan untuk dilakukan analisa dan penggalian informasi dari data tersebut. Berdasarkan permasalahan tersebut, penelitian ini bertujuan untuk memproses data teks dari tweet pengguna twitteryang masuk ke akun @TelkomSpeedy untuk diolah menjadi informasi. Informasi tersebut nantinya digunakan untuk klasifikasi bentuk dan jenis keluhan. Merujuk pada beberapa penelitian terkait, salah satu metode klasifikasi yang paling baik untuk digunakan adalah metode Support Vector Machine (SVM). Konsep dari SVM dapat dijelaskan secara sederhana sebagai usaha mencari hyperplane yang dapat memisahkan dataset sesuai dengan kelasnya. Kelas yang digunakan dalam penelitian kali ini berdasarkan topik keluhan pelanggan yaitu billing, pemasangan/instalasi, putus (disconnect), dan lambat. Faktor penting lainnya dalam hal klasifikasi adalah penentuan feature atau atribut kata yang akan digunakan. Metode feature selection yang digunakan pada penlitian ini adalah term frequency (TF), document frequency (DF), information gain, dan chi-square. Pada penelitian ini juga dilakukan metode penggabungan feature yang telah dihasilkan dari beberapa metode feature selection sebelumnya. Dari hasil penelitian menunjukan bahwa SVM mampu melakukan klasifikasi keluhan dengan baik, hal ini dibuktikan dengan akurasi 82,50% untuk klasifikasi bentuk keluhan dan 86,67% untuk klasifikasi jenis keluhan. Sedangkan untuk kombinasi penggunaan feature dapat meningkatkan akurasi menjadi 83,33% untuk bentuk keluhan dan 89,17% untuk jenis keluhan. Â Kata Kunciâ€”customer service, klasifikasi topik keluhan, penggabungan feature, support vector machine

Optimization of Salient Object Segmentation By Using the Influence of Color in Digital Image Ramadhan, Edvin; Suwardi, Iping Supriana; Trilaksono, Bambang Riyanto
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 2: EECSI 2015
Publisher : IAES Indonesia Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eecsi.2.541

Human attention is more likely to be interested in different objects or striking in image processing called salient object. Existing approaches worked well in finding the salient object in this image, but they have not been able to accurately detect where objects should stand out due to the influence of light intensity, there are various object results of salient object detection in which area is still cut off or do not appear because they do not include salient area. We offer solutions to fix these problems by optimizing salient object detection prioritizing object area after salient area, through checking comparison of the color region located around the area of the salient. This Optimization of the application is able to improve to 83% from 100 salient object which has this problem, and able to produce more natural Saliency Cut.

Obstacle Avoidance Method for a Group of Humanoids Inspired by Social Force Model Sadiyoko, Ali; Trilaksono, Bambang Riyanto; Mutijarsa, Kusprasapta; Adiprawita, Widyawardana
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

This paper presents a new formulation for obstacle and collision behavior on a group of humanoid robots that adopts walking behavior of pedestrian crowd. A pedestrian receives position information from the other pedestrians, calculate his movement and then continuing his objective. This capability is defined as socio-dynamic capability of a pedestrian. Pedestrianâ€™s walking behavior in a crowd is an example of a sociodynamics system and known as Social Force Model (SFM). This research is trying to implement the avoidance terms in SFM into robotâ€™s behavior. The aim of the integration of SFM into robotâ€™s behavior is to increase robotâ€™s ability to maintain its safety by avoiding the obstacles and collision with the other robots. The attractive feature of the proposed algorithm is the fact that the behavior of the humanoids will imitate the humanâ€™s behavior while avoiding the obstacle. The proposed algorithm combines formation control using Consensus Algorithm (CA) with collision and obstacle avoidance technique using SFM. Simulation and experiment results show the effectiveness of the proposed algorithm.

Nonlinear Dynamic Modeling of a Fixed-Wing Unmanned Aerial Vehicle: a Case Study of Wulung Triputra, Fadjar Rahino; Trilaksono, Bambang Riyanto; Adiono, Trio; Sasongko, Rianto Adhy; Dahsyat, Mohamad
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 6, No 1 (2015)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Developing a nonlinear adaptive control system for a fixed-wing unmanned aerial vehicle (UAV) requires a mathematical representation of the system dynamics analytically as a set of differential equations in the form of a strict-feedback systems. This paper presents a method for modeling a nonlinear flight dynamics of the fixed-wing UAV of BPPT Wulung in any conditions of the flight altitude and airspeed for the first step into designing a nonlinear adaptive controller. The model was formed into 10-DOF differential equations in the form of strict-feedback systems which separates the terms of elevator, aileron, rudder and throttle from the model. The model simulation results show the behavior of the flight dynamics of the Wulung UAV and also prove the compliance with the actual flight test results.

