Papers by Muhammad Abdul Haq
Journal of Mechatronics, Electrical Power, and Vehicular Technology
Ultracapacitors have been attracting interest to apply as energy storage devices with advantages ... more Ultracapacitors have been attracting interest to apply as energy storage devices with advantages of fast charging capability, high power density, and long lifecycle. As a storage device, accurate monitoring is required to ensure and operate safely during the charge/discharge process. Therefore, high accuracy estimation of the state of charge (SOC) is needed to keep the Ultracapacitor working properly. This paper proposed SOC estimation using the Adaptive Neuro-Fuzzy Inference System (ANFIS). The ANFIS is tested by comparing it to true SOC based on an equivalent circuit model. To find the best method, the ANFIS is modified and tested with various membership functions of triangular, trapezoidal, and gaussian. The results show that triangular membership is the best method due to its high accuracy. An experimental test is also conducted to verify simulation results. As an overall result, the triangular membership shows the best estimation. Simulation results show SOC estimation mean abs...
Indonesian Journal of Electrical Engineering and Computer Science
This paper presents a novel approach for improving the computation speed of the ball detection an... more This paper presents a novel approach for improving the computation speed of the ball detection and obstacle detection processes in our robot. The conditions of obstacle detection and ball detection in our robot still have a slow processing speed, this condition makes the robot not real-time and the robot's movement is hampered. To build a good world model, things to note are obstacle information and real-time ball detection. The focus of this research is to increase the speed of the process of the ball and obstacle detection around the robot. To increase the speed of the process, it is necessary to optimize the use of the OpenCV library on the robot operating system (ROS) system to divide the process into several small processes so that the work can be optimally divided into threads that have been created. Then, minimize the use of too many frames. This information will be sent to the base station and also for obstacle avoidance purposes.
Detecting ball is the first competence that should be owned by robot soccer. In the case of wheel... more Detecting ball is the first competence that should be owned by robot soccer. In the case of wheeled-based robot soccer, the existence of a ball is commonly detected by using an omnidirectional camera and a monocular camera. Traditional wheeled-based robot soccer usually uses color thresholding technique to differentiate ball and other objects. However, the accuracy of the thresholding technique frequently decreasing due to the changing of lighting conditions. This condition causes the robot can't detect the ball correctly. In this paper, we address that problem by applying a Local Binary Pattern (LBP) based ball detection system. Our experimental results show the performance of our system has percentages of success of 96.97% in bright lighting conditions, 80.69% insufficient lighting conditions, and 98.74% in dimmed lighting conditions when the ball moves slowly. Whereas the percentage of successful detection becomes 70.74% during bright lighting conditions, 60.42% for sufficient lighting conditions, and 83.79% for minimum lighting conditions when the ball moves quickly. LBP-based ball detection has 92.4% accuracy in measuring the distance between the ball and the robot.
White tea is a delicate tea known for its subtle flavor and delicate fragrance. It is beloved for... more White tea is a delicate tea known for its subtle flavor and delicate fragrance. It is beloved for its minimally processed nature and admired for its centuries-long tradition of production, but in the making of white tea, it is a little bit tricky. Appropriate temperature and humidity are needed in the production process of white tea. Based on the background, the making of this device is to control inside tea factory on the white tea production process. This device is using ESP as the microcontroller. Using the bluetooth system, this device is connected to a mobile application. From the mobile apps, the user can easily check the humidity inside the room, regulating the fan, and so on. (Abstract) Keywords-white tea, drying room, bluetooth.
