Abdullah Muis - Academia.edu (original) (raw)

Papers by Abdullah Muis

Proceedings of the IEEE International Symposium on Industrial Electronics, 2005. ISIE 2005., 2005

Abstract—Tracking a specific object based on visual information, refers to visual tracking. Here,... more 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 ...

IEEJ Transactions on Industry Applications, 2007

Sensor fusion extends robot ability to perform more complex tasks. An interesting application in ... more 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, ...

Energy Procedia, 2015

ABSTRACT Studies are conducted on axial hydraulic turbine for very low head application which ope... more ABSTRACT Studies are conducted on axial hydraulic turbine for very low head application which operates on low speed. Design optimization is generated by optimizing the blade airfoil and blade cascade during development of the turbine blades. Blade airfoil is optimized to obtain optimum value of ratio of Lift coefficient Cl and Drag coefficient Cd, in the range of turbine operation by utilizing of XFOIL that controlled via MATLAB. These airfoils are used to develop the blade cascade. To increase the benefits of fluid flow passing through the turbine blades, the analysis and optimization of the blade cascade is conducted. Vortex panel method is used to analyze the fluid flow inside cascade to gain the maximum of the lift force, in order to optimize the potential power of the fluid that can be utilized by the turbine rotor. The cascade optimization is including arrangement of the incidence angle of the cascade to reduce cascade losses and blade loading by applying the concept of shock-free inflow. Numerical analyses are conducted to determine the performance of the designed turbine with the commercial CFD. The results of numerical simulations show that the turbine can be operated at a maximum efficiency of 91% at various ranges of flow rates.

Applied Mechanics and Materials, 2015

The Journal of Chemical Physics, 1999

... The differential reflection coefficient for this discrete model is given by Equation (1) has ... more ... The differential reflection coefficient for this discrete model is given by Equation (1) has been shown to give the correct temperature and energy dependence for He atom scattering from metal surfaces in the classical limit of high incident energies and large surface ...

TENCON 2011 - 2011 IEEE Region 10 Conference, 2011

Abstract Localization is a well-known main problem in autonomous mobile robot. Here, Extended Kal... more 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 ...

Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003., 2003

Traditionally, the initial pose of robot manipulator has been done manually. The process must be ... more Traditionally, the initial pose of robot manipulator has been done manually. The process must be repeated for each operations and each time a robot is replaced. Hence, pose measurement is needed. In this paper, a camera mounted on the end-effecter is employed. Firstly, the position and orientation of camera with respect to the end-eflector is solved through AX=XB composition, which is known as Hand-Eye calibration. However, this paper proposed a modification with an alteration of notation for A and B in prior. An iterative approach is utilized to obtain X. Afterward, multi-stage and one-stage iterative approaches are proposed in pose measurement to eliminateangle displacementson each joint. The first one uses composition as in Hand-Eye calibration for each joint from the end-effector to robot base. The second one uses one iterative process to solve the entire angle displacements. Simulated data is presented for both results.

TELKOMNIKA (Telecommunication Computing Electronics and Control), 2012

Umumnya, urutan gerakan robot diperoleh dengan perhitungan yang kompleks secara off-line ataupun ... more Umumnya, urutan gerakan robot diperoleh dengan perhitungan yang kompleks secara off-line ataupun pendekatan langsung. Dalam pendekatan langsung, robot digerakkan sampai pada posisi dan orientasi tertentu dengan langsung menggerakkan robot secara manual dengan tangan atau melalui panel kendali. Posisi selanjutnya di simpan di memori setelah mencapai posisi yang di inginkan. Namun, teknik ini sangat membutuhkan waktu lama. Adapun teknik yang mudah dan cepat adalah dengan meniru gerakan objek melalui sensor untuk di implementasikan langsung ke robot. Beberapa riset mengatasi hal ini dengan menggunakan position sensitive detector (PSD) ataupun dengan kamera stereo. Namun untuk melakukan hal ini diperlukan set-up awal yang cukup rumit dan tidak cocok untuk merekam gerakan alami. Karenanya, paper ini mengembangkan pelestarian gerak dengan menangkap gerakan tubuh manusia secara alami melalui Kinect. Selanjutnya gerakan yang terbaca direproduksi pada robot humanoid secara bersamaan. Selain itu, gerakan tersebut juga di rekam dalam database untuk menggerakan robot sesuai gerakan manusia maupun mengajarkan manusia seperti gerakan tari di kemudian hari. Dalam paper ini juga dikembangkan gerakan robot yang lembut serta mendekati kemampuan mata membaca perubahan gerakan. Metoda yang diusulkan telah di validasi dalam eksperimen dengan menangkap dan mereproduksi gerakan manusia pada robot dengan kecepatan 20Hz. Dimana waktu komputasi untuk setiap proses sekitar 340us.

TELKOMNIKA (Telecommunication, Computing, Electronics and Control), 2012

ABSTRACT

2013 International Conference on QiR, 2013

2005 IEEE International Conference on Industrial Technology, 2005

Abstract This paper presents sensorless cooperation between human and mobile manipulator. In the ... more Abstract This paper presents sensorless cooperation between human and mobile manipulator. In the past, research on cooperation between human and mobile manipulator used force sensor to sense human force. This research aims to develop sensorless ...

2006 IEEE International Conference on Industrial Technology, 2006

Abstract Ideally, a bilateral teleoperation would be completely transparent, so the operators fee... more Abstract Ideally, a bilateral teleoperation would be completely transparent, so the operators feel that they are directly interacting with the remote task, However, the delay presence in interconnection between both systems, degrade system performance. There have been ...

2006 IEEE International Conference on Mechatronics, 2006

Abstract This paper proposes dual compliance controllers based on estimated torque and visual for... more Abstract 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, ...

