Papers by Bambang R I Y A N T O Trilaksono
This research employs free model that uses only sentential features without paragraph context to ... more This research employs free model that uses only sentential features without paragraph context to extract topic sentences of a paragraph. For finding optimal combination of features, corpus-based classification is used for constructing a sentence classifier as the model. The sentence classifier is trained by using Support Vector Machine (SVM). The experiment shows that position and meta-discourse features are more important than syntactic features to extract topic sentence, and the best performer (80.68%) is SVM classifier with all features.
The book covers multi-faceted aspects of intelligent unmanned systems. A wide array of relevant t... more The book covers multi-faceted aspects of intelligent unmanned systems. A wide array of relevant theory and applications are presented to address the current and future challenges in the area of unmanned systems. The book largely represents the extended version of select papers from the International Conference on Intelligent Unmanned System ICIUS 2007 which was jointly organized by the Center for Unmanned System Studies at Institut Teknologi Bandung, Artificial Muscle Research Center at Konkuk University and Institute ...
Indian Journal of Geo-Marine Sciences
Commercial fish finders have already been known and widely used in so many real applications. How... more Commercial fish finders have already been known and widely used in so many real applications. However, sometimes these kinds of instrument are not suitable for underwater robotic or submarine robot applications. The size and the interfacing features are not designed to meet the requirements of underwater robot application purposes. This system relies on an Artificial Neural Network implemented on an embedded microcontroller. By using a proximity ping sensor widely used in mobile robot with some dedicated signal preconditioning and processing of extracted features with the proposed algorithm, a fish detection and classification system has been realized. The proposed system gives satisfactory achievement with respective maximum values of 100% for detection and 94% for classification. Also the existence and the type of fish can be known and the behavior of group can also be revealed by statistically interpretations such as hovering passion and sparse swimming mode.
Abstract—In this paper, power and autonomous system in UAV (Unmanned Aerial Vehicle) for pay... more Abstract—In this paper, power and autonomous system in UAV (Unmanned Aerial Vehicle) for payload dropping mission will be presented. The UAV consists of two main parts, airframe and the avionics system. There are two important subsystems of avionics system which will be discussed, power system and autonomous system. There are three Li-Poly batteries applied in this system to power the autonomous system. The autonomous system consists of an Ardupilot Mega v2.4.2 board (autonomous board), a GPS (Global Positioning System) sensor, attitude sensors, ESC (Electronic Speed Controller), servos, a brushless motor, a camera, a data transmitter, an Audio/Video transmitter, and also a Radio RC receiver. This UAV was designed to participate Kontes Robot Terbang Indonesia 2013 (Indonesia Aerial Robot Contest 2013), payload dropping category, at Institut Teknologi Bandung, Indonesia. In this competition, provided a
mission which the UAV has to drop payloads in some target points which is only known when UAV in the flight time. The UAV has to fly autonomously point-to-point while it also search the true point to drop the payloads by camera capturing. By integrating UAV’s system with GCS (Ground Control System), the true point will be known by the operators in the ground control station and the mission can be accomplished.
Keywords—Airframe, power system, autonomous system, Kontes
Robot Terbang Indonesia 2013, dropping payloads.
Proceedings of the KNIF 2010
Classification of sentences in scientific texts according to their rhetorical role is useful for ... more Classification of sentences in scientific texts according to their rhetorical role is useful for managing information contained in the texts. Argumentative Zoning facilitates such classification by providing an annotation scheme with which sentences can be classified based on a set of features derived from shallow characteristics of the sentence, enabling automatic assignment of the categories. However, the usefulness of the features may vary. In this paper, feature selection is performed to find the set of features which gives the best accuracy for Argumentative Zoning using iterative subtractive analysis. The classifiers used are the Naïve Bayes, SVM with linear kernel, and SVM with RBF kernel, allowing for a comparison of the optimum feature set for these classifiers. To see what features have most influence on the classification decision at the category level, feature selection is also performed for each individual category.
… (ICICI-BME), 2011 …, Jan 1, 2011
Abstract Spacecraft formation flying control using consensus algorithm means each spacecraft or s... more Abstract Spacecraft formation flying control using consensus algorithm means each spacecraft or satellite in a team updates its state based on the information states of its local neighbours in such a way that the final information state of each agent converges to a ...
… (ICICI-BME), 2011 …, Jan 1, 2011
This paper addresses the static output feedback control synthesis problem for nonlinear polynomia... more This paper addresses the static output feedback control synthesis problem for nonlinear polynomial fuzzy systems using a sum of squares (SOS) approach. The open-loop nonlinear systems is represented in the polynomial fuzzy model. By considering the closed-loop system in the output feedback control scheme and the polynomial Lyapunov functions that contain quadratic Lyapunov functions as special cases, sufficient conditions for a solution to the problems of stability analysis and control design can be derived in the representation form of the SOS. It can be numerically solved via the SOSTOOLS.
Electrical …, Jan 1, 2011
Abstract In this paper we propose a method of presenting a special case of Value Function as a so... more Abstract In this paper we propose a method of presenting a special case of Value Function as a solution to POMDP in mobile robot navigation. By using this new method the Value Function complexity will be reduced and more intuitive. We also propose a new ...
… (ICICI-BME), 2011 …, Jan 1, 2011
Abstract In this paper we propose a method of presenting a special case of Value Function as a so... more Abstract In this paper we propose a method of presenting a special case of Value Function as a solution to POMDP in holonomic mobile robot navigation. By using this new method the Value Function complexity will be reduced and more intuitive. The result of this new Value ...
