sistem kendali quadrotor berbasis kinect
TRANSCRIPT
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SISTEM KENDALI QUADROTOR BERBASIS KINECT
OLEHDIMY FERDIANA11/319916/PA/14303ELEKTRONIKA DAN INSTRUMENTASI
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Interaksi berbasis gestur dapat mempermudah kendali dibanding keyboard, dsb.
-- C. Hu, et al., 2003 --
FAAST berfungsi sebagai middleware sensor Kinect yang mampu mengenali gestur tubuh.
-- Suma, et al., 2011 --
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RUMUSAN MASALAH
Bagaimana piranti bergerak quadrotor dapat dikendalikan sistem kendali berbasis Kinect?
TUJUAN PENELITIAN
Implementasi FAAST pada sistem kendali quadrotor berbasis Kinect.
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Batasan Masalah
Sebanyak satu quadrotor
Parrot Ar Drone 2.0
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Perangkat motion capture
Sensor Kinect Xbox 360
Hover, Flat trim, Maju-mundur, naik-turun, putar-kiri atau kanan, take off-landing.
Anggota tubuh yang diteliti adalah tangan kiri kananTinggi user 160 cm - 175cmDilakukan sebanyak 6xSatu orang userDi dalam ruangan
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2011 Suma, et al.Implementasi FAAST memfasilitasi kendali dari seluruh bagian tubuh manusia pada aplikasi virtual reality dan video games dengan depth sensor OpenNI-Compliant.
2012 Sanna, et al.Meneliti mengenai kontrol quadrotor dengan Natural-User Interface (NUI) dan teknik komputasi visual di luar jangkuan GPS atau dalam ruangan.
2013Sinha dan
Chakarvarty
Identifikasi kemampuan Microsoft Kinect terhadap pengenalan orang secara otomatis menggunakan non-intrusive biometric modality yang diujicobakan pada 20 orang yang sedang berjalan.
2014 Ogioni, et al.
Menyajikan cara intuitif kendali quadrotor melalui Human-Machine Interaction (HMI), berdasarkan sensor gerak pada gerakan tubuh sebagai perintah mobile platform (AR. Drone 2.0).
Penelitian Sebelumnya
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BAB IIIDasar Teori
Sensor Kinect Xbox 360Sensor kombinasi dari kamera RGB dan kamera Infra-red (IR), mengenali gestur manusia pada video games Xbox sebagai instruksi.
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Natural User Interface (NUI)
Postur tubuh dapat dikenali oleh wearable sensor serta teknik visi. Gestur memberikan komunikasi ekspresif, alami, dan intuitif bagi manusia.
The Flexible Action and Articulated Skeleton Toolkit (FAAST)
Middleware sensor Kinect untuk mendeteksi rangka tubuh manusia.
Quadrotor & AR Drone platform
Jenis UAV tipe quadrotor 4 baling-baling buatan prancis, dikendalikan melalui aplikasi AR FreeFlight di smartphone.
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Alat dan Bahan
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Rancangan Sistem Kendali
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Rancangan Arsitektur NUI
Graphic User Interface (Windows Form Application - C#)
DLL Drone(C++)
Indoor Tracking System
FAAST
PrimeSense NITE PrimeSense NITE
Windows Operating System Kinect Driver
Hardware
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Rancangan Alur Perpindahan Data
DLL Drone
Control Data
OS Wi-Fi
Video & Navigation Data
GUI
FAAST
PrimeSense
OS
Human Movement
OpenNI
KinectDriver
USB
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Rancangan Gestures & Actions
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Rencana Pengujian
Motion Capture
User berada di area tracking akan diuji cobakan sebuah instruksi enam kali, maka akan diketahui persentasi keberhasilan instruksi yang berhasil dieksekusi menggerakkan quadrotor.
Area Tracking
User diposisikan berada pada wilayah yang baik untuk dilakukan motion capture, sehingga dari pengujian ini akan diketahui tingkat keberhasilan sistem mampu mengenali instruksi user.
