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All Journal IAES International Journal of Robotics and Automation (IJRA) Indonesian Journal of Electronics and Instrumentation Systems TEKNIK Jurnal Pengabdian Kepada Masyarakat (Indonesian Journal of Community Engagement) International Journal of Artificial Intelligence Research

Bakhtiar Alldino Ardi Sumbodo

Universitas Gadjah Mada

Author-ID : 2476341

Automotive Engineering Computer Science & IT Decision Sciences, Operations Research & Management Electrical & Electronics Engineering Engineering

Published : 16 Documents Claim Missing Document

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Pengembangan Robot Humanoid Pemain Bola Otonom Afrisal, Hadha; Munadi, Munadi; Faris, Muhammad; Ardi Sumbodo, Bakhtiar Alldino
TEKNIK Vol 40, No. 1 (2019): Mei 2019
Publisher : Diponegoro University

This research aims to develop an autonomous humanoid soccer robot. The humanoid soccer robot is designed using 20 joints which are equipped with dynamixel servo motor AX-12 (upper body) and RX-24 (lower body) and is controlled by using servo controller board CM-700 (ATMega2561). The humanoid soccer robot is 44 cm in height and is equipped with a balancing system of using gyro sensor LPR530 and accelerometer KXM52-1050. In order to detect object and to navigate autonomously, the humanoid soccer robot is equipped with a CMOS camera which is controlled using CMUCAM board (LPC2016). The experiment shows that the humanoid soccer robot has ability to walk with average speed of 14.37 cm/second and is able to achieve a top speed of up to 20 cm/second. The developed humanoid soccer robot can play soccer autonomously: to locate the ball, to detect the goalpost, and to score the goal to the goalpost.

Intelligent Traffic Monitoring Systems: Vehicle Type Classification Using Support Vector Machine Ika Candradewi; Agus Harjoko; Bakhtiar Alldino Ardi Sumbodo
International Journal of Artificial Intelligence Research Vol 5, No 1 (2021): June 2021
Publisher : STMIK Dharma Wacana

In the automation of vehicle traffic monitoring system, information about the type of vehicle, it is essential because used in the process of further analysis as management of traffic control lights. Currently, calculation of the number of vehicles is still done manually. Computer vision applied to traffic monitoring systems could present data more complete and update.In this study consists of three main stages, namely Classification, Feature Extraction, and Detection. At stage vehicle classification used multi-class SVM method to evaluate characteristics of the object into eight classes (LV-TK, LV-Mobil, LV-Mikrobis, MHV-TS, MHV-BS, HV-LB, HV- LT, MC). Features are obtained from the detection object, processed on the feature extraction stage to get features of geometry, HOG, and LBP in the detection stage of the vehicle used MOG method combined with HOG-SVM to get an object in the form of a moving vehicle and does not move. SVM had the advantage of detail and based statistical computing. Geometry, HOG, and LBP characterize complex and represents an object in the form of the gradient and local histogram.The test results demonstrate the accuracy of the calculation of the number of vehicles at the stage of vehicle detection is 92%, with the parameters HOG cellSize 4x4, 2x2 block size, the son of vehicle classification 9. The test results give the overall mean recognition rate 91,31 %, mean precision rate 77,32 %, and mean recall rate 75,66 %.

Sistem Video Streaming dengan Server Mini Personal Computer (Mini Pc) pada Jaringan Ad-Hoc Dwindawan Holandrio; Raden Sumiharto; Bakhtiar Alldino Ardi Sumbodo
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 2, No 2 (2012): October
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

