Journal of Robotics and Control (JRC)
Journal of Robotics and Control (JRC) is an international open-access journal published by Universitas Muhammadiyah Yogyakarta. The journal invites students, researchers, and engineers to contribute to the development of theoretical and practice-oriented theories of Robotics and Control. Its scope includes (but not limited) to the following: Manipulator Robot, Mobile Robot, Flying Robot, Autonomous Robot, Automation Control, Programmable Logic Controller (PLC), SCADA, DCS, Wonderware, Industrial Robot, Robot Controller, Classical Control, Modern Control, Feedback Control, PID Controller, Fuzzy Logic Controller, State Feedback Controller, Neural Network Control, Linear Control, Optimal Control, Nonlinear Control, Robust Control, Adaptive Control, Geometry Control, Visual Control, Tracking Control, Artificial Intelligence, Power Electronic Control System, Grid Control, DC-DC Converter Control, Embedded Intelligence, Network Control System, Automatic Control and etc.
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<![CDATA[Legged Fire Fighter Robot Movement Using PID ]]>
<![CDATA[Latif, Abdul]]>;
<![CDATA[Shankar, K.]]>;
<![CDATA[Thanh Nguyen, Phong]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 1, No 1 (2020): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.1104
<![CDATA[Proportional Integral Derivative (PID) control is a control system commonly used by industry. Approximately 90% of industrial equipment uses a PID controller because it is easy to use. In the Indonesian Fire Extinguisher Robot Contest (IFERC), the contested robots must follow the contours of the walls of the arena. A Fire extinguisher robot navigation was chosen because the race arena of the competition consisted of walls with different aisles and rooms. The navigation robots used PID control. This study designed and implemented a control algorithm for legged fire extinguishing robots using the PID method, where the PID control was processed in a microcontroller. The angles for each servo motor generated by the calculation of the PID enable the robot to navigate by taking decisions to move quickly or slowly, turn right, turn left and stop. The robot's proximity sensor data and fire sensors enable the fire to be extinguished. The result showed that the robot can carry out its duties optimally.]]>
<![CDATA[Design and Implementation of Artificial Neural Networks to Predict Wind Directions on Controlling Yaw of Wind Turbine Prototype ]]>
<![CDATA[Dzulfikri, Zaky]]>;
<![CDATA[Nuryanti, Nuryanti]]>;
<![CDATA[Erdani, Yuliadi]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 1, No 1 (2020): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.1105
<![CDATA[Wind  energy as one of the new renewable energies has an important role in replacing fossil energy sources in Indonesia. In order to make the wind turbine's performance more efficient in extracting energy from the wind, it is necessary to control the actuation movements pitch and yaw of the wind turbine horizontal. Controlling the actuator yaw can increase the absorption efficiency of the power to the rotor face toward the direction of the wind. The purpose of this thesis is to be able to predict the direction of the coming wind, then move the turbine rotor in the predicted direction. In this final project a wind turbine prototype is used with a precision of 5.3%, then for the data acquisition section, a wind direction sensor is built to change the amount of wind direction to a quantity that can be measured in units of degrees, and anemometer to measure wind speed. In making the wind direction prediction algorithm, artificial neural network (ANN) method is used with input parameters such as wind speed, temperature, humidity, pressure, and altitude. Data acquisition is done at one minute intervals with long data collection for one day, 1072 data are obtained, the data is then fed to the ANN model that has been prepared. Based on the results of tests that have been done, it is found that the Mean Absolute Error in the model is 0.4%.]]>
<![CDATA[The Design of Digital Liquid Density Meter Based on Arduino ]]>
<![CDATA[Megantoro, Prisma]]>;
<![CDATA[Widjanarko, Andrei]]>;
<![CDATA[Rahim, Robbi]]>;
<![CDATA[Kunal, Kunal]]>;
<![CDATA[Zuhri Arfianto, Afif]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 1, No 1 (2020): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.1101
<![CDATA[A measure of liquid thickness is needed to make a dough or formula for medicinal syrup. The tools to measure the thickness available in the market are analog that is less accurate and precision. To overcome these problems, digital density measuring devices are needed. The limitation of the digital density meter, especially liquid, urges the author to carry out further research on the digitization of this measuring instrument. This research aims to make a digital density meter for liquid matter with a high level of measurement accuracy, as the reference measurement study for liquid density in digital form. The instrument was designed using the load cell method as the main sensor. It was also equipped with a DS18B20 water-resistant temperature sensor to measure the temperature of the liquid. The data were analyzed to obtain the accuracy and error of the liquid density measurement from the density meter. The liquid samples used for research were Pertamax, solar, and water. Sample accuracy and error measurement results were 99.83 percent and 0.17 percent respectively for Pertamax, 99.63 percent and 0.37 percent for solar and 99.46 percent and 0.54 percent for water. The measured density value was finally shown on the 16x2 LCD.]]>
<![CDATA[The Design of Tympani Thermometer Using Passive Infrared Sensor ]]>
<![CDATA[Wijaya, Nur Hudha]]>;
<![CDATA[Oktavihandani, Zanella]]>;
<![CDATA[Kunal, Kunal]]>;
<![CDATA[T.Helmy, Elsayed]]>;
<![CDATA[Thanh Nguyen, Phong]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 1, No 1 (2020): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.1106