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Implementasi Kinect
Instalasi SDK Kinect ver. 1.8 Interkoneksi Kinect dengan PC
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Implementasi Perangkat Lunak
Windows Presentation Foundation (WPF Format)
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Proses Training Gestur
Training Menggunakan Kinect Explorer dan Skeleton Stream
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Hasil Proses Training Gestur
Gestur
Koordinat XYZ (meter)
Left Shoulder Right Shoulder Left Hand Right Hand
Take off -0,1487; 0,3568; 3,1770 x -0,2192; 0,8327; 3,0659 x
Landing -0,0995; 0,3933; 3,1699 x -0,1730; -0,1894; 3,0413 x
Turn left -0,1209; 0,4013; 3,1765 x -0,6251; 0,4068; 3,0413 x
Turn right -0,1101; 0,3922; 3,1590 x 0,0659; 0,2636; 2,9372 x
Hovering -0,1017; 0,3774; 3,1550 x -0,1570; 0,4632; 2,6112 x
Flat trim -0,1301; 0,3719; 3,1804 x -0,3444; 0,5312; 3,1182 x
Roll left x 0,1988; 0,3954; 3,1406 x 0,0272; 0,2274; 2,8934
Roll right x 0,1509; 0,3841; 3,2235 x 0,6750; 0,3407; 3,1171
Up x 0,1706; 0,4512; 3,1892 x 0,3013; 1,0220; 3,1122
Down x 0.1679, 0.3550, 3.1847 x 0.3024, -0.1519, 3.0180
Forward x 0,1679; 0,3538; 3,0656 x 0.2183, 0.4861, 2.5282
Backward x 0.1443, 0.3647, 3.1606 x 0.2250, 0.5759, 3.1120
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Visualisasi Skeleton Terdeteksi
Frame berukuran 640x480 px Indikator Posisi Ideal
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Data Stream AR.Drone
Data Stream AR.Drone yang telah diekstrak ke Excel
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Pengujian Jarak Ideal User-Kinect
Jarak ideal antara 250 cm (kiri) s.d. 300 cm (kanan)
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Pengujian Tinggi Ideal Kinect
Perbedaan hasil dengan tinggi 50 cm (kiri) dengan 100 cm (kanan)
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Hasil Pengujian Tinggi Ideal Kinect 100 cm
Gestur
Status
Right Hand Right Shoulder Left Hand Left Shoulder
Take off OK OK OK OK
Landing OK OK OK OK
Turn left OK OK INFERRED OK
Turn right OK OK OK OK
Hovering OK OK OK OK
Flat trim OK OK OK OK
Up OK OK OK OK
Down OK OK OK OK
Roll left INFERRED OK OK OK
Roll right OK OK OK OK
Forward OK OK OK OK
Backward OK OK OK OK
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Pengujian Respon AR.Drone
Gestur
Pengujian ke-
1 2 3 4 5 6
Take off X √ √ √ √ √
Landing √ X √ X √ √
Turn left √ √ √ √ √ √
Turn right √ X X √ √ X
Hovering √ √ √ √ √ √
Flat trim √ √ √ √ √ √
Up √ √ √ √ √ √
Down √ √ √ √ √ √
Roll left X √ X √ √ X
Roll right √ √ √ √ X √
Forward √ √ √ √ √ √
Backward √ √ √ √ √ √
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Kesimpulan
1. Kinerja Kinect akan bekerja paling baik apabila diletakkan pada ketinggian 100 cm
2. Rentang jarak Kinect terhadap user sehingga dapat melakukan misi yakni 250 cm s.d. 300 cm
3. Pendeteksian posisi tangan denga nmenggunakan library FAAST mampu mendeteksi posisi tangan yang berbeda-beda
4. Kinect akan bekerja dengan baik apabila suatu bentuk gestur tidak ada sendi yang terhalangi oleh sendi lain
5. AR.Drone berhasil melakukan misi take off, landing, flat trim, hover, turn left, turn right, naik, turun, roll left, roll right, maju, dan mundur
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Demonstrasi Sistem
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Terima Kasih
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Lampiran
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Lampiran: Implementasi Quadrotor
Konfigurasi hostname AR.Drone
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Lampiran: Implementasi Library FAAST
Import Library FAAST ke Sistem
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Lampiran: Hasil Proses Training Gestur #1
