Object Detection of Omnidirectional Vision Using PSO-Neural Network for Soccer Robot

The vision system in soccer robot is needed to recognize the object around the robot environment. Omnidirectional vision system has been widely developed to find the object such as a ball, goalpost, and the white line in a field and recognized the distance and an angle between the object and robot. The most challenging in develop Omni-vision system is image distortion resulting from spherical mirror or lenses. This paper presents an efficient Omni-vision system using spherical lenses for real-time object detection. Aiming to overcome the image distortion and computation complexity, the distance calculation between object and robot from the spherical image is modeled using the neural network with optimized by particle swarm optimization. The experimental result shows the effectiveness of our development in the term of accuracy and processing time

Vehicle Positioning System Based on Cubic Spline Interpolation Using Statistical Analysis

Vehicle monitoring and positioning become an essential factor in road management to secure and safeguard the vehicular network, which influences the coupling of reliability on the advanced automobile technologies. Furthermore, to predict the exact location of a car in a given time is challenging, because it depends on a myriad number of elements. Moreover, knowing the position of a vehicle helps passengers as well as increase vehicle network security. In this paper, we propose a mathematical model to predict the position of a car from a prepopulated dataset using spline interpolation. More interestingly, the prediction point of a mobile vehicle will be presented without any help from real-time monitoring devices. Simulation of vehicle positioning is done using bus trajectory data in a university environment in the University of Malaya to verify the feasibility and benefit of the proposed approach. Accordingly, a process of evaluation has been performed based on a plethora of components and existing works to show the effectiveness of the proposed method

DETEKSI DAN PREDIKSI TRAJEKTORI OBJEK BERGERAK DENGAN OMNI-VISION MENGGUNAKAN PSO-NN DAN INTERPOLASI POLYNOMIAL

Pada kompetisi robot sepak bola beroda Indonesia dalam satu tim terdiri dari tiga buah robot, dimana satu buah robot adalah penjaga gawang. Pada kompetisi tersebut pergerakan robot dan bola sangat dinamis. Sehingga dibutuhkan sebuah metode untuk memperediksi pergerakan bola sehingga penjaga gawang dapat mengantisipasi pergerakan bola. Pada penelitin ini perancangan omnivision dan pendeteksian bola dilakukan dengan pengolahan citra digital untuk mengenali objek bola dengan background yang kemudian akan dihitung posisi bola dalam pixel. Selanjutnya Neural Network digunakan sebagai model kalibrasi jarak dalam pixel ke jarak nyata (cm) yang bobotnya dilatih menggunakan Particle Swarm Optimization. Selanjutnya untuk memprediksi trajectory pergerakan bola pendekatan interpolasi kurva polynomial digunakan untuk mendapatkan perkiraan model dari data dua dimensi dari posisi bola yang terdeteksi. Hasil penelitian menunjukan bahwa konversi jarak pada pendeteksian objek dengan model PSO-NN didapatkan persentase rata-rata kuadrat error (PMSE) pengukuran 0.13% dan rata rata error prediksi sebesar 20%

Shortest Route at Dynamic Location with Node Combination-Dijkstra Algorithm

Abstract— Online transportation has become a basic requirement of the general public in support of all activities to go to work, school or vacation to the sights. Public transportation services compete to provide the best service so that consumers feel comfortable using the services offered, so that all activities are noticed, one of them is the search for the shortest route in picking the buyer or delivering to the destination. Node Combination method can minimize memory usage and this methode is more optimal when compared to A* and Ant Colony in the shortest route search like Dijkstra algorithm, but can’t store the history node that has been passed. Therefore, using node combination algorithm is very good in searching the shortest distance is not the shortest route. This paper is structured to modify the node combination algorithm to solve the problem of finding the shortest route at the dynamic location obtained from the transport fleet by displaying the nodes that have the shortest distance and will be implemented in the geographic information system in the form of map to facilitate the use of the system. Keywords— Shortest Path, Algorithm Dijkstra, Node Combination, Dynamic Location (key words