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All Journal IAES International Journal of Robotics and Automation (IJRA) Jurnal Informatika Jurnal Teknologi Informasi dan Ilmu Komputer International Journal of Advances in Intelligent Informatics Jurnal Ilmiah Dinamika Rekayasa (DINAREK) Jurnal Teknologi dan Sistem Komputer JTT (Jurnal Teknologi Terpadu) Knowledge Engineering and Data Science Indonesian Journal of Artificial Intelligence and Data Mining Prosiding SAKTI (Seminar Ilmu Komputer dan Teknologi Informasi) Journal of Robotics and Control (JRC) Science in Information Technology Letters Signal and Image Processing Letters
Achmad Fanany Onnilita Gaffar
Politeknik Negeri Samarinda
Aerospace Engineering Automotive Engineering Chemical Engineering, Chemistry & Bioengineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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Performance measurement of the relationship between students' learning with lecturers' characteristics as supervisors based on fuzzy-based assessment Mulyanto Mulyanto; Bedi Suprapty; Arief Bramanto Wicaksono Putra; Achmad Fanany Onnilita Gaffar
Jurnal Informatika Vol 15, No 1 (2021): January 2021
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26555/jifo.v15i1.a17389

Abstract

In addition to the focus of research selected as a Final Project material, the selection of lecturers as student's supervisor becomes very important. The lecturer's competence related to the focus of student research and the supervising style of lecturers is also very influential on the final results. Measurement of style appropriateness between students' learning styles and supervising lecturers' styles can benchmark the quality of the final project's implementation, especially higher education institutions. This study has applied fuzzy-based assessment to build objective perceptions of students' learning characteristics and lecturers' characteristics (Visual (V), Auditory (A), Kinesthetic (K)) as supervisors through questionnaire processing that has designed in such away. Hence, it is suitable for this study. The measuring technique of the percentage of overlapping areas under the curves and the correlation test between a pair of curves have been used as performance measurement metrics. In general, the study results indicate a significant level of coverage adequacy for all research variables regarding existing conditions. It means that the process of Final Project activities in terms of students' and lecturers' learning characteristics as supervisors and their distribution is at a reasonable level (88.38%). It has also been shown by the results of the correlation test of the appropriateness of choice, both supervisors selected by students (0.8657) and students chosen by lecturers (0.9897) who are at a very significant level of similarity. Correlation tests conducted for similarities between students' and lecturers' learning characteristics as supervisors show almost no significant correlation between them (0.4064).
PROTOTYPE REGION OF INTEREST (ROI) CITRA WAJAH MANUSIA BERBASIS BINARY LARGE OBJECT (BLOB) ANALYSIS Arief Bramanto Wicaksono Putra; Mirza Rafdi Rosada; Achmad Fanany Onnilita Gaffar
Dinamika Rekayasa Vol 16, No 2 (2020): Jurnal Ilmiah Dinamika Rekayasa - Agustus 2020
Publisher : Jenderal Soedirman University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.20884/1.dr.2020.16.2.285

Abstract

Setiap manusia memiliki identitasnya masing-masing, dan tidak akan sama satu identitas seseorang dengan identitas lainnya. Biometrik suatu wajah tidak akan sama dengan wajah lainnya, oleh karena itu dirancang suatu prototype pengenalan identitas ciri wajah pada wilayah-wilayah tertentu atau Region of Interest (ROI). ROI yang digunakan merupakan biometrik-biometrik unik yang terdapat pada wajah. Untuk mendapatkan ROI, proses segmentasi yang digunakan diantaranya adalah: Morfologi, Flood fill Algorithm dan Tresholding. Kemudian dengan menggunakan BLOB Analysis jumlah area dan nilai piksel yang terdapat pada ROI yang telah tersegmentasi akan dijadikan sebagai ekstraksi ciri pengenalan yang kemudian akan teridentifikasi menggunakan pendekatan Euclidean distance. ROI yang diperoleh dari ekstraksi menggunakan BLOB analysis mencakup 6 sampai 9 area biometrik wajah seperti alis, mata, hidung, mulut dan telinga. Hasil performansi dari identifikasi kemiripan wajah menggunakan 3 data wajah dengan 5 data sampel berbeda pada masing-masing wajah adalah 33,3%.
Implementasi vigenere cipher 128 dan rotasi bujursangkar untuk pengamanan teks Rihartanto Rihartanto; Riris Kurnia Ningsih; Achmad Fanany Onnilita Gaffar; Didi Susilo Budi Utomo
Jurnal Teknologi dan Sistem Komputer Volume 8, Issue 3, Year 2020 (July 2020)
Publisher : Department of Computer Engineering, Engineering Faculty, Universitas Diponegoro