AbstrakTelah dibuat sistem video streaming dengan mengimplementasikan metode socket programming (pemrograman soket) yang menggunakan protokol TCP/IP dan OpenCV (Open Computer Vision) sebagai library pemrograman untuk menangani I/O video. Sistem terdiri dari 1 server yaitu Mini PC Zotac Zbox Nano AD10 dan 1 klien yang saling berhubungan menggunakan Wi-Fi dengan mode akses Ad-Hoc.Hasil dari penelitian ini adalah sebuah sistem video streaming yang diwujudkan dalam bentuk perangkat lunak yang ditanamkan pada Mini PC sebagai server dan laptop sebagai klien. Video yang dikirimkan dibedakan menjadi 2 yaitu video dengan format RGB (warna) dan format grayscale. Sistem diuji kinerjanya dengan mengamati parameter frame rate video yang ditampilkan oleh klien. Dari pengujian dengan 2 variasi waktu transfer dan resolusi berukuran 640 x 480 pixel didapatkan frame rate terbaik untuk jarak 15 meter video dengan format RGB adalah 0,7 fps, sedangkan untuk video grayscale didapatkan frame rate terbaik 6,56 fps. Kemudian untuk jarak tempuh maksimal yaitu 60 meter didapatkan nilai frame rate 0,04 fps untuk video RGB dan 0,69 fps untuk video grayscale. Kata kunci—video streaming, sokcet programming, Mini PC, OpenCV AbstractA video streaming system has been made that implemented socket programming method which used TCP/IP protokol and OpenCV as a programming library for handling I/O video. The system consists of one server using Mini PC Zotac Zbox Nano AD10 and one client that are connected using the Wi-Fi Ad-Ho wireless mode.The result of this research is a video streaming system which is realized in a software that been embedded in the Mini PC as the server and in notebook as a client. The system was tested by observing the performance parameters of the video frame rate that displayed by the client. The video can be transmitted into two formats, RGB (color) format and grayscale format. System performance was tested by observing the frame rate of video that being displayed by the client. From testing with two variations of the transfer time, the best frame rate was obtained at 15 meter that is 0,7 fps using RGB format, while for grayscale video frame rate obtained is 6,56 fps. While for a maximum distance of 60 meters, frame rate obtained is 0,04 fps for RGB video and 0,69 for grayscale video Keywords—video streaming, socket programming, Mini PC, OpenCV

Desain dan Implementasi On-Board Computer/ On-Board Data Handling (OBDH) pada UGM-SAT Bakhtiar Alldino Ardi Sumbodo; Agfianto Eko Putra
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 5, No 1 (2015): April
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

The engineering model of OBDH for UGM-SAT was designed to control data handling program and tointerface the satellite subsystems to OBDH. The OBDH’s based on the Microchip microcontroller PIC16F877A with 20 Mhz clock speed. The system’s equipped with four external 24LC512 EEPROM’s with a storage capacity of 256 kB. The external memories’re used to store housekeeping information. The system’s equipped with a ACS712ELCTR-05B-T current sensor, voltage sensor and LM335Z temperature sensor. The accuracy of the measurements’re more than 99%. The system’s also equipped with IC Real Time Clock (RTC) DS3232M with an internal clock of 32.768 Hz, which’s used to synchronize the time between OBDH with other subsystems.The components of OBDH was chosen with industrial standards, small packages and low power. OBDH’s designed to operate in environments with extreme temperature conditions. The communication with other subsystems was designed to use I2C-bus. Protocol data for communication between the satellite subsystems have been designed. A HammingCode(8,4) algorithm has been implemented to protect housekeeping information from being corrupted due to radiation. Error detection and correction speed is 1.800 byte/s. The engineering model of OBDH for UGM-SAT have met the standard specifications, and ready for further testing hardware and software.

