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All Journal Journal of Robotics and Control (JRC) Science in Information Technology Letters
Supriadi Supriadi
Department Of Information Technology, Politeknik Negeri Samarinda
Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Modification of a gray-level dynamic range based on a number of binary bit representation for image compression Arief Bramanto Wicaksono Putra; Supriadi Supriadi; Aji Prasetya Wibawa; Andri Pranolo; Achmad Fanany Onnilita Gaffar
Science in Information Technology Letters Vol 1, No 1: May 2020
Publisher : Association for Scientific Computing Electronics and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/sitech.v1i1.17

Abstract

The unique features of an image can be obtained by changing the gray level by modifying the dynamic range of the gray level. The gray-level dynamic range modification technique is one technique to minimize the selected features.  Bit rate reduction uses coding information with fewer bits than the original image (image compression). This study using the dynamic level of the gray level of a modified image with the concept of binary bit representation or also called bit manipulation.  Using some binary bit representation options used: 4, 5, 6, and 7 of bit can obtain the best compression performance. Measurement of compression ratio and decompression error ratio to a benchmark comparison called compression performance, which is the ultimate achievement of this study. The results of this study show the use of 6-bit binary representation has the best performance, and the resulting image compression does not resize the resolution of the original image only visually looks different.
Modeling of 2-DOF Hexapod Leg Using Analytical Method Agusma Wajiansyah; Supriadi Supriadi; Achmad Fanany Onnilita Gaffar; Arief Bramanto Wicaksono Putra
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.25119

Abstract

Walking robot is one type of mobile platform that has locomotion type "walking." DOF (Degree Of Freedom) is one of essential character for the design of robot mechanism based on its models. Legs are the critical parts of the walking robot structure. The legged robot is the walking robot biologically adopted from animal or insect behavior, especially in their walking routine. The hexapod robot is one of the most statically stable legged robots and has high flexibility when standing or moving which supported by six legs that can be easily manipulated. For modeling needs and its validation, it is desirable to control each DOF in the space of Cartesian coordinate although motor system needs the reference inputs in the joint space. In this case, it needs to know the conversion between Cartesian and joint space, inverse, and forward kinematics. This study presents a kinematic model of the 2-DOF hexapod leg. This study aimed to build a kinematic model of the 2-DOF hexapod leg using an analytical approach. Analytically, the working mechanism of the robot can be modeled using forward and inverse kinematic models. In this method, this modeling is derived mathematically from the projection analysis of the movement in a certain coordinate space. The model validation was performed using the MATLAB tool and the Robotic Toolbox. The results of this study showed that the results of the inverse kinematic process have the same output signal pattern compare to the input signal pattern of the forward kinematic process.
Co-Authors Achmad Fanany Onnilita Gaffar Agusma Wajiansyah Aji Prasetya Wibawa Andri Pranolo