abdul muis

The complexity of the problems encountered on the Internet of Things (IoT) market increases accompanied by increasing needs including for indoor localization. The use of the fingerprint signal strength indicator (RSSI) is one of the popular techniques used in Indoor Localization Systems (ILS). Knowing the characteristics of the device and the environment in the room is needed to determine the right technique for indoor localization. LoRa (Long Range) is a Low-Power Wide Area Network (LPWAN) technology in recent years that has excelled in outdoor implementations but its performance has not been sufficiently investigated for indoor locations. We conducted a preliminary study to determine the suitability of RSS LoRa fingerprint characteristics in the indoor environment by comparing the results of the simulation and testbed. Based on experiments show that properties of room and obstacles greatly affect against of Received Signal Strength (RSS) fingerprints LoRa for indoor localization.

Abstract Localization is a well-known main problem in autonomous mobile robot. Here, Extended Kalman Filter (EKF) has received tremendous interest to solve this problem. Solving localization problem using EKF is usually done using numerous sensors, whereas ...

This paper proposes dual compliance controllers based on estimated torque and visual force on mobile manipulator to provide cooperativeness. A compliance control provides robot with affinity and adaptability to work in open environment. Generally, compliance control is a control system with trajectory compensation so that an external force may be followed. However, this paper compensates not only external force of physical sensation, but also virtual force of non-physical sensation based on visual information. Here, the robot has compliance with wider sensation. The visual information is provided by highspeed vision sensor. The target object is attached with hexagon pattern of artificial markers to reduce the required image processing time. The distance approximation between the object and the camera is used as visual force not as position or speed reference that commonly used in visual servoing. Later, the visual force adjusts the mobile manipulator command reference. Finally, the experimental result shows the validity of the proposed method

Abstract—Tracking a specific object based on visual information, refers to visual tracking. Here, the vision system should be able to distinguish the target object from other objects, especially in complex environment. Obviously, the more complex environment and ...

Sensor fusion extends robot ability to perform more complex tasks. An interesting application in such an issue is pushing operation, in which through multi-sensor, the robot moves an object by pushing it. Generally, a pushing operation consists of “approaching, touching, ...