Studi Eksperimen Unjuk-Kerja Modulasi DBPSK pada Platform Software-Defined Radio (SDR) Marpanaji, Eko; Trilaksono, Bambang Riyanto; Langi, Armein ZR; Kurniawan, Adit
JURNAL TEKNOLOGI TECHNOSCIENTIA Technoscentia Vol 1 No 1 Agustus 2008
Publisher : Lembaga Penelitian & Pengabdian Kepada Masyarakat (LPPM), IST AKPRIND Yogyakarta

This paper addresses Differential Binary Phase Shift Keying (DBPSK) modulation implemented on SDR platform for the development of digital data communications based on SDR. DBPSK modulation performance perceived at Packet Error Rate (PER) is evaluated in terms of Eb/No or S/N ratio, carrier frequency, bit rate, gain, roll-off factor of root Nyquist filter or root raised cosine filter, and of size of payload from delivered data. Based on this results, the smallest PER could be obtained by setting Eb/No value which is greater than 13 dB, carrier frequency of at least 0,3 MHz, optimum bit rate of 256 kbps, optimum range payload size of 2000 up to 4000 bytes, and roll-off factor of Nyquist or root-raised cosine filter of 0.1<alfa<0.9.

Optimization of Salient Object Segmentation by using the influence of color in Digital Image Ramadhan, Edvin; Suwardi, Iping Supriana; Trilaksono, Bambang Riyanto
Proceeding of the Electrical Engineering Computer Science and Informatics Vol 2: EECSI 2015
Publisher : IAES Indonesia Section

Human attention is more likely to be interested indifferent objects or striking in image processing called salientobject. Existing approaches worked well in finding the salientobject in this image, but they have not been able to accuratelydetect where objects should stand out due to the influence of lightintensity, there are various object results of salient object detectionin which area is still cut off or do not appear because they do notinclude salient area. We offer solutions to fix these problems byoptimizing salient object detection prioritizing object area aftersalient area, through checking comparison of the color regionlocated around the area of the salient. This Optimization of theapplication is able to improve to 83% from 100 salient object whichhas this problem, and able to produce more natural Saliency Cut.

Studi Eksperimen Unjuk-Kerja Modulasi DBPSK pada Platform Software-Defined Radio (SDR) Marpanaji, Eko; Trilaksono, Bambang Riyanto; Langi, Armein ZR; Kurniawan, Adit
JURNAL TEKNOLOGI TECHNOSCIENTIA Technoscentia Vol 1 No 1 Agustus 2008
Publisher : Lembaga Penelitian & Pengabdian Kepada Masyarakat (LPPM), IST AKPRIND Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.34151/technoscientia.v1i1.373

This paper addresses Differential Binary Phase Shift Keying (DBPSK) modulation implemented on SDR platform for the development of digital data communications based on SDR. DBPSK modulation performance perceived at Packet Error Rate (PER) is evaluated in terms of Eb/No or S/N ratio, carrier frequency, bit rate, gain, roll-off factor of root Nyquist filter or root raised cosine filter, and of size of payload from delivered data. Based on this results, the smallest PER could be obtained by setting Eb/No value which is greater than 13 dB, carrier frequency of at least 0,3 MHz, optimum bit rate of 256 kbps, optimum range payload size of 2000 up to 4000 bytes, and roll-off factor of Nyquist or root-raised cosine filter of 0.1<alfa<0.9.

Obstacle Avoidance Method for a Group of Humanoids Inspired by Social Force Model Ali Sadiyoko; Bambang Riyanto Trilaksono; Kusprasapta Mutijarsa; Widyawardana Adiprawita
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 6, No 2 (2015)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2015.v6.67-74

This paper presents a new formulation for obstacle and collision behavior on a group of humanoid robots that adopts walking behavior of pedestrian crowd. A pedestrian receives position information from the other pedestrians, calculate his movement and then continuing his objective. This capability is defined as socio-dynamic capability of a pedestrian. Pedestrian’s walking behavior in a crowd is an example of a sociodynamics system and known as Social Force Model (SFM). This research is trying to implement the avoidance terms in SFM into robot’s behavior. The aim of the integration of SFM into robot’s behavior is to increase robot’s ability to maintain its safety by avoiding the obstacles and collision with the other robots. The attractive feature of the proposed algorithm is the fact that the behavior of the humanoids will imitate the human’s behavior while avoiding the obstacle. The proposed algorithm combines formation control using Consensus Algorithm (CA) with collision and obstacle avoidance technique using SFM. Simulation and experiment results show the effectiveness of the proposed algorithm.

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