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All Journal International Journal of Advances in Intelligent Informatics Cakrawala: Jurnal Pengabdian Masyarakat Global
Yasa Palaguna Umar
Universitas Brawijaya
Agriculture, Biological Sciences & Forestry Humanities Computer Science & IT Economics, Econometrics & Finance Education Languange, Linguistic, Communication & Media Social Sciences

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Augmented haar cascade classifier for real-time ball detection in humanoid robots under dynamic environments Gembong Edhi Setyawan; Edita Rosana Widasari; Barlian Henryranu Prasetio; Yasa Palaguna Umar; Ivan Rafli Adipratama
International Journal of Advances in Intelligent Informatics Vol 12, No 1 (2026): February 2026
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26555/ijain.v12i1.2146

Abstract

This study proposes an Augmented Haar Cascade Classifier (AHCC) to enhance real-time ball detection for humanoid robots operating in dynamic environments. The method integrates Convex Hull mapping, HSV-based segmentation, and Hough Circle validation to overcome challenges such as fluctuating illumination, complex backgrounds, and partial occlusions. Experiments were conducted entirely on a CPU-only Intel NUC platform running ROS without GPU acceleration, using a dataset containing variations in lighting, orientation, scale, and background clutter. Compared with baseline models (standard Haar Cascade Classifier (HCC) and YOLOv5) the proposed AHCC achieved 97% accuracy, 83% recall, 97% precision, and an 89% F1-score, while requiring only 0.00849 s per frame with 8.97% memory usage. Although YOLOv5 reached 99% accuracy, it demanded higher computational resources (0.0344 s per frame, 22.3% memory usage), limiting its practicality for embedded robotic systems. The AHCC therefore offers an optimal balance between detection reliability and computational efficiency, outperforming traditional HCC and providing a lightweight alternative to GPU-dependent detectors such as Tiny-YOLO and MobileNet-SSD.
Sosialisasi Ketahanan Pangan Berbasis Ecopesantren Melalui Pengelolaan Sampah di Pondok Pesantren Matsaratul Huda, Kabupaten Pamekasan Rita Parmawati; Yasa Palaguna Umar; Prisca Kiki Wulandari; Supriyanto Supriyanto; Aya shofiyah; Ichi Fiaqi Hamada; Arie Dipareza Syafei; Achmad Muzakky; Abdu Fadli Assomadi; Hilmi Putra Pradana; Sudarmaji Sudarmaji; Retno Adriyani; Novi Dian Arfiani; Adriel Kevin Sutanto; Hosana Andy Kurniawan; Jimmy Malintang
Cakrawala: Jurnal Pengabdian Masyarakat Global Vol. 5 No. 4 (2026): November: Cakrawala: Jurnal Pengabdian Masyarakat Global
Publisher : Universitas 45 Surabaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30640/cakrawala.v5i4.7868

Abstract

Unmanaged organic waste and dependency on external food supply are two challenges faced by Pondok Pesantren Matsaratul Huda, Pamekasan Regency. This community service activity aimed to improve the understanding of students, boarding school administrators, and teachers regarding the ecopesantren concept and waste management as an effort to support food security within the boarding school environment. Method: The activity was conducted on 13–14 July 2026 through a socialization method with preparation, implementation, and evaluation stages, involving 31 participants. The materials covered waste to eco-enzyme processing, waste classification, food security strategies, and the ecopesantren concept. Result: Effectiveness was measured using a pretest-posttest instrument on a 1–5 scale across 24 understanding indicators. Results showed the average understanding score increased from 3.31 (66.3%) to 3.64 (72.8%), with an N-Gain Score of 0.194, categorized as low. The Eco-Pesantren dimension (N-Gain 0.254) improved slightly more than the food security dimension (N-Gain 0.125). Fifty-eight percent of participants showed an increase in their scores. Conclusion: These findings indicate that a single socialization session had a positive but not yet optimal impact, suggesting the need for continued mentoring and hands-on practice to achieve more significant and sustainable improvement.
Co-Authors Abdu Fadli Assomadi Achmad Muzakky Adriel Kevin Sutanto Arie Dipareza Syafei Aya Shofiyah Barlian Henryranu Prasetio Edita Rosana Widasari Gembong Edhi Setyawan Hilmi Putra Pradana Hosana Andy Kurniawan Ichi Fiaqi Hamada Ivan Rafli Adipratama Jimmy Malintang Novi Dian Arfiani Retno Adriyani Rita Parmawati Sudarmaji Sudarmaji Supriyanto Supriyanto Wulandari, Prisca Kiki