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Abstrak :
This book constitutes the refereed proceedings of the Third International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2012, held in Tsukuba, Japan, in November 2012. The 33 revised full papers and presented together with 3 invited talks were carefully reviewed and selected from 46 submissions. Ten papers describe design of complex behaviors of autonomous robots, 9 address software layers, 8 papers refer to related modeling and learning. The papers are organized in topical sections on mobile robots, software modeling and architecture and humanoid and biped robots.

Abstrak :
The ever increasing utilisation of robotic manipulators for various applications in recent years has been motivated by the requirements and demands of industrial automation. Among these, attention is focused more towards flexible manipulators, due to various advantages they offer compared to their rigid counterparts. Flexural dynamics have constituted the main research challenge in modelling and control of such systems; research activities have accordingly concentrated on the development of methodologies to cope with this.

Abstrak :
Dewasa ini, proses kalibrasi robot semakin dibutuhkan, terutama proses kalibrasi yang cepat, akurat dan ekonomis, dimana kalibrasi robot dilaksanakan untuk mengembalikan kondisi yang diinginkan untuk digunakan dalam pengembangan pemrograman rangkaian Flexible Manufacturing System (FMS) secara tak langsung (Offline Programming System) pada robot yang berfungsi sebagai pemindah benda kerja dan atau ke dalam pencekam mesin secara pick and place. Permasalahanya adalah bagaimana mendapatkan metode yang cocok dan peralatan bantu yang berfungsi dalam mengumpulkan data akurasi dan mampu ulang robot secara titik ke titik, yang selanjutnya akan digunakan dalam proses kalibrasi selanjutnya. Pada penelitian ini akan dibahas tentang rancangan metode pengukuran menggunakan prinsip alam berupa pantulan sinar laser, pada prinsipnya sinar laser berdaya rendah (0.5 mW) ini akan dipantulkan oleh reflektor yang terpasang pada robot, pantulan sinar tersebut akan terproyeksi pada layar dan ditangkap oleh kamera digital. Data citra (image) dengan format file Joint Photografic Expert Group (JPG) yang kemudian diolah menggunakan piranti Iunak untuk mendapatkan niiai penyimpangan posisi yang terjadi pada robot. Nilai penyimpangan terhadap akurasi dan mampu ulang robot berkisar antara 1° sehingga metode ini dapat di pakai untuk melakukan kalibrasi titik ke titik (point to point). Dari hasil analisa, nilai akurasi robot didapatkan sebesar 0.012 ° 8.523 %, nilai mampu ulang sebesar 0.010° 8.523 % terhadap sumbu putar x yang sejajar dengan permukaan bumi dan 0.009? 7.618 %, O.1B7° 7.618 pada sumbu putar z yang tegak lurus permukaan bumi, dan ketidakpastian komulatif yang terjadi pada keseluruhan proses adalah sebesar 7.875 % untuk sinar laser 1 (vertikal) dan 9.263 % pada pengukuran sinar2 (horisontal). Proses kalibrasi menggunakan metode laser daya rendah dan pengolahan citra ini merupakan perintis dalam bidang kalibrasi robot di lingkungan Universitas Indonesia.

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Nowadays, robotics calibration process is more needed, especially which is fast, accurate and relatively cheap process, robot calibration is to make a robot back to expected condition , in which is used in developing Offine Programming System (OLP) to program the Flexible Manufacturing System (FMS) Cell where sequential robot movement is being use to pick and place work piece in or out the machine. The problem is how to have a method and device to collect data accuracy and repeatability point to point from the robot. Which is going to be used for the next calibration process. This research will discuss about the measurement design in calibration processing using natural phenomenon approach, as reflected laser beam. Principally, low power (0.5 mW) laser beam is being reflected through the reflector that stick on the robot, then the beam will return to projector screen and being caught by the digital camera. Date file image with JPG Format will be processed using software to get miss positioning data happened to that robot. Accuracy and repeatability deviation value from the robot achieve below 1° so the method will be able to used in point to point calibration. From the analytic result, robot miss accuracy rotation through perpendicular rotating axis of the world surface is about 0.0?l2° 8.523 % for accuracy, O. 009° 7.618 % for repeatability, o.o1o° 8.523 %, 0.187° 7.618 % and through perpendicular of screen surface , and cumulative uncertainty device and process is about 7.875% in vertical and 9.263% in horizontal measurement. Calibration processing using low power beam and image processing become the pioneer in robot calibration field at University of Indonesia.