Sistem Pendeteksi dan Pelacakan Bola dengan Metode Hough Circle Transform, Blob Detection, dan Camshift Menggunakan AR.Drone Elki Muhamad Pamungkas; Bakhtiar Alldino Ardi Sumbodo; Ika Candradewi
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 7, No 1 (2017): April
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

Parrot AR.Drone is one type of quadrotor UAV. Quadrotor is operated manually with remote control and automatically using GPS (Global Positioning System), but using GPS in tracking mission an object has disadvantage that can’t afford quadrotor position relative to object. Quadrotor require other control methods to perform object tracking. One approach is utilize digital image processing. In this research is designed detection and tracking ball system with digital image processing using OpenCV library and implemented on platform Robot Operating System. The methods which used is hough transform circle, blob detection and camshif. The results of this research is system on AR.Drone capable of detecting and tracking ball. Based on the test results it was concluded that the maximum distance of system is capable to detecting ball with diameter of 20 cm using hough transform circle method is 500 cm and using blob detection method is 900 cm. Average time detection process to detect the ball using hough transform circle that is 0.0054 second and for blob detection method is 0.0116 second. The success rate of tracking the ball using camshift method from the results of detection hough circle transfom is 100% while from result of detection blob detection is 96.67%

Klasifikasi Sel Darah Putih Menggunakan Metode Support Vector Machine (SVM) Berbasis Pengolahan Citra Digital Bhima Caraka; Bakhtiar Alldino Ardi Sumbodo; Ika Candradewi
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 7, No 1 (2017): April
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

White blood cells are classified into five types (basophils, eosinophils, neutrophils, lymphocytes and monocytes) with additional classes lymphoblast cells from microscope images are processed. By applying image processing, image its white blood cells extracted using the Histogram Oriented Gradient. Feature extraction results obtained then classified using Support Vector Machine method by comparing the results of two different kernel parameters: kernel Linear and kernel Radial Basis Function (RBF). Classification evaluated with these parameters: Accuracy, specificity, and sensitivity.Obtained an accuracy of 72.26% from the detection of white blood cells in the microscope image. The average value of microscope images of patients and different kernel every white blood cells (monocytes, basophils, neutrophils, eosinophils, lymphocytes and lymphoblast) were evaluated with these parameters. Results of the study show the classification system has an average value of 82.20% accuracy (RBF Patient 1), 81.63% (RBF Patient 2) and 78.73% (Linear Patient 1), 79.55% (Linear Patient 2 ), then the value of specificity of 89.91% (RBF patient 1), 92.18% (RBF patient 2) and 88.06% (Linear patient 1), 91.34% (Linear patient 2), and sensitivity values 15 , 45% (RBF patient 1), 12.97% (RBF patient 2) and 13.33% (Linear patient 1), 12.50% (Linear patient 2).

Implementasi Kalman Filter Pada Kendali Roket EDF Wisnu Pamungkas; Bakhtiar Alldino Ardi Sumbodo; Catur Atmaji
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 7, No 1 (2017): April
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

EDF (electric ducted fan) rocket is a flying object shapes like bullet with electric ducted fan motor as the booster. This rocket fly autonomously by utilizing accelerometer, gyroscop, and magnetometer sensor to determine the attitude of the rocket against the earth’s gravitational and magnetic field of the earth. In controlling the rocket required a control system capable of controlling a rocket with sensor data that has been processed into the value of the attitude that has been filtered.In this study, designed a filter that will be implemented on the microcontroller rocket. The filters are Kalman filter is implemented while the control used is the control proportional integral derivative (PID) with Ziegler-Nichols tuning method.The result of this research is an implementation of kalman filter to EDF rocket control system. Based on the experiment that has been done, control system using a Kalman filter has a standard deviation value against the value of linear regression on a roll attitude of 2.73, a pitch of 3.03, and yaw of 6.96 degrees. While the standard deviation of the ideal value on a roll attitude of 3.43, a pitch of 2.92 and yaw of 5.21 degrees.

