Sistem Pengenal Isyarat Tangan Untuk Mengendalikan Gerakan Robot Beroda menggunakan Convolutional Neural Network

Currently, Human and computer interaction is generally done using a remote control. This approach tends to be impractical for wheeled robot operation because it must always carry an intermediary tool during the operation. The application of hand gesture recognition using digital image processing techniques and machine learning in the control process of wheeled robots will facilitate the control of wheeled robots because control no longer requires an intermediary tool.In this study, hand image taken using a camera then will be processed using a single board computer to be recognized. The results of recognized are passed on to arduino leonardo and DC motor to control twelve wheeled robot movement. The method used in this study is contrast stretching for preprocessing and Convolutional Neural Network (CNN) for hand recognition. This method is tested with a variation of  bright 26-140 lux, the distance from the face to the camera is 120-200cm. Hand recognition systems using this method resulting accuracy 97,5%, precision 97,57%, sensitivity 97.5%, spesificity 99,77 and f1 score 97.45%

Secure indoor navigation and operation of mobile robots

In future work environments, robots will navigate and work side by side to humans. This raises big challenges related to the safety of these robots. In this Dissertation, three tasks have been realized: 1) implementing a localization and navigation system based on StarGazer sensor and Kalman filter; 2) realizing a human-robot interaction system using Kinect sensor and BPNN and SVM models to define the gestures and 3) a new collision avoidance system is realized. The system works on generating the collision-free paths based on the interaction between the human and the robot.In zukünftigen Arbeitsumgebungen werden Roboter navigieren nebeneinander an Menschen. Das wirft Herausforderungen im Zusammenhang mit der Sicherheit dieser Roboter auf. In dieser Dissertation drei Aufgaben realisiert: 1. Implementierung eines Lokalisierungs und Navigationssystem basierend auf Kalman Filter: 2. Realisierung eines Mensch-Roboter-Interaktionssystem mit Kinect und AI zur Definition der Gesten und 3. ein neues Kollisionsvermeidungssystem wird realisiert. Das System arbeitet an der Erzeugung der kollisionsfreien Pfade, die auf der Wechselwirkung zwischen dem Menschen und dem Roboter basieren