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Remo Dance Motion Estimation with Markerless Motion Capture Using The Optical Flow Method Kurniati, Neny; Basuki, Achmad; Pramadihanto, Dadet
EMITTER International Journal of Engineering Technology Vol 3, No 1 (2015)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar

Motion capture has been developed and applied in various fields, one of them is dancing. Remo dance is a dance from East Java that tells the struggle of a prince who fought on the battlefield. Remo dancer does not use body-tight costume. He wears a few costume pieces and accessories, so required a motion detection method that can detect limb motion which does not damage the beauty of the costumes and does not interfere motion of the dancer. The method is Markerless Motion Capture. Limbs motions are partial behavior. This means that all limbs do not move simultaneously, but alternately. It required motion tracking to detect parts of the body moving and where the direction of motion. Optical flow is a method that is suitable for the above conditions. Moving body parts will be detected by the bounding box. A bounding box differential value between frames can determine the direction of the motion and how far the object is moving. The optical flow method is simple and does not require a monochrome background. This method does not use complex feature extraction process so it can be applied to real-time motion capture. Performance of motion detection with optical flow method is determined by the value of the ratio between the area of the blob and the area of the bounding box. Estimate coordinates are not necessarily like original coordinates, but if the chart of estimate motion similar to the chart of the original motion, it means motion estimation it can be said to have the same motion with the original.Keywords: Motion Capture, Markerless, Remo Dance, Optical Flow

An Implementation of Error Minimization Position Estimate in Wireless Inertial Measurement Unit using Modification ZUPT Darmawan, Adytia; Dewanto, Sanggar; Pramadihanto, Dadet
EMITTER International Journal of Engineering Technology Vol 4, No 2 (2016)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Position estimation using WIMU (Wireless Inertial Measurement Unit) is one of emerging technology in the field of indoor positioning systems. WIMU can detect movement and does not depend on GPS signals. The position is then estimated using a modified ZUPT (Zero Velocity Update) method that was using Filter Magnitude Acceleration (FMA), Variance Magnitude Acceleration (VMA) and Angular Rate (AR) estimation. Performance of this method was justified on a six-legged robot navigation system. Experimental result shows that the combination of VMA-AR gives the best position estimation.

Remo Dance Motion Estimation with Markerless Motion Capture Using The Optical Flow Method Kurniati, Neny; Basuki, Achmad; Pramadihanto, Dadet
EMITTER International Journal of Engineering Technology Vol 3, No 1 (2015)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24003/emitter.v3i1.33

Motion capture has been developed and applied in various fields, one of them is dancing. Remo dance is a dance from East Java that tells the struggle of a prince who fought on the battlefield. Remo dancer does not use body-tight costume. He wears a few costume pieces and accessories, so required a motion detection method that can detect limb motion which does not damage the beauty of the costumes and does not interfere motion of the dancer. The method is Markerless Motion Capture. Limbs motions are partial behavior. This means that all limbs do not move simultaneously, but alternately. It required motion tracking to detect parts of the body moving and where the direction of motion. Optical flow is a method that is suitable for the above conditions. Moving body parts will be detected by the bounding box. A bounding box differential value between frames can determine the direction of the motion and how far the object is moving. The optical flow method is simple and does not require a monochrome background. This method does not use complex feature extraction process so it can be applied to real-time motion capture. Performance of motion detection with optical flow method is determined by the value of the ratio between the area of the blob and the area of the bounding box. Estimate coordinates are not necessarily like original coordinates, but if the chart of estimate motion similar to the chart of the original motion, it means motion estimation it can be said to have the same motion with the original.Keywords: Motion Capture, Markerless, Remo Dance, Optical Flow

