Robot Bergerak Penjejak Jalur Bertenaga Sel Surya

Pada makalah ini dipresentasikan sebuah robot bergerak penjejak jalur (line tracker mobile robot) yang tenaga penggeraknya memanfaatkan energi matahari, yaitu dengan menggunakan sel surya sebagai pengubah energi matahari tersebut menjadi energi listrik. Robot mobil ini dikendalikan oleh sebuah microcontroller AT89C2051 untuk menggerakkan dua buah motor DC, dan sebagai sensornya digunakan photoreflector. Dari hasil pengujian, robot bergerak penjejak jalur ini dapat mengikuti garis hitam pada arena lintasan putih dengan sudut belokan minimum 80°. Mobile robot ini berukuran 25,4 × 19,2 × 6,2 cm dengan berat 531 gram dan konsumsi arus saat pada lintasan lurus ± 57 mA dan saat mobile robot melakukan belokan ± 156 mA (untuk sudut belokan 75°). Lebar lintasan hitam yang digunakan selebar 1,5 cm. Tegangan kerja yang digunakan adalah +3 volt DC. Kekurangan mobile robot terletak pada roda belakang yang kurang dapat bergerak bebas sehingga menghambat pergerakkan dari mobile robot

A NOVEL APPROACH FOR CONFIGURING THE STIMULATOR OF A BCI FRAMEWORK USING XML

In a working BCI framework, all aspects must be considered as an integral part that contributes to the successful operation of a BCI system. This also includes the development of robust but flexible stimulator, especially the one that closely related to the feedback of a BCI system. This paper describes a novel approach in providing flexible visual stimulator using XML which has been applied for a BCI (brain-computer interface) framework. Using XML file format for configuring the visual stimulator of a BCI system, we can develop BCI applications which can accommodate many experiment strategies in BCI research. The BCI framework and its configuration platform is developed using C++ programming language which incorporate Qt’s most powerful XML parser named QXmlStream. The implementation and experiment shows that the XML configuration file can be well executed within the proposed BCI framework. Beside its capability in presenting flexible flickering frequencies and text formatting for SSVEP-based BCI, the configuration platform also provides 3 shapes, 16 colors, and 5 distinct feedback bars. It is not necessary to increase the number of shapes nor colors since those parameters are less important for the BCI stimulator. The proposed method can then be extended to enhance the usability of currently existed BCI framework such as BF++ Toys and BCI 2000

STATIC CODE ANALYSIS FOR SOFTWARE QUALITY IMPROVEMENT: A CASE STUDY IN BCI FRAMEWORK DEVELOPMENT

This paper shows how the systematic approach in software testing using static code analysis method can be used for improving the software quality of a BCI framework. The method is best performed during the development phase of framework programs. In the proposed approach, we evaluate several software metrics which are based on the principles of object oriented design. Since such method is depending on the underlying programming language, we describe the method in term of C++ language programming whereas the Qt platform is also currently being used. One of the most important metric is so called software complexity. Applying the software complexity calculation using both McCabe and Halstead method for the BCI framework which consists of two important types of BCI, those are SSVEP and P300, we found that there are two classes in the framework which have very complex and prone to violation of cohesion principle in OOP. The other metrics are fit the criteria of the proposed framework aspects, such as: MPC is less than 20; average complexity is around value of 5; and the maximum depth is below 10 blocks. Such variables are considered very important when further developing the BCI framework in the future

Pemodelan Dan Simulasi Dinamika Lengan Robot 3-DOF Menggunakan Perangkat Lunak Open Source

This paper describes an alternative method for analyzing robot dynamics using open source software so-called ODE (open dynamic engine). Using ODE, an arm robot can be modeled and simulated in a simple but accurate fashion. The arm robot which is being modeled and simulated in this paper is the Movemaster EX RV-M1 from Mitsubishi. The simulation is performed after the robot has been completely modeled and the simulation was made so that all links within the robot will move simultaneously forming a straight line and rotating from 0° to 100°. The modeling and simulation result shows that each revolute joint of the robot requires distinct torque and it is found that at the speed of 1.26 rad/s, the elbow joint has the higher torque to move the body at the level of 3101.79 g.m2.s-2. This high torque was due to constraint force when the joint was moving altogether. This research does not produce any visualization effect but it can be extended to enrich any other simulator program which works according to kinematics modeling only

