Kusprasapta Mutijarsa

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In this paper, we propose software architecture of behavioural-based robot control system using Active Object Computing Model. Active Object Computing Model is a programming technique that combines the three components, Event Driven Programming paradigm, Event Driven Software Architecture and UML State chart formalism. The scope of this project includes the(More)
Improving the learning process quality of the students is an urgent need, particularly for those in rural areas. A key solution in this Information era is by utilizing Information and Communication Technologies (ICTs). This allows the students to broaden information access as a foundation for developing student learning community (SLC). Our approach to(More)
In Indonesia, the condition of education still tends to be unbalanced. The quality of education in urban areas is generally far better than the quality of education in rural areas. Education processes in rural areas face some problems like limited teaching resources, slight teaching tools, and monotonous teaching method. Therefore, an idea is emerged, a(More)
This paper presents a controller design and its implementation for an omnidirectional robot. Due to the holonomic nature of an omnidirectional robot, the mobile robot are able to follow any planned trajectory. The path are calculated on the world frame and then transformed using inverse kinematic to each of the mobile robot motor speed. Therefore a(More)
Wall following is a behavior which navigates a robot through an area, by sticking to the nearest wall without turning into it This behavior is very useful for a mobile robot with no odometer but has to cover an area. This paper proposes the design and implementation of Active Object Computing Model for a wall following mobile robot. Active Object Computing(More)
In this paper, we propose a technique for managing single robot failure in multi robot formation, namely overtaking behavior. This behavior is inspired by social force model (SFM) for pedestrian dynamics. The controller for robot formation is modeled and coupled with the overtaking algorithm. Simulations are then conducted to test the controller as well as(More)
Electronic payments system for angkot is an example of information technology system. In developing information technology system, one important aspect to be considered is information security aspect. NIST publication recommends ways to incorporate security design principles and concept into system engineering, that is NIST SP 800-160 System Security(More)
Localization is the most fundamental ability for winning the RoboCup Humanoid League Competition. In this paper, we present a vision-based localization method called Monte Carlo Localization (MCL) to deal with the limited landmarks left in RoboCup, such as the yellow goal posts and field markers. In the beginning, we give brief explanation of perception(More)