Teen-Size Humanoid âFLoWâ Complete Analytical Kinematics Yanto, Luky; Dewanto, Raden Sanggar; Pramadihanto, Dadet; Binugroho, Eko Henfri
EMITTER International Journal of Engineering Technology Vol 5, No 2 (2017)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Humanoid research in Indonesia is quite a lot, but in reality only limited in kid-size proportional size, while for the Teen-Size is still rare. Research on the Teen-Size Humanoid robot requires more joints to be able to perform the movement compared to the size of Kid-Size, therefore required more complex modeling to determine the movement. With complete kinematics anlysis, the movement of the robot can be solved. With kinematic forward-invers, researchers can determine the movement of robots by controlling the motor parts that function as a joint on the robot. In this study, the modeling uses D-H parameter, because this modeling has been widely used, besides the calculation can be solved by computing. And then for the simulation can be done with V-REP software. Forward-invers kinematics can be implemented on the PID algorithm, in order to generate speed on the motor that can form an angle on the motor to make the movement. The result of this research is to obtain equation of matrix transformation from all body parts of robot. With the creation of this Humanoid Teen-Size robot, it is hoped that the research on Humanoid robot in Indonesia will be increasingly diverse and increasing, and can be used as a support and reference in the development of Humanoid Teen-Size next.

An Embedded System for applying High Performance Computing in Educational Learning Activity Wina Rachmawan, Irene Erlyn; Fahmi, Nurul; Widodo, Edi Wahyu; Huda, Samsul; Pamenang, M. Unggul; Roziqin, M. Choirur; W., Andri Permana; Sukaridhoto, Stritusta; Pramadihanto, Dadet
EMITTER International Journal of Engineering Technology Vol 4, No 1 (2016)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

HPC (High Performance Computing) has become more popular in the last few years. With the benefits on high computational power, HPC has impact on industry, scientific research and educational activities. Implementing HPC as a curriculum in universities could be consuming a lot of resources because well-known HPC system are using Personal Computer or Server. By using PC as the practical moduls it is need great resources and spaces.Â This paper presents an innovative high performance computing cluster system to support education learning activities in HPC course with small size, low cost, and yet powerful enough. In recent years, High Performance computing usually implanted in cluster computing and require high specification computer and expensive cost. It is not efficient applying High Performance Computing in Educational research activiry such as learning in Class. Therefore, our proposed system is created with inexpensive component by using Embedded System to make High Performance Computing applicable for leaning in the class. Students involved in the construction of embedded system, built clusters from basic embedded and network components, do benchmark performance, and implement simple parallel case using the cluster. Â In this research we performed evaluation of embedded systems comparing with i5 PC, the results of our embedded system performance of NAS benchmark are similar with i5 PCs. We also conducted surveys about student learning satisfaction that with embedded system students are able to learn about HPC from building the system until making an application that use HPC system.

Secure Real-time Data Transmission for Drone Delivery Services using Forward Prediction Scheduling SCTP Febby Ronaldo; Amang Sudarsono; Dadet Pramadihanto
EMITTER International Journal of Engineering Technology Vol 10 No 1 (2022)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24003/emitter.v10i1.690

Drone technology is considered the most effective solution for the improvement of various industrial fields. As a delivery service, drones need a secure communication system that is also able to manage all of the information data in real-time. However, because the data transmission process occurs in a wireless network, data will be sent over a channel that is more unstable and vulnerable to attack. Thus, this research, purposes a Forward Prediction Scheduling-based Stream Control Transmission Protocol (FPS-SCTP) scheme that is implemented on drone data transmission system. This scheme supports piggybacking, multi-streaming, and Late Messages Filter (LMF) which will improve the real-time transmission process in IEEE 802.11 wireless network. Meanwhile, on the cybersecurity aspect, this scheme provides the embedded option feature to enable the encryption mechanism using AES and the digital signatures mechanism using ECDSA. The results show that the FPS-SCTP scheme has better network performance than the default SCTP, and provides full security services with low computation time. This research contributes to providing a communication protocol scheme that is suitable for use on the internet of drones’ environment, both in real-time and reliable security levels.

Density-based Clustering for 3D Stacked Pipe Object Recognition using Directly-given Point Cloud Data on Convolutional Neural Network Alfan Rizaldy Pratama Pratama; Bima Sena Bayu Dewantara; Dewi Mutiara Sari; Dadet Pramadihanto
EMITTER International Journal of Engineering Technology Vol 10 No 1 (2022)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24003/emitter.v10i1.704

One of the most commonly faced tasks in industrial robots is bin picking. Much work has been done in this related topic is about grasping and picking an object from the piled bin but ignoring the recognition step in their pipeline. In this paper, a recognition pipeline for industrial bin picking is proposed. Begin with obtaining point cloud data from different manner of stacking objects there are well separated, well piled, and arbitrary piled. Then followed by segmentation using Density-based Spatial Clustering Application with Noise (DBSCAN) to obtain individual object data. The systems then use Convolutional Neural Network (CNN) that consume raw point cloud data. Performance of the segmentation reaches an impressive result in separating objects and network is evaluated under the varying style of stacking objects and give the result with average Accuracy, Recall, Precision, and F1-Score on 98.72%, 95.45%, 99.39%, and 97.33% respectively. Then the obtained model can be used for multiple objects recognition in one scene.