Preliminary Testing Tool for VGA Monitor Using FPGA XC4005XL and XS-Board

There are a lot of factors causing the monitor not to work well. Examination by the technician generally involves two steps: preliminary testing for facts finding and minor problems solving, and/or followed by further hardware-repairing. This paper describes the using of XS-Board and the Xilinx-FPGA within it to create preliminary testing tool for VGA troubleshooting. The goal of this research is to evaluate how effective the using of XS-Board with FPGA XC4005XL to implement a preliminary testing tool for VGA troubleshooting. The system will generate pictures in certain patterns and colors periodically to help technician in observing the monitor. The experiment shows that XS-Board with FPGA XC4005XL inside it is capable in handling the signaling for VGA monitor to display 64 colors almost fullscreen. With only consume 15% of logic cell resources; this system is efficient enough and ready to be improved further. One of its critical characteristics is that the internal clock generator of XC4005XL has 10% tolerant in frequency variation resulting in imperfect display of fullscreen mode

Fine-grained or coarse-grained? Strategies for implementing parallel genetic algorithms in a programmable neuromorphic platform

Genetic Algorithm (GA) is one of popular heuristic-based optimization methods that attracts engineers and scientists for many years. With the advancement of multi- and many-core technologies, GAs are transformed into more powerful tools by parallelising their core processes. This paper describes a feasibility study of implementing parallel GAs (pGAs) on a SpiNNaker. As a many-core neuromorphic platform, SpiNNaker offers a possibility to scale-up a parallelised algorithm, such as a pGA, whilst offering low power consumption on its processing and communication overhead. However, due to its small packets distribution mechanism and constrained processing resources, parallelising processes of a GA in SpiNNaker is challenging. In this paper we show how a pGA can be implemented on SpiNNaker and analyse its performance. Due to inherently numerous parameter and classification of pGAs, we evaluate only the most common aspects of a pGA and use some artificial benchmarking test functions. The experiments produced some promising results that may lead to further developments of massively parallel GAs on SpiNNaker

A model-based approach to robot kinematics and control using discrete factor graphs with belief propagation

Much of recent researches in robotics have shifted the focus from traditionally-specific industrial tasks to investigations of new types of robots with alternative ways of controlling them. In this paper, we describe the development of a generic method based on factor graphs to model robot kinematics. We focused on the kinematics aspect of robot control because it provides a fast and systematic solution for the robot agent to move in a dynamic environment. We developed neurally-inspired factor graph models that can be applied on two different robotic systems: a mobile platform and a robotic arm. We also demonstrated that we can extend the static model of the robotic arm into a dynamic model useful for imitating natural movements of a human hand. We tested our methods in a simulation environment as well as in scenarios involving real robots. The experimental results proved the flexibility of our proposed methods in terms of remodeling and learning, which enabled the modeled robot to perform reliably during the execution of given tasks

PERANCANGAN UPGRADEABLE DIGITAL ANSWERING MACHINE BERBASIS TEKNOLOGI FPGA

Mesin penjawab telepon digital menggunakan chip-chip memori media penyimpanan informasi (pesan)

Parameter Estimation Using Least Square Method for MIMO Takagi-Sugeno Neuro-Fuzzy in TIME Series Forecasting

This paper describes LSE method for improving Takagi-Sugeno neuro-fuzzy model for a multi-input and multi-output system using a set of data (Mackey-Glass chaotic time series). The performance of the generated model is verified using certain set of validation / test data. The LSE method is used to compute the consequent parameters of Takagi-Sugeno neuro-fuzzy model while mean and variance of Gaussian Membership Functions are initially set at certain values and will be updated using Back Propagation Algorithm. The simulation using Matlab shows that the developed neuro-fuzzy model is capable of forecasting the future values of the chaotic time series and adaptively reduces the amount of error during its training and validation