Abstrak :
Tesis ini membahas penurunan model fuzzy Takagi-Sugeno dari sistem truk dengan tiga trailer, dan perancangan pengendali fuzzy dengan menggunakan konsep parallel distributed compensation (PDC). Analisa masalah kestabilan dan disain pengendali menggunakan algoritma optimisasi linear matrix inequality (LMI), dengan meninjau kondisi yang melibatkan kestabilan, constraint pada input dan output, dan kondisi awal independen. Validasi model dengan indikator kinerja variance accounted for (VAF) menunjukkan bahwa model fuzzy yang dibuat menunjukkan kesesuaian yang sangat baik terhadap model nonlinear. Hasil simulasi menunjukkan bahwa pengendali fuzzy memperlihatkan kemampuan pengendalian yang baik sesuai sasaran pengendalian yakni menggerakkan truktrailer dalam arah maju dengan memberikan titik acuan yang akan dicapai oleh truk-trailer.

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This thesis describes modelling of Takagi - Sugeno fuzzy model from the non linear system of truck-trailer and design of model based fuzzy controller utilizing the concept of parallel distributed compensation. The stability analysis and control design problems are reduced to linear of matrix inequality (LMI) problems. In applying the LMI-based fuzzy control design to the truck-trailer model system, this thesis investigated design condition involving stability, constraint on the input and output, and initial state independent condition. Validation of model Fuzzy T-S derived from the non linear system Truck-Trailer yields good performances indicator by using performance parameters ?variance accounted for? (VAF). The simulation results show that the design fuzzy controller can effectively achieved the control objectives i.e. to drive forward the truck-trailer into the straight line that was carried out by giving a reference point that will be followed by truck-trailer.

Abstrak :
[Autonomous robots must carry out useful tasks all by themselves relying entirely on their own perceptions of their environment. The cognitive abilities required for autonomous action are largely independent of robot size, which makes mini robots attractive as artefacts for research, education and entertainment. Autonomous mini robots must be small enough for experimentation on a desktop or a small laboratory. They must be easy to carry and safe for interaction with humans. They must not be expensive. Mini robot designers have to work at the leading edge of technology so that their creations can carry out purposeful autonomic action under these constraints. Since 2001 researchers have met every two years for an international symposium to report on the advances achieved in Autonomous Mini Robots for Research and Edutainment (AMiRE). The AMiRE Symposium is a single track conference that offers ample opportunities for discussion and exchange of ideas. This volume contains the contributed papers of the 2011 AMiRE Symposium held from 23 to 25 May 2011 at Bielefeld University, Germany. The contributions in this volume represent the state-of-the-art of autonomous mini robots; they demonstrate what is currently technically feasible and show some of the applications for autonomous mini robots. , Autonomous robots must carry out useful tasks all by themselves relying entirely on their own perceptions of their environment. The cognitive abilities required for autonomous action are largely independent of robot size, which makes mini robots attractive as artefacts for research, education and entertainment. Autonomous mini robots must be small enough for experimentation on a desktop or a small laboratory. They must be easy to carry and safe for interaction with humans. They must not be expensive. Mini robot designers have to work at the leading edge of technology so that their creations can carry out purposeful autonomic action under these constraints. Since 2001 researchers have met every two years for an international symposium to report on the advances achieved in Autonomous Mini Robots for Research and Edutainment (AMiRE). The AMiRE Symposium is a single track conference that offers ample opportunities for discussion and exchange of ideas. This volume contains the contributed papers of the 2011 AMiRE Symposium held from 23 to 25 May 2011 at Bielefeld University, Germany. The contributions in this volume represent the state-of-the-art of autonomous mini robots; they demonstrate what is currently technically feasible and show some of the applications for autonomous mini robots. ]