Proceedings of the IEEE International Symposium on Industrial Electronics, 2005. ISIE 2005., 2005

Abstract—Tracking a specific object based on visual information, refers to visual tracking. Here,... more 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 ...

IEEJ Transactions on Industry Applications, 2007

Sensor fusion extends robot ability to perform more complex tasks. An interesting application in ... more 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, ...

Energy Procedia, 2015

ABSTRACT Studies are conducted on axial hydraulic turbine for very low head application which ope... more ABSTRACT Studies are conducted on axial hydraulic turbine for very low head application which operates on low speed. Design optimization is generated by optimizing the blade airfoil and blade cascade during development of the turbine blades. Blade airfoil is optimized to obtain optimum value of ratio of Lift coefficient Cl and Drag coefficient Cd, in the range of turbine operation by utilizing of XFOIL that controlled via MATLAB. These airfoils are used to develop the blade cascade. To increase the benefits of fluid flow passing through the turbine blades, the analysis and optimization of the blade cascade is conducted. Vortex panel method is used to analyze the fluid flow inside cascade to gain the maximum of the lift force, in order to optimize the potential power of the fluid that can be utilized by the turbine rotor. The cascade optimization is including arrangement of the incidence angle of the cascade to reduce cascade losses and blade loading by applying the concept of shock-free inflow. Numerical analyses are conducted to determine the performance of the designed turbine with the commercial CFD. The results of numerical simulations show that the turbine can be operated at a maximum efficiency of 91% at various ranges of flow rates.

Applied Mechanics and Materials, 2015

The Journal of Chemical Physics, 1999

... The differential reflection coefficient for this discrete model is given by Equation (1) has ... more ... The differential reflection coefficient for this discrete model is given by Equation (1) has been shown to give the correct temperature and energy dependence for He atom scattering from metal surfaces in the classical limit of high incident energies and large surface ...

TENCON 2011 - 2011 IEEE Region 10 Conference, 2011

Abstract Localization is a well-known main problem in autonomous mobile robot. Here, Extended Kal... more 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 ...

Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003., 2003

Traditionally, the initial pose of robot manipulator has been done manually. The process must be ... more Traditionally, the initial pose of robot manipulator has been done manually. The process must be repeated for each operations and each time a robot is replaced. Hence, pose measurement is needed. In this paper, a camera mounted on the end-effecter is employed. Firstly, the position and orientation of camera with respect to the end-eflector is solved through AX=XB composition, which is known as Hand-Eye calibration. However, this paper proposed a modification with an alteration of notation for A and B in prior. An iterative approach is utilized to obtain X. Afterward, multi-stage and one-stage iterative approaches are proposed in pose measurement to eliminateangle displacementson each joint. The first one uses composition as in Hand-Eye calibration for each joint from the end-effector to robot base. The second one uses one iterative process to solve the entire angle displacements. Simulated data is presented for both results.

TELKOMNIKA (Telecommunication Computing Electronics and Control), 2012

Umumnya, urutan gerakan robot diperoleh dengan perhitungan yang kompleks secara off-line ataupun ... more Umumnya, urutan gerakan robot diperoleh dengan perhitungan yang kompleks secara off-line ataupun pendekatan langsung. Dalam pendekatan langsung, robot digerakkan sampai pada posisi dan orientasi tertentu dengan langsung menggerakkan robot secara manual dengan tangan atau melalui panel kendali. Posisi selanjutnya di simpan di memori setelah mencapai posisi yang di inginkan. Namun, teknik ini sangat membutuhkan waktu lama. Adapun teknik yang mudah dan cepat adalah dengan meniru gerakan objek melalui sensor untuk di implementasikan langsung ke robot. Beberapa riset mengatasi hal ini dengan menggunakan position sensitive detector (PSD) ataupun dengan kamera stereo. Namun untuk melakukan hal ini diperlukan set-up awal yang cukup rumit dan tidak cocok untuk merekam gerakan alami. Karenanya, paper ini mengembangkan pelestarian gerak dengan menangkap gerakan tubuh manusia secara alami melalui Kinect. Selanjutnya gerakan yang terbaca direproduksi pada robot humanoid secara bersamaan. Selain itu, gerakan tersebut juga di rekam dalam database untuk menggerakan robot sesuai gerakan manusia maupun mengajarkan manusia seperti gerakan tari di kemudian hari. Dalam paper ini juga dikembangkan gerakan robot yang lembut serta mendekati kemampuan mata membaca perubahan gerakan. Metoda yang diusulkan telah di validasi dalam eksperimen dengan menangkap dan mereproduksi gerakan manusia pada robot dengan kecepatan 20Hz. Dimana waktu komputasi untuk setiap proses sekitar 340us.

TELKOMNIKA (Telecommunication, Computing, Electronics and Control), 2012

ABSTRACT

2013 International Conference on QiR, 2013

2005 IEEE International Conference on Industrial Technology, 2005

Abstract This paper presents sensorless cooperation between human and mobile manipulator. In the ... more Abstract This paper presents sensorless cooperation between human and mobile manipulator. In the past, research on cooperation between human and mobile manipulator used force sensor to sense human force. This research aims to develop sensorless ...

2006 IEEE International Conference on Industrial Technology, 2006

Abstract Ideally, a bilateral teleoperation would be completely transparent, so the operators fee... more Abstract Ideally, a bilateral teleoperation would be completely transparent, so the operators feel that they are directly interacting with the remote task, However, the delay presence in interconnection between both systems, degrade system performance. There have been ...

2006 IEEE International Conference on Mechatronics, 2006

Abstract This paper proposes dual compliance controllers based on estimated torque and visual for... more Abstract 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, ...