Remo Dance Motion Estimation with Markerless Motion Capture Using The Optical Flow Method Kurniati, Neny; Basuki, Achmad; Pramadihanto, Dadet
EMITTER International Journal of Engineering Technology Vol 3 No 1 (2015)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24003/emitter.v3i1.33

Motion capture has been developed and applied in various fields, one of them is dancing. Remo dance is a dance from East Java that tells the struggle of a prince who fought on the battlefield. Remo dancer does not use body-tight costume. He wears a few costume pieces and accessories, so required a motion detection method that can detect limb motion which does not damage the beauty of the costumes and does not interfere motion of the dancer. The method is Markerless Motion Capture. Limbs motions are partial behavior. This means that all limbs do not move simultaneously, but alternately. It required motion tracking to detect parts of the body moving and where the direction of motion. Optical flow is a method that is suitable for the above conditions. Moving body parts will be detected by the bounding box. A bounding box differential value between frames can determine the direction of the motion and how far the object is moving. The optical flow method is simple and does not require a monochrome background. This method does not use complex feature extraction process so it can be applied to real-time motion capture. Performance of motion detection with optical flow method is determined by the value of the ratio between the area of the blob and the area of the bounding box. Estimate coordinates are not necessarily like original coordinates, but if the chart of estimate motion similar to the chart of the original motion, it means motion estimation it can be said to have the same motion with the original.Keywords: Motion Capture, Markerless, Remo Dance, Optical Flow

An Embedded System for applying High Performance Computing in Educational Learning Activity Wina Rachmawan, Irene Erlyn; Fahmi, Nurul; Widodo, Edi Wahyu; Huda, Samsul; Pamenang, M. Unggul; Roziqin, M. Choirur; W., Andri Permana; Sukaridhoto, Stritusta; Pramadihanto, Dadet
EMITTER International Journal of Engineering Technology Vol 4 No 1 (2016)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

HPC (High Performance Computing) has become more popular in the last few years. With the benefits on high computational power, HPC has impact on industry, scientific research and educational activities. Implementing HPC as a curriculum in universities could be consuming a lot of resources because well-known HPC system are using Personal Computer or Server. By using PC as the practical moduls it is need great resources and spaces.Â This paper presents an innovative high performance computing cluster system to support education learning activities in HPC course with small size, low cost, and yet powerful enough. In recent years, High Performance computing usually implanted in cluster computing and require high specification computer and expensive cost. It is not efficient applying High Performance Computing in Educational research activiry such as learning in Class. Therefore, our proposed system is created with inexpensive component by using Embedded System to make High Performance Computing applicable for leaning in the class. Students involved in the construction of embedded system, built clusters from basic embedded and network components, do benchmark performance, and implement simple parallel case using the cluster. Â In this research we performed evaluation of embedded systems comparing with i5 PC, the results of our embedded system performance of NAS benchmark are similar with i5 PCs. We also conducted surveys about student learning satisfaction that with embedded system students are able to learn about HPC from building the system until making an application that use HPC system.

An Implementation of Error Minimization Position Estimate in Wireless Inertial Measurement Unit using Modification ZUPT Darmawan, Adytia; Dewanto, Sanggar; Pramadihanto, Dadet
EMITTER International Journal of Engineering Technology Vol 4 No 2 (2016)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Position estimation using WIMU (Wireless Inertial Measurement Unit) is one of emerging technology in the field of indoor positioning systems. WIMU can detect movement and does not depend on GPS signals. The position is then estimated using a modified ZUPT (Zero Velocity Update) method that was using Filter Magnitude Acceleration (FMA), Variance Magnitude Acceleration (VMA) and Angular Rate (AR) estimation. Performance of this method was justified on a six-legged robot navigation system. Experimental result shows that the combination of VMA-AR gives the best position estimation.

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