GesturKoordinat XYZ (meter)
Left Shoulder Left Hand
Take off -0,1487; 0,3568; 3,1770 -0,2192; 0,8327; 3,0659
Landing -0,0995; 0,3933; 3,1699 -0,1730; -0,1894; 3,0413
Turn left -0,1209; 0,4013; 3,1765 -0,6251; 0,4068; 3,0413
Turn right -0,1101; 0,3922; 3,1590 0,0659; 0,2636; 2,9372
Hovering -0,1017; 0,3774; 3,1550 -0,1570; 0,4632; 2,6112
Flat trim -0,1301; 0,3719; 3,1804 -0,3444; 0,5312; 3,1182
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Lampiran: Hasil Proses Training Gestur #2
GesturKoordinat XYZ (meter)
Right Shoulder Right Hand
Roll left 0,1988; 0,3954; 3,1406 0,0272; 0,2274; 2,8934
Roll right 0,1509; 0,3841; 3,2235 0,6750; 0,3407; 3,1171
Up 0,1706; 0,4512; 3,1892 0,3013; 1,0220; 3,1122
Down 0.1679, 0.3550, 3.1847 0.3024, -0.1519, 3.0180
Forward 0,1679; 0,3538; 3,0656 0.2183, 0.4861, 2.5282
Backward 0.1443, 0.3647, 3.1606 0.2250, 0.5759, 3.1120
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Lampiran: Training Gestur
Potongan program algoritma penentu posisi tangan
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Lampiran: Instruksi dari Gestur
Potongan program algoritma penentu posisi tangan
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Lampiran :Visualisasi Skeleton Terdeteksi
Potongan program visualisasi skeleton dan sendi
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Lampiran :Pembatasan Jumlah User
Potongan program visualisasi skeleton dan sendi
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Lampiran :Program Data Stream AR.Drone
Data stream diterima dari droneClient 15 data per sekon
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Lampiran: Hasil Pengujian Tinggi Ideal Kinect
Gestur
Status
Right Hand Right Shoulder
Left Hand Left Shoulder
Take off OK OK OK OK
Landing OK OK OK OK
Turn left OK OK INFERRED OK
Turn right OK OK OK OK
Hovering OK OK OK OK
Flat trim OK OK OK OK
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Lampiran: Hasil Pengujian Respon AR.Drone
GesturPengujian ke-
1 2 3 4 5 6
Take off X √ √ √ √ √
Landing √ √ √ √ √ √
Turn left √ √ √ √ √ √
Turn right √ √ √ √ √ √
Hovering √ √ √ √ √ √
Flat trim √ √ √ √ √ √
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Plot Pergerakan Take off AR.Drone
Data stream diterima dari droneClient 15 data per sekon
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Plot Pergerakan Landing AR.Drone
Data stream diterima dari droneClient 15 data per sekon
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Plot Pergerakan Hover AR.Drone
Data stream diterima dari droneClient 15 data per sekon
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Plot Pergerakan Turn left AR.Drone
Data stream diterima dari droneClient 15 data per sekon
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Plot Pergerakan Turn right AR.Drone
Data stream diterima dari droneClient 15 data per sekon
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Plot Pergerakan Up AR.Drone
Data stream diterima dari droneClient 15 data per sekon
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Plot Pergerakan Down AR.Drone
Data stream diterima dari droneClient 15 data per sekon
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Plot Pergerakan Roll left AR.Drone
Data stream diterima dari droneClient 15 data per sekon
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Plot Pergerakan Roll right AR.Drone
Data stream diterima dari droneClient 15 data per sekon
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Plot Pergerakan Maju AR.Drone
Data stream diterima dari droneClient 15 data per sekon
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Plot Pergerakan Mundur AR.Drone
Data stream diterima dari droneClient 15 data per sekon