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14710/jtsiskom.2020.13476

Abstract

Information that can be in the form of text, image, audio, and video, is a valuable asset that needs to be secured from unauthorized parties. This research aims to study the implementation of Vigenere cipher 128 (VC-128) and square rotation to secure text information. The square rotation is applied to increase the security of the encryption results obtained from VC-128. The randomness of the rotation results was measured using Shannon entropy based on the distance between characters, and the Avalanche Effect measured changes in the encryption results compared to the original text. The square rotation can increase the randomness of the VC-128 encryption results, as indicated by an increase in entropy values. The highest increase in entropy of 34.8 % occurs in repetitive texts with the square size that produces optimal entropy was a 9x9 medium-size square. The Avalanche effect for each test data shows inconsistent results ranging from 44.5 % to 49 %.
Desain dan Implementasi Kendali Cerdas untuk Robot Quadpod (Berkaki Empat) – Studi Kasus Robot Pemadam Api (RPA) Muhammad Bagus Bintang Timur; Achmad Fanany Onnilita Gaffar; Agusma Wajiansyah
Jurnal Teknologi Terpadu Vol 5, No 2 (2017): JTT (Jurnal Teknologi Terpadu)
Publisher : Pusat Penelitian dan Pengabdian Kepada Masyarakat

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.32487/jtt.v5i2.279

Abstract

Pada robot pemadam api  tidak hanya sekedar memadamkan api melainkan mencari ruang yang terdapat api. Ketika robot mencari api yang terdapat didalam ruangan, robot melakukan proses berjalan dan berusaha mengetahui lingkungan sekitar agar dapat mengetahui posisi robot berada dan mengetahui tindakan apa yang harus diambil, pada penentuan posisi tidak hanya mengetahui dimana robot berada tapi juga mengetahui posisi arah robot. Penelitian ini bertujuan untuk membangun Kendali Cerdas berbasis Fuzzy Logic (Logika Samar) untuk menentukan posisi robot berada ketika berada didalam arena atau lingkungan sekitar. Pengujian Fuzzy Logic menggunakan Software (perangkat lunak) Mathlab. Data sensor sebagai referensi lingkungan dibangun secara Random (acak). Setelah data dibangun, data kemudian diproses menggunakan Fuzzy Logic. Hasil proses akan berupa Posisi robot. Dari posisi tersebut maka akan diketahui robot berada dimana dan keputusan apa yang harus diambil.
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.
Inter-Frame Video Compression based on Adaptive Fuzzy Inference System Compression of Multiple Frame Characteristics Arief Bramanto Wicaksono Putra; Rheo Malani; Bedi Suprapty; Achmad Fanany Onnilita Gaffar; Roman Voliansky
Knowledge Engineering and Data Science Vol 6, No 1 (2023)
Publisher : Universitas Negeri Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17977/um018v6i12023p1-14