Rancang Bangun M2M (Machine-to-Machine) Communication Berbasis 6LoWPAN Doni Pradana; Bakhtiar Alldino Ardi Sumbodo
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 7, No 1 (2017): April
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

At the present time the development of technology enabling communication services without the use of cables its called wireless technology. One such wireless communication technology is M2M (Machine to Machine) communication. In this study, using a protocol 6LoWPAN as the basis of M2M communications, becaused in Zigbee protocol encountered to the weakness such as the value of end-to-end delay and packet loss is greater than 6LoWPAN protocol. Work on this study is desaign system of M2M communication based on 6LoWPAN protocol and compare the data of the performance of 6LoWPAN protocol with Zigbee protocol terms of end-to-end delay and packet loss. Variations of testing is to set the baud rate Xbee 1200 bps, 4800 bps, 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115200 bps. Besides the baud rate, the variation also adjusting the distance between nodes from 10 meter up to 60 meter by 10 meter intervals. Average of end-to-end delay time is 1899 milliseconds on 6LoWPAN, while protocol Zigbee is 422 miliseconds. In the packet loss aspect, in 6LoWPAN protocol not provided because the use of UDP not have an acknowledgement and squence number to track packet loss, while average of packet loss Zigbee protocol is 26%.

Pendeteksian Bola untuk Robot Sepak Bola Humanoid Berbasis Pengenalan Pola Fauzi Nur Iswahyudi; Bakhtiar Alldino Ardi Sumbodo
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 7, No 1 (2017): April
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

Humanoid soccer robot is one of popular developed robot. RoboCup is a competitive competiton of humanoid robot soccer. The rule of RoboCup changed by the time, the previous orange ball changed by white ball which is same color as the field line and the goal. Accordingly, in this research designed a white ball detection system for humanoid soccer robot based on pattern recognition. Histogram of Oriented Gradient (HOG) and Support Vector Machine (SVM) method are used in this research for feature extraction and classification. The result of this research is a system that be able to detect ball in humanoid soccer robot environment. The system tested by sliding window parameter testing, the distance of ball to robot testing, different light intensity testing, and other object testing. The conclusions of this research are: optimal detection is obtained by using 8x8 win_stride parameter size and 1,2 scale0 parameter value, maximum distance of detection with 32×32 window detector is 180 cm and with 64×64 window detector is 140 cm, the response of system in different light intensity is good enough, and the success rate of system against other obstacle object with 32×32 window detector is 68% and with 64×64 window detector is 99%.

Sistem Klasifikasi Kendaraan Berbasis Pengolahan Citra Digital dengan Metode Multilayer Perceptron Muhammad Irfan; Bakhtiar Alldino Ardi Sumbodo; Ika Candradewi
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 7, No 2 (2017): October
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

The evolution of video sensors and hardware can be used for developing traffic monitoring system vision based. It can provide information about vehicle passing by utilizing the camera, so that monitoring can be done automatically. It is needed for the processing systems to provide some information regarding traffic conditions. One such approach is to utilize digital image processing.This research consisted of two phases image processing, namely the process of detection and classification. The process of detection using Haar Cascade Classifier with the training data image form the vehicle and data test form the image state of toll road drawn at random. While, Multilayer Perceptron classification process uses by utilizing the result of the detection process. Vehicle classification is divided into three types, namely car, bus and truck. Then the classification parameters were evaluated by accuracy. The test results vehicle detection indicate the value of accuracy is 92.67. Meanwhile, the classification process is done with phase trial and error to evaluate the parameters that have been determined. Results of the study show the classification system has an average value of the accuracy is 87.60%.

Co-Authors Afrisal, Hadha Agfianto Eko Putra Agus Harjoko Andi Dharmawan Andi Dharmawan Anggit Wicaksana Ariestyo Rahardian Arsyi, Muhammad Auzan, Muhammad Bhima Caraka Catur Atmaji Doni Pradana Dwindawan Holandrio Elki Muhamad Pamungkas Faizah Faizah Fauzi Nur Iswahyudi Firmansyah, Isnan Ika Candradewi Ika Candradewi Ikhwannuary Raditya Priyadana Jazi Eko Istiyanto Muhammad Faris, Muhammad muhammad irfan Munadi Munadi Oskar Natan Putri, Diyah Utami Kusumaning Raden Sumiharto Triyogatama Wahyu Widodo Wisnu Pamungkas

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