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Robot line follower merupakan sebuah robot autonomous yang sanggup mengikuti jalur. Jalurnya bisa berupa garis berwarna hitam diatas permukaan putih atau sebaliknya. Pada kajian ini, robot line follower memakai sistem kendali kecerdikan fuzzy dengan metode Mamdani. Selama ini robot line follower kebanyakan dirancang untuk jalur dengan lebar yang tetap, namun dengan sistem kendali kecerdikan fuzzy ini sanggup mengenali jalur dengan variasi lebar antara satu sampai delapan titik sensor. Robot line follower ini mengimplementasikan 18 hukum fuzzy untuk memetakan antara antecedent posisi dan lebar jalur, dengan consequent kecepatan laju robot. Aturan fuzzy terdiri dari masing-masing 9 hukum untuk kondisi jalur tunggal dan jalur percabangan dua jalur. Robot line follower ini bisa melaksanakan analisis 57 case jalur dengan kendali fuzzy, mulai dari lebar jalur 2 sampai 12 cm. Dengan 36 case analisis jalur tunggal dan 21 case jalur percabangan dua buah jalur. Robot line follower ini juga bisa ...

Real time monocular visual odometry using Optical Flow: Study on navigation of quadrotors UAV http://ieeexplore.ieee.org/document/8011864/ Abstract: Navigation is an important thing in so many intelligent systems. Nowadays, without any hesitation Global Positioning System (GPS) is the most common method for navigation. Nevertheless, in certain environments, GPS will become inaccurate due to the multi-path problem. In this paper, we propose a dead-reckoning system for quadrotor using feature-based monocular visual odometry to overcome that problem. The visual odometry design will be implemented into the fix bottom camera which is the monocular camera in quadrotor. The algorithm is validated by performing several tests. The results of the tests verify that the visual odometry algorithm can determine the position and orientation with good accuracy. Published in: Science and Technology - Computer (ICST), 2017 3rd International Conference on Date of Conference: 11-12 July 2017 Date...

Robustness of PD control for transporting quadrotor with payload uncertainties http://ieeexplore.ieee.org/document/8011844/ Abstract: Considering its agility and capability to vertical take-off and landing, quadrotor is beneficial for transporting missions. In this paper we present a model of a transporting quadrotor with payload uncertainties, as well as its corresponding proportional-derivative (PD) control on Special Orthogonal-3. Practically, it is a challenging duduk perkara to compensate the inertia perturbation due to the uncertainties of the payload that is transported. It is where our proposed control law comes to urge. Finally, numerical simulation and results are presented to verify the effectiveness of our proposed control law. Published in: Science and Technology - Computer (ICST), 2017 3rd International Conference on Date of Conference: 11-12 July 2017 Date Added to IEEE Xplore: 17 August 2017 INSPEC Accession Number: 17103099 DOI: 10.1109/ICSTC.2017.8011844 P...