Abstract

Video compression is used for storage or bandwidth efficiency in clip video information. Video compression involves encoders and decoders. Video compression uses intra-frame, inter-frame, and block-based methods.  Video compression compresses nearby frame pairs into one compressed frame using inter-frame compression. This study defines odd and even neighboring frame pairings. Motion estimation, compensation, and frame difference underpin video compression methods. In this study, adaptive FIS (Fuzzy Inference System) compresses and decompresses each odd-even frame pair. First, adaptive FIS trained on all feature pairings of each odd-even frame pair. Video compression-decompression uses the taught adaptive FIS as a codec. The features utilized are "mean", "std (standard deviation)", "mad (mean absolute deviation)", and "mean (std)". This study uses all video frames' average DCT (Discrete Cosine Transform) components as a quality parameter. The adaptive FIS training feature and amount of odd-even frame pairings affect compression ratio variation. The proposed approach achieves CR=25.39% and P=80.13%. "Mean" performs best overall (P=87.15%). "Mean (mad)" has the best compression ratio (CR=24.68%) for storage efficiency. The "std" feature compresses the video without decompression since it has the lowest quality change (Q_dct=10.39%).
Optimization of Humanoid Robot Leg Movement Using Open CM 9.04 Wajiansyah, Agusma; Malani, Rheo; Supriadi, Supriadi; Gaffar, Achmad Fanany Onnilita
Journal of Robotics and Control (JRC) Vol 3, No 5 (2022): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i5.15071

Abstract

The Indonesian Robot Dance Contest (KRSTI) is a branch of the Indonesian Robot Contest (KRI) with the theme of dance. The robot used is a humanoid robot that can dance. Every year at the event, the provisions for robots constantly change, both the type of dance being demonstrated and the requirements for the robot's height. The taller the robot, the more difficult it is to control its walking movements because of the load it carries. This study uses a suitable algorithm to make the walking movement more natural and minimize the robot's falling. Human ROM data is used as a parameter for the range of motion of the servos that act as joints in the robot's legs. The algorithm created serves to determine the initial position of the angle on the servo to avoid the wrong initial movement position between one servo and another. The robot used is the Bioloid Robot’s leg Type A and uses OpenCM 9.04-A as the controller. The results showed that ROM on human feet could not be fully implemented on robot legs due to the robot's structure and the need for a robot that only relies on an algorithm to find the correct fulcrum to maintain balance. The comparison results show that the movement when walking on the ankle (ID servo 15) ranges from 749-567, while the ROM range is only between 580-512. When walking (servo ID 16), movement ranges from 460-291, while the ROM range ranges from 580-512.
A Splicing Technique for Image Tampering using Morphological Operations Gaffar, Achmad Fanany Onnilita; Supriadi, Supriadi; Saputra, Arief Bramanto Wicaksono; Malani, Rheo; Wajiansyah, Agusma
Signal and Image Processing Letters Vol 1, No 2 (2019)
Publisher : Association for Scientific Computing Electrical and Engineering (ASCEE)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31763/simple.v1i2.4

Abstract

Image tampering is one part of the field of image editing or manipulation that changes certain parts of the graphic content of a given image. There are several techniques commonly used for image tampering, such as splicing, copy-move, retouching, etc. Splicing is a type of image tampering technique that combines two different images, replacing particular objects, skewing, rotation, etc. This study applies the splicing technique to image tampering using morphological operations.  Morphology is a collection of image processing operations that process images based on their shape. The aim of this study is to replace particular objects in an original image with other objects that are similar to another selected image.  In this study, we try to replace the ball object in the original image with another ball object from another image
Penerapan K-Means Clustering Untuk Seleksi Frame Dominan Berbasis NTSC Pada Obyek Bergerak Armianti, Rizka Indah; Gaffar, Achmad Fanany Onnilita; Putra, Arief Bramanto Wicaksono
Jurnal Teknologi Informasi dan Ilmu Komputer Vol 7 No 4: Agustus 2020
Publisher : Fakultas Ilmu Komputer, Universitas Brawijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.25126/jtiik.2020742184

