Garuda - Garba Rujukan Digital

p-Index From 2021 - 2026

0.659

P-Index

This Author published in this journals

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

Claim Missing Document

Articles

1 2

Rancang Bangun Sistem Pendeteksi ARTag sebagai Landasan Pacu AR.Drone Menggunakan Platform ROS (Robot Operating System) Bakhtiar Alldino Ardi Sumbodo; Ariestyo Rahardian
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 8, No 2 (2018): October
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

The development of quadrotor type AR. Drone for research are being developed. One of which is an object detection system based image processing to perform the mission, such as tracking, landing, or detect and pass the object hitch. Accordingly, in this research designed an ARTag detection system based on digital image processing using OpenCV library implemented in ROS platform used to connect the drone to PC which will then be carried out missions to landing. The method used is Thresholding, Contour Detection, and Image Moments.The result of this research is a system that able to detect ARTag objects along with his ID. The system is tested by computing time of the program in the static and dynamic state, detection performance testing in static and dynamic state, detection performance testing of the angle between the ARDrone and ARTag, detection performance testing of the light intensity, and testing landing mission. The conclusions are the optimal height of detection in the static and dynamic state is 150 cm, has excellent reliability to the light intensity, and the ARDrone can perform landing mission with a success rate of 70%.

Implementasi Algoritma PSO Pada Multi Mobile Robot Dalam Penentuan Posisi Target Terdekat Ikhwannuary Raditya Priyadana; Bakhtiar Alldino Ardi Sumbodo; Triyogatama Wahyu Widodo
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 8, No 1 (2018): April
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

Swarm Intelligence is an artificial intelligence developed by adapting the social behavior of a group of animal. In the migratory birds community, it is known that the behavior of the birds during the flight forms a 'V' formation that plays a role in optimizing the bird's energy saving. The basic principle of a swarm intelligence is the existence of collective, decentralized and self-organizing behavior. This is the basis for the development of behavioral algorithms flocking birds called Particle Swarm Optimization (PSO).In this research used three mobile robot as object to implement PSO algorithm. Three pieces of this robot is homogeneous, which is similar hardware and software. A group of these robots will complete the joint mission of defining the robot with the closest distance to the target TPr (robot handler). There are three TPr targets that have to be executed by the robot handler according to their position with the target point to be completed. The test is done by taking odometry data every 250 milisekon and data frame robot communication.At the end of this research, the result of modeling system result of PSO algorithm implementation on mobile robot group to determine the robot closest to the target. The robot system that meets the principles of PSO, namely the process of data sharing and learning process.

Rancang Bangun Platform Intel Edison Sebagai IoT Gateway Berbasis Protokol MQTT Anggit Wicaksana; Bakhtiar Alldino Ardi Sumbodo
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 10, No 2 (2020): October
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22146/ijeis.36492

The role of IoT gateway on IoT network is vital, like for strengthen the sensor management. Accordingly, in this research designed an IoT gateway based on MQTT Protocol which implemented in Intel Edison platform and using ten node sensors with star topology.Results from this research is an IoT gateway system who capable to receive data packet from node sensor, saves the data in database, and publishes the data to MQTT broker. User able to do data acquisition by subscribe method, using MQTT Dasboard application. The system tested by doing the calculation of time response of gateway with variation of data length and variation of distance, life time of node sensor testing by the variation of data length. The conclusions are the time average of from data acquisition by node sensor until gateway saves the data in database and user subscribes the data is twelve seconds. The shorter the data length makes the response time of gateway faster and makes the life time of node sensor shorter because the measured current is bigger. The distance is not gives any impact to the response time of gateway.

Implementasi Teknologi Internet Sebagai Solusi Pengentasan Masalah Komunikasi di Desa Nyamuk, Kecamatan Karimunjawa, Kabupaten Jepara Bakhtiar Alldino Ardi Sumbodo; Andi Dharmawan; Faizah Faizah
Jurnal Pengabdian kepada Masyarakat (Indonesian Journal of Community Engagement) Vol 2, No 2 (2017): Maret
Publisher : Direktorat Pengabdian kepada Masyarakat Universitas Gadjah Mada

Nyamuk Village is a village in the form of an island in Karimunjawa Islands, which is located at 5°48'33.44" S - 5°49'11.78" S and 110°10'51.09" E - 110°11'53.85" E. The majority of people working as a fisherman and a small proportion become craftsmen, farmers, traders, and government officials. The village has marine resources are very abundant, but the distance which reaches 28.6 km from the District of Karimunjawa, make this village a more isolated than the other islands in Karimunjawa Islands. Limited access to communication, information, and education in this community become one of the issues that need to be resolved. GSM phone signal range that does not exist and the lack of internet access, making communication, information, and education in this village are still underdeveloped. The solution to overcoming these problems, it is necessary to implement Internet technology to improve access to communications, information, and education in the Nyamuk Village, Karimunjawa Islands. The existence of free internet access in this village is expected to have a positive impact and improve the lives of the community.

