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All Journal Transmisi: Jurnal Ilmiah Teknik Elektro TELKOMNIKA (Telecommunication Computing Electronics and Control) Jurnal Elektronika dan Telekomunikasi
Abdul Muis
Departemen Teknik Elektro, Universitas Indonesia
Computer Science & IT Education

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Realistic Human Motion Preservation-Imitation Development on Robot with Kinect Abdul Muis; Wisnu Indrajit
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 10, No 4: December 2012
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v10i4.847

Abstract

At most, motion generation on robot is usually done through complex computation in off-line mode and straightforward method. In straightforward method, the operator drives robot to certain pose either with moving manipulator tool-tip with hand or remotely. Once the desired pose achieved, the current pose is saved to memory. However, these methods are time consuming. An easy and quick approach is by imitating an object motion to robot with sensing devices. There have been numerous efforts for motion imitation either by using position sensitive detector (PSD) or by using stereo camera. However, a calibrated pre-condition should be done initially, which is not possible for natural movement. Here, this paper proposed motion preservation by capturing human motion naturally through Kinect and then reproduced human motion on humanoid robot simultaneously. In addition, the motions are also preserved in database for later used on robot motion generation and teaching as well. Furthermore, the robot motions are developed to run smoothly and close to human eye ability. The proposed method has been validated in experimental results by capturing and reproducing human motion on robot in rate of 20Hz with340us computation cost for each process.
Performance Comparison of Particle Filter, Optical Flow, and CSRT in Unsupervised Visual Tracking for Mobile Robots Heru Taufiqurrohman; Abdul Muis; Yusuf Nur Wijayanto; Tsani Hendro Nugroho; Zaid Cahya
Jurnal Elektronika dan Telekomunikasi Vol. 25 No. 1 (2025)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.55981/jet.688

Abstract

This study addresses the challenges of selecting a suitable visual tracking method for real-time mobile robot applications, particularly in scenarios where the target is moving on the ground. The primary research problem addressed is the need for a flexible, computationally efficient tracking method that does not rely on pre-existing labelled datasets, as is often required by deep learning approaches. Unsupervised methods can overcome this problem by utilizing object motion information in each image frame without prior training. With many unsupervised tracking methods available, choosing an appropriate algorithm that can perform efficiently under dynamic conditions becomes a critical problem. The study compares the performance of three unsupervised visual tracking methods: particle filter, optical flow, and channel and spatial reliability tracker (CSRT) under various tracking conditions. The dataset used includes challenges such as moving target variations, changes in object scale, viewpoint changes, suboptimal lighting, image blurring, partial occlusions, and abrupt movements. Evaluation criteria include tracking accuracy, resistance to occlusion, and computational efficiency. The particle filter with ORB and a constant velocity model achieves a root mean square error (RMSE) of 36.47 pixels at 13 frames per second (fps). Optical flow performs best with an RMSE of 10.79 pixels at 30 fps, while CSRT shows an RMSE of 252.35 pixels at 4 fps. These findings highlight the effectiveness of optical flow for real-time applications, making it a promising solution for mobile robot visual tracking in challenging situations.
Pengembangan Perangkat Pengendali Dan Pemantau Kondisi Ac Dengan Pengoptimalan Penggunaan Daya Baterai Untuk Efisiensi Energi Mhd. Idham Khalif; Abdul Muis
Transmisi: Jurnal Ilmiah Teknik Elektro Vol 28, No 4 Oktober (2026): TRANSMISI: Jurnal Ilmiah Teknik Elektro (Terbitan Akan Datang)
Publisher : Departemen Teknik Elektro, Universitas Diponegoro

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14710/transmisi.28.4.%p

Abstract

Air conditioner (AC) umumnya dioperasikan menggunakan remote control, hal ini penting karena unit AC biasanya dipasang 2 hingga 3 meter di atas permukaan. Pada penelitian ini, kami merancang perangkat kendali dan monitoring AC yang dapat menggantikan kendali jarak jauh AC konvensional. Perangkat ini dilengkapi dengan sensor suhu untuk mengukur suhu ruangan, pemancar inframerah untuk mengirimkan perintah ke AC, dan penerima inframerah untuk menangkap perintah dari kendali jarak jauh konvensional, sehingga memungkinkan kompatibilitas dengan semua unit AC yang dikendalikan dengan inframerah. Perangkat ini menggunakan algoritma rule-based untuk mengontrol dan memantau AC secara otomatis dengan membandingkan suhu dalam ruangan dengan suhu luar ruangan dari platform OpenWeather. Untuk mengoptimalkan penggunaan baterai, dua waktu periode sampling pengendalian dan pemantauan kondisi AC diujikan, yaitu 10 detik dan 10 menit. Hasil penelitian menunjukkan bahwa dengan waktu periode sampling 10 detik rata-rata error pengendalian kondisi AC sebesar 6,21% dan sedangkan dengan waktu periode sampling 10 menit error pengendalian sebesar 6,74%. Dari segi konsumsi daya, waktu periode sampling 10 detik mengkonsumsi rata-rata 85,36 mA, sedangkan waktu periode sampling 10 menit mengkonsumsi 62,69 mA. Penelitian ini bertujuan untuk berkontribusi terhadap penghematan daya dan masa pakai baterai yang lebih lama pada perangkat pengendali dan pemantauan kondisi AC.
Co-Authors Heru Taufiqurrohman Mhd. Idham Khalif Tsani Hendro Nugroho Wisnu Indrajit Yusuf Nur Wijayanto Zaid Cahya