Electrical …, Jan 1, 2011
Abstract This paper present a particle filter also known as Monte Carlo Localization (MCL) to sol... more Abstract This paper present a particle filter also known as Monte Carlo Localization (MCL) to solve the localization problem presented before. A new resampling mechanism is proposed. This new resampling mechanism enables the particle filter to converge quicker and more ...
ijeei.org
This paper present a particle filter for mobile robot localization also known as Monte Carlo Loca... more This paper present a particle filter for mobile robot localization also known as Monte Carlo Localization (MCL) to solve the localization problem of autonomous mobile robot. A new resampling mechanism is proposed. This new resampling mechanism enables the particle filter to converge quicker and more robust to kidnaping problem. This particle filter is simulated in MATLAB and also experimented physically using a simple autonomous mobile robot built with Lego Mindstorms NXT with 3 ultrasonic sonar and RWTH Mindstorms NXT Toolbox for MATLAB to connect the robot to MATLAB. The particle filter with the new resampling algorithm can perform very well in thesimulation as well as in physical experiments.
Intelligent Unmanned Systems: Theory and …, Jan 1, 2009
This paper presents the positive real analysis and synthesis for Networked Control Systems (NCS) ... more This paper presents the positive real analysis and synthesis for Networked Control Systems (NCS) in discrete-time. Based on the definition of passivity, the sufficient condition of NCS is given by stochastic Lyapunov functional. The controller via state feedback is designed to guarantee the stability of NCS and closed-loop positive realness. It is shown that a mode-dependent positive real controller exists if a set of coupled linear matrix inequalities has solutions. The controller can be then constructed in terms of the solutions.
World Congress, Jan 1, 2008
... Conference Editor: Chung, Myung Jin, Misra, Pradeep. Authors Bambang, Riyanto; Subagio, Heri;... more ... Conference Editor: Chung, Myung Jin, Misra, Pradeep. Authors Bambang, Riyanto; Subagio, Heri; Praharso, Praharso. ... Bambang, RT and E. Hendarwin (2006). ... 69-79. Bamieh, B., L. Giarr e, T. Raimondi, D. Bauso, M. Lodato and D. Rosa (2001). ...
This paper presents active noise control for broadband noise. Real-time DSP implementation of act... more This paper presents active noise control for broadband noise. Real-time DSP implementation of active noise control using least-mean square algorithm is studied. Experiments are performed for broadband noise inside duct as well as in an open space. Properties of LMS based algorithm on broadband active noise control is investigated in terms of attenuation level in a number of positions with respect to number of taps in the adaptive filter.
Arxiv preprint arXiv:0804.4754, Jan 1, 2008
ITB Journal of Engineering Science, Jan 1, 2007
This paper presents an H ∞ estimation approach to active control of acoustic noise inside an encl... more This paper presents an H ∞ estimation approach to active control of acoustic noise inside an enclosure. It is shown how H ∞ filter theory and algorithm can be effectively applied to active noise control to provide important robustness property. Real-time implementation of the algorithm is performed on Digital Signal Processor. Experimental comparison to conventional FxLMS algorithm for active noise control is presented for both single channel and multichannel cases. While providing some new results, this paper also serves as a brief review on H ∞ filter theory and on active noise control.
Decision and Control, …, Jan 1, 1992
A necessary and sufficient condition for controllability of a class of time-varying linear system... more A necessary and sufficient condition for controllability of a class of time-varying linear systems by means of a Taylor series approach is proposed. Based on this condition, a procedure for determining controllability of the system is derived using the Taylor operational property of integration. Using this approach, the controllability of a class of a time varying linear systems can be
Electrical Engineering and …, Jan 1, 2011
Abstract The recent decade has witnessed rapid progress in the design and development of autonomo... more Abstract The recent decade has witnessed rapid progress in the design and development of autonomous flying robots. The paper closely examines the evolution of modeling and control for such vehicles. Modeling is viewed as an integral part of model-based control synthesis. The first half of the paper is focused on the review of modelling method for unmanned flying robot dynamics. The second half of the paper discusses a wide array of control methodologies that have proposed and reported in the literature. The state of the art of ...
Computer Engineering and …, Jan 1, 2010
Page 1. Feature Level Fusion of Speech and Face Image based Person Identification System Gunawan ... more Page 1. Feature Level Fusion of Speech and Face Image based Person Identification System Gunawan Sugiarta YB. ... At the decision level, the final decisions made by the individual systems are consolidated by employing techniques such as majority voting. ...
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Papers by Bambang R I Y A N T O Trilaksono
mission which the UAV has to drop payloads in some target points which is only known when UAV in the flight time. The UAV has to fly autonomously point-to-point while it also search the true point to drop the payloads by camera capturing. By integrating UAV’s system with GCS (Ground Control System), the true point will be known by the operators in the ground control station and the mission can be accomplished.
Keywords—Airframe, power system, autonomous system, Kontes
Robot Terbang Indonesia 2013, dropping payloads.
mission which the UAV has to drop payloads in some target points which is only known when UAV in the flight time. The UAV has to fly autonomously point-to-point while it also search the true point to drop the payloads by camera capturing. By integrating UAV’s system with GCS (Ground Control System), the true point will be known by the operators in the ground control station and the mission can be accomplished.
Keywords—Airframe, power system, autonomous system, Kontes
Robot Terbang Indonesia 2013, dropping payloads.