Klasifikasi Ekspresi Wajah Menggunakan CNN Dalam Keadaan Wild Setting Pada Virtual Meeting Firmansyah, Isnan; Putri, Diyah Utami Kusumaning; Sumbodo, Bakhtiar Alldino Ardi
IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) Vol 14, No 2 (2024): October
Publisher : IndoCEISS in colaboration with Universitas Gadjah Mada, Indonesia.

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.22146/ijeis.92088

Ekspresi wajah merepresentasikan perasaan dalam diri manusia serta dapat menjadi sebuah mediator dalam dunia sosial. Dalam rapat virtual, pemahaman terhadap suasana hati dan emosi peserta sangat dibutuhkan untuk menciptakan interaksi dan kerjasama yang baik. Emosi alami akan muncul ketika peserta berbicara secara spontan dengan keadaaan lingkungan alami tanpa dikondisikan sebelumnya. Oleh karena itu, dibutuhkan sebuah sistem yang mampu mengetahui emosi manusia secara otomatis dalam keadaan spontan (wild setting) pada virtual meeting sehingga ekspresi lebih alami. Teknik machine learning digunakan untuk melakukan klasifikasi ekspresi wajah pada virtual meeting.Penelitian ini membandingkan performa arsitektur LightCNN dan EfficientNet. Pelatihan dilakukan pada dataset gabungan antara FER-2013, Extended and Augmented Google FER dan CK+. Dataset berjumlah 67.362 citra terbagi menjadi data training 60.184 buah, data validation 3.589 buah, dan data testing 3.589 buah. Input model arsitektur EfficientNet divariasikan menjadi 48x48 dan 224x224 pixels. Optimasi learning rate dilakukan untuk menemukan performa tertinggi dari arsitektur terbaik. Hasil penelitian menunjukan bahwa arsitektur terbaik adalah EfficientNet dengan input 48x48 pixel. Nilai parameter learning rate paling optimal yaitu 0,0005. performa model dalam klasifikasi ekspresi wajah mencapai akurasi 90,50%, presisi 89,50%, recall 90,69% dan F1-score 90,06%. Implementasi EfficientNet pada video virtual meeting untuk mengklasifikasikan ekspresi wajah mendapatkan performa akurasi sebesar 96,18%.

Humanoid robot balance control system during backward walking using linear quadratic regulator Arsyi, Muhammad; Dharmawan, Andi; Sumbodo, Bakhtiar Alldino Ardi; Auzan, Muhammad; Istiyanto, Jazi Eko; Natan, Oskar
IAES International Journal of Robotics and Automation (IJRA) Vol 14, No 4: December 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v14i4.pp320-330

Humanoid robots are designed to replicate human activities, including tasks in hazardous environments. However, maintaining balance during backward walking remains a significant challenge due to center of mass (CoM) shifts beyond the support polygon and limited knee joint motion. This study proposes a control strategy that integrates a linear quadratic regulator (LQR) with optimized walking patterns to enhance dynamic stability. The approach combines LQR-based control with CoM trajectory planning to ensure safe and stable backward walking. The methodology includes inverse kinematics for generating walking patterns and the use of Inertial Measurement Unit (IMU) sensors to estimate the CoM trajectory. LQR parameters were tuned through simulation to improve responsiveness to disturbances. Evaluation metrics focused on CoM deviation, rise time, settling time, and overshoot. Experimental results demonstrate that the proposed LQR system effectively maintains the CoM within 5% of the support polygon boundary. The system achieved rise times under one second and settling times below two seconds, while minimizing pitch and roll overshoots. Compared to proportional control, the proposed method significantly improves stability and reduces the risk of falling. This research advances control strategies for humanoid robots, contributing to improved mobility and operational safety. Moreover, it supports Sustainable Development Goal (SDG) 9 by promoting innovation in intelligent robotic systems that can assist in complex or high-risk environments.

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

Title

Found 16 Documents
Search

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Title Search

Found 16 Documents Search

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Title

Found 16 Documents
Search