<![CDATA[Measuring body temperature depends on the type of thermometer and measured body area. A thermometer placed on the tympanic membrane is considered ideal because the tympanic membrane and hypothalamus have arterial blood supply originating from the carotid artery (neck). Therefore, it is considered directly close to the core temperature. The Tympani Thermometer with external storage can facilitate the doctor's performance in diagnosing patients. This tool is designed using the MLX90614 sensor as a passive infrared sensor that can receive infrared energy from the tympanic membrane. The study aims to design a tympani thermometer. It compared the measurement results of the designed tool with ear thermometers that have been calibrated to get the error value. Based on the results, this prototype works well and has an error of 0.7°C in the left ear and an error of 0.24°C in the right ear.]]>
<![CDATA[Accelerometer Implementation as Feedback on 5 Degree of Freedom Arm Robot ]]>
<![CDATA[Kunal, Kunal]]>;
<![CDATA[Zuhri Arfianto, Afif]]>;
<![CDATA[Eko Poetro, Joessianto]]>;
<![CDATA[Waseel, Farhad]]>;
<![CDATA[Andri Atmoko, Rachmad]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 1, No 1 (2020): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.1107
<![CDATA[The research investigated the automatic control system implemented with the 5 DOF (Degree of Freedom) arm robot control system using the closed-loop control method with the MPU 6050 sensor, which integrated the rotation of the MG995 motor servo as a feedback function. The control of this robot used android–based application, in which the app sends data of the rotate angle for each servo motor rotated to a certain angle. The HC – 05 Bluetooth received the data and the Arduino UNO R3 microcontroller processed them. The microcontroller managed every rotation of each servo motor that integrated with an MPU6050 sensor with serial monitor communication to display the rotation of each servo motor. The test results obtained by the standard deviation value showed how large the sample diversity was. The result of this study showed a standard deviation correlation with the number of sample diversity. The higher the standard deviation value, the more sample data spread (data diverse or varies). Otherwise, the smaller the standard deviation value, the more homogenous the sample data. If the standard deviation equals zero, it indicates that the sample has identical data. The highest standard deviation value from servo motor 1 is 5.20, servo motor 2 and 3 are 1.00, servo motor 4 is 2.89, and servo motor 5 is 2.9]]>
<![CDATA[Prototype of Hand Dryer with Ultraviolet Light Using ATMega8 ]]>
<![CDATA[Padang Tunggal, Tatiya]]>;
<![CDATA[Wahyu Apriandi, Ahmad]]>;
<![CDATA[Eko Poetro, Joessianto]]>;
<![CDATA[T.Helmy, Elsayed]]>;
<![CDATA[Waseel, Farhad]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 1, No 1 (2020): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.1102
<![CDATA[In everyday life, particularly in hospitals, people typically use cloth or tissue to dry our hands. It seems less practical, effective and hygienic. In addition, some restaurants still use cloth or tissue as well. To overcome this problem, several hospitals and restaurants have provided hand dryers. It can dry hands but cannot eliminate germs or bacteria. It is necessary to create a hand dryer equipped with a sterilizer. This work, therefore, created a hand dryer that can simultaneously dry and sterilize hands that worked automatically using the ATMega8 microcontroller. The tool was designed by using an infrared sensor to detect hands, and an ATMEGA8 microcontroller to read and process the sensors to activate UV and heating. The results found that the tool equipped with UV and heating can dry hands while eliminating bacteria and germs.]]>
<![CDATA[Legged Fire Fighter Robot Movement Using PID ]]>
<![CDATA[Abdul Latif]]>;
<![CDATA[K. Shankar]]>;
<![CDATA[Phong Thanh Nguyen]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 1, No 1 (2020): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.1104
<![CDATA[Proportional Integral Derivative (PID) control is a control system commonly used by industry. Approximately 90% of industrial equipment uses a PID controller because it is easy to use. In the Indonesian Fire Extinguisher Robot Contest (IFERC), the contested robots must follow the contours of the walls of the arena. A Fire extinguisher robot navigation was chosen because the race arena of the competition consisted of walls with different aisles and rooms. The navigation robots used PID control. This study designed and implemented a control algorithm for legged fire extinguishing robots using the PID method, where the PID control was processed in a microcontroller. The angles for each servo motor generated by the calculation of the PID enable the robot to navigate by taking decisions to move quickly or slowly, turn right, turn left and stop. The robot's proximity sensor data and fire sensors enable the fire to be extinguished. The result showed that the robot can carry out its duties optimally.]]>
<![CDATA[Design and Implementation of Artificial Neural Networks to Predict Wind Directions on Controlling Yaw of Wind Turbine Prototype ]]>
<![CDATA[Zaky Dzulfikri]]>;
<![CDATA[Nuryanti Nuryanti]]>;
<![CDATA[Yuliadi Erdani]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 1, No 1 (2020): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.1105
<![CDATA[Wind energy as one of the new renewable energies has an important role in replacing fossil energy sources in Indonesia. In order to make the wind turbine's performance more efficient in extracting energy from the wind, it is necessary to control the actuation movements pitch and yaw of the wind turbine horizontal. Controlling the actuator yaw can increase the absorption efficiency of the power to the rotor face toward the direction of the wind. The purpose of this thesis is to be able to predict the direction of the coming wind, then move the turbine rotor in the predicted direction. In this final project a wind turbine prototype is used with a precision of 5.3%, then for the data acquisition section, a wind direction sensor is built to change the amount of wind direction to a quantity that can be measured in units of degrees, and anemometer to measure wind