Abstract

Obyek dinyatakan bergerak jika terjadi perubahan posisi dimensi disetiap frame. Pergerakan obyek menyebabkan obyek memiliki perbedaan bentuk pola disetiap frame-nya. Frame yang memiliki pola terbaik diantara frame lainnya disebut frame dominan. Penelitian ini bertujuan untuk menyeleksi frame dominan dari rangkaian frame dengan menerapkan metode K-means clustering untuk memperoleh centroid dominan (centroid dengan nilai tertinggi) yang digunakan sebagai dasar seleksi frame dominan. Dalam menyeleksi frame dominan terdapat 4 tahapan utama yaitu akuisisi data, penetapan pola obyek, ekstrasi ciri dan seleksi. Data yang digunakan berupa data video yang kemudian dilakukan proses penetapan pola obyek menggunakan operasi pengolahan citra digital, dengan hasil proses berupa pola obyek RGB yang kemudian dilakukan ekstraksi ciri berbasis NTSC dengan menggunakan metode statistik orde pertama yaitu Mean. Data hasil ekstraksi ciri berjumlah 93 data frame yang selanjutnya dikelompokkan menjadi 3 cluster menggunakan metode K-Means. Dari hasil clustering, centroid dominan terletak pada cluster 3 dengan nilai centroid 0.0177 dan terdiri dari 41 data frame. Selanjutnya diukur jarak kedekatan seluruh data cluster 3 terhadap centroid, data yang memiliki jarak terdekat dengan centroid itulah frame dominan. Hasil seleksi frame dominan ditunjukkan pada jarak antar centroid dengan anggota cluster, dimana dari seluruh 41 data frame tiga jarak terbaik diperoleh adalah 0.0008 dan dua jarak bernilai  0.0010 yang dimiliki oleh frame ke-59, ke-36 dan ke-35. AbstractThe object is declared moving if there is a change in the position of the dimensions in each frame. The movement of an object causes the object to have different shapes in each frame. The frame that has the best pattern among other frames is called the dominant frame. This study aims to select the dominant frame from the frame set by applying the K-means clustering method to obtain the dominant centroid (the highest value centroid) which is used as the basis for the selection of dominant frames. In selecting dominant frames, there are 4 main stages, namely data acquisition, determination of object patterns, feature extraction and selection. The data used in the form of video data which is then carried out the process of determining the pattern of objects using digital image processing operations, with the results of the process in the form of an RGB object pattern which is then performed NTSC-based feature extraction using the first-order statistical method, Mean. The data from feature extraction are 93 data frames which are then grouped into 3 clusters using the K-Means method. From the results of clustering, the dominant centroid is located in cluster 3 with a centroid value of 0.0177 and consists of 41 data frames. Furthermore, the proximity of all data cluster 3 to the centroid is measured, the data having the closest distance to the centroid is the dominant frame. The results of dominant frame selection are shown in the distance between centroids and cluster members, where from all 41 data frames the three best distances obtained are 0.0008, 0.0010, and 0.0010 owned by 59th, 36th and 35th frames. 
Co-Authors Agusma Wajiansyah Agusma Wajiansyah Agusma Wajiansyah, Agusma Aji Prasetya Wibawa Alfiansyah, M Nur Andri Pranolo Anggri Sartika Wiguna Armianti, Rizka Indah Arrosied, Harun Diah Kumalasari Didi Susilo Budi Utomo Gaffar, Emmilya Umma Aziza Hargiani, Fransisca Xaveria Haviluddin Haviluddin Irwan Gani Karmita, Sisie Malani, Rheo Mirza Rafdi Rosada Muhammad Bagus Bintang Timur Muhammad Soleh Muhammad Taufiq Sumadi Mulyanto Mulyanto Mulyanto Mulyanto Pratiwi, Adinda Putri Purba, Muren Fiatra Denata Purnawansyah Purnawansyah Rayner Alfred Rihartanto Rihartanto Riris Kurnia Ningsih Roman Voliansky RR. Ella Evrita Hestiandari Salsabila, Unik Hanifah Saputra, Arief Bramanto Wicaksono Sari, Risna Julia Suprapty, Bedi Supriadi Supriadi