Essay Outline

This project summarizes the student's work on a fusion algorithm for robot navigation sensors for their university robotics team. They were tasked with developing a complementary filter to combine accelerometer and gyroscope data after magnetometers were banned. Issues arose requiring a change to a new sensor, which had noisy data. After filtering attempts, the student implemented a Kalman filter at the recommendation of seniors. The navigation system helped with robot strategies and ball/goal detection. The student learned complex problems can be solved through help from others and step-by-step learning.

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Essay Outline

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frans jason

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This project which i would talk about is the project that were given to me when first i officially joined an

organization called “Unit Robotika ITB” which literally translated to ITB Robotics Unit.i In this
organization, there are many teams that every member of this organization could join to , but each
organization member only could join at most one team. The teams in this organization were divide
based on the competition field that the team competes on. Before we could join this organization ,
there were several events that we need to get through. The event is like a workshop that was held
every week for 1 semester, and each month we will be tested about our knowledge which was given
throughout the workshop, and we will be eliminated if we couldn't get a passable score. After getting all
through that , i finally could join the organization and choose a team where i want to develop my skills
more. The team that i chose called Dagohoogeschool. Dagohoogeschool is a team that competes in
Humanoid Soccer Robot Competition. I joined this team at the beginning of my third semester.

After i joined this team as an electrical engineering, i was to research about implementing fusion

algorithm for robot navigation. This project is needed because thee rule change in the humanoid
robot soccer in Indonesia which prohibited the usage of magnetometer sensor for robot navigation.
Humanoid robot navigation which commonly used in Humanoid soccer robot rely on
three sensors that were Accelerometer, gyroscope, and magnetometer which i said already giving
the orientation to robot accurate enough for playing soccer. But because of that new rule the sensor
that can be used for navigation remained accelerometer and gyroscope. To get a high accuracy only
from that both sensors is pretty hard, because of that i was tasked to research about the best
algorithm for both sensors implementation and integration.

After researching and brainstorming about three to four days i came up with an algorithm called
complementary filter. This complementary filter algorithm is used to combine the data from
accelerometer and gyroscope to create orientation information. The data from the
accelerometer will be filtered with a low-pass filter and the data from the gyroscope will be
integrated to make data of the angular speed which will be filtered with a high-pass filter. The low
pass and high pass filtering method is using the feedback method   which combine the data
from previous output and the new input for filtering to get a  better result. As a second year college
student, this topic was really hard for me ,but i regularly meet my seniors and my  mentor to help
me solves the problem in doing this project.  After a long full month making this into a code and
tested it.,  i thought i worked pretty well for the requirement we need.

Right before the day before my deadline after a month working on this , there was problem which
turn to very bad news for me. The sensor which i usually used is integrated in the micro
controller CM730 must be replaced. The reason is the board is no longer manufactured and we don't
have enough CM730 for making a whole soccer team robot which consist of 5 robots, we only have
3 CM730. So in the exchange, i was asked to change my code from collecting data directly from the
integrated board to collect data from a sensor called CMPS-12. This sensor is an integrated sensor
consist of accelerometer, gyroscope, and magnetometer , and i only allowed to take data from both
accelerometer and gyroscope. I think i just to fit the code that i have already made to this new
system, but it wasn’t that easy. The data read from the new sensor is really bad, there were noises
and the sensor is really sensitive. After thinking for a bit i think i will filter the data with a simple filter
using the moving average. I spent a whole week to make this and it didn't turn out well, the data
read by the sensor still not good enough to fit in my complementary filter for navigation. I think this
problem a little too hard so i consulted to my seniors and he suggested me to use Kalman filter. At
the first, i really confused about this filter, it is really hard to understand, but i took my time to study
this. It took about a month to me to produce filtering code using this Kalman filter and i think that
was pretty hard, but after i tested it the result that i got turned out pretty well. Although the result is
not perfect because my code was not particularly good, but the result still can be used for navigating
robot.
The data from this navigation system is used a lot in the robot. Firstly the main use is for
differentiate the enemy foal and our goal. Another uses is for making the strategy for searching ball
on the robot. The data from navigation helps to develop an algorithm that makes the robot
searching the ball a lot faster, and it also helps the algorithm of the robot whether to dribble the ball
or to shoot the ball. And the last it helps the robot to make an exact angle to kick.

The reflection that i can take from doing this project with my team is that when we found some
difficulties or problem there are always ways to solve them and we must remember we still can learn
with the help of the other like my mentor or seniors. Learning something new and complex is a hard
thing but it is not impossible, we just need to do it seriously and don't need to rush it, learned it
step-by step slowly until you can understand it properly.
Applying to this internship program , there are several things to share about me . I am very adaptable
as a worker whenever i was given a task, even it is new things to me,I never decline it without trying it
first. It is like the task of fusion algorithm sensor, I was given that task because no one else want to do
that task, they say its very troublesome task, but i don’t think that kind of way. I want to learn many
new things because it could improve me as a person. Because of that thing to i became a fast learner
person, i think because i always want to learn many things that train me to become a fast learner
person. And i think i am very disciplined person, such as if i got an appointment i always get there on
time ,in i never skipped or late for class unless i got sick, and in my organization i always fulfill my
deadline of task that was given. I think becoming very discipline is very important for me because if
not it will become a bad habit and affect my daily routine in life and will interfere me to achieve my
goals.

If i got into the SS Business Development Department 4, System Solutions Business Division, i have
a good deal of experience that i think can help me work in here. I have an experience working with
sensors, like radar and LIDAR. I also know several algorithm that fusing some data from sensors to
create more accurate information. The big project hat i have ever worked on is about fusing data from
sensors, so i think i already have the fundamental knowledge of how to fuse data from sensors. I also
know about some filters for filtering data from sensor reading for better accuracy of
sensors, i also have an experience to take data from the sensor using micro controller, and using
translator module. I also have experience to read data serially and process it serially.

If i got into AI Collaboration Office or the Sensing Technology Development Department, i think i also

got a little bit experience in this part. I have already taken data science courses in udemy. Half of this
course learns about machine learning, so i think i got the basic of the machine learning which used in
developing an artificial intelligence too.I already have been able to make a machine learning code, in
my project to solve bike share demand problems with Root Mean Squared Logarithmic Error of
0.372298. Besides of that from that data science course that i took, ii can do data analysis like data
visualization and prediction using regression method. And for the programming skill i also already
used to C, C++, and python language for programming, and if the other programming language is
used, i also can quickly adapt because the fundamental of programming course which i have already
taken.Above all that skill which i think i have, i have the ability to communicate in English really
well, and also i can speak Japanese a little bit from 3 month courses which i already have taken
and i will test for JLPT N-5 this December.