ERSOW merupakan robot sepak bola dengan tipe beroda yang berlaga dalam Kontes Robot Sepak Bola In... more ERSOW merupakan robot sepak bola dengan tipe beroda yang berlaga dalam Kontes Robot Sepak Bola Indonesia Beroda. Tim ERSOW terbentuk sejak tahun 2016 untuk mengikuti ERSBI dengan tipe Small Size League (SSL), lalu tahun 2017 mengikuti KRSBI Beroda dengan tipe Middle Size League (MSL) sampai tahun ini. Penelitian kali ini difokuskan mengenai perkembangan robot ERSOW tahun 2019 yaitu penggunaan Robot Operating System, pengimplementasian 4 roda omni-wheel , obstacle detection, obstacle avoidance. paper ini menjelaskan perkembangan Robot ERSOW (EEPIS Robot Soccer on Wheeled) 2019 guna memenuhi rule pertandingan KRSBI Beroda.
Sunspot is temporary phenomena on the Sun's photosphere that appear as spots darker than the surr... more Sunspot is temporary phenomena on the Sun's photosphere that appear as spots darker than the surrounding areas. They are regions of reduced surface temperature caused by concentrations of magnetic field flux that inhibit convection. Sunspot usually appears in pairs of opposite magnetic polarity. Their number varies according to the approximately 11-year solar cycle. The purpose of this study is to analyze the location of the sunspot on the telescope using the contour detection. The data obtained from this telescope is in form of solar image data which is then processed using contour detection and produces an output in the form of solar image data along with location and information on the diameter of sunspot.
Abstrak-Robot soccer beroda adalah salah satu robot yang berfungsi untuk melakukan permainan sepa... more Abstrak-Robot soccer beroda adalah salah satu robot yang berfungsi untuk melakukan permainan sepakbola dengan aturan-aturan tertentu seperti permainan sepakbola yang dilakukan manusia dengan sistem pergerakan menggunakan roda. Direncanakan pada tahun 2050, manusia akan bermain sepakbola dengan robot. Penelitian dalam bidang robot soccer beroda banyak dilakukan pada kecerdasan robot seperti bagaimana robot mendeteksi dan mencari bola, menggiring bola, menendang bola ke arah gawang lawan, menghindari lawan dan komunikasi robot dalam tim. Pada penelitian ini, difokuskan pada bagaimana robot berjalan. Robot soccer ini dibuat mirip seperti X-Drive dan H-drive di mana mereka semua memiliki tiga derajat kebebasan, yang berarti bahwa mereka dapat bergerak ke segala arah dalam bidang x-y, serta memutar terhadap pusatnya. Robot ini hanya menggunakan tiga motor dan tiga omni-wheel. Cara beroperasinya dengan cara yang sama dengan X-drive, karena arah gerakan robot akan berada pada arah yang sama dengan vektor gaya resultan net. Keuntungan dengan model seperti ini robot diharapkan dapat bergerak ke segala arah, robot hanya membutuhkan tiga roda omni, selain itu hanya membutuhkan tiga motor, dibandingkan dengan empat motor dari X-Drive. Pergerakan robot diatur dengan odometry. Presentase error dari tiga omni-wheel ini sebesar 5cm dengan percobaan sebanyak 5x untuk target tujuan yang sama.
Rescue robotics is an important part in the scientific challenge to create autonomous systems. Ye... more Rescue robotics is an important part in the scientific challenge to create autonomous systems. Yet for disaster management, rescue response is always a race against time. The robots have to be faster and robust to perform rescuing mission. Robust maneuvering ability is thus the main challenge to fulfill the goal of autonomous surface vehicle. To achieve the goal, main problems of radiated waves and camera noises are investigated further especially during full speed movement. a new autonomous surface vehicle is thus developed equipped with a sharper nose of hull shape for better waves breaking. An optimized sparse optical-flow is employed for robust objects detection and faster computation. The detection does not solely use color information, but objects movements and its shape are also utilized. With this, robust maneuvering can be improved much. Experiments show encouraging results which could bring a lot of benefit for the future of rescue robotics in autonomous surface vehicle. Index Terms Rescue robotics, autonomous surface vehicle, sparse optical-flow, robust maneuvering, camera noise, vision based.
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Papers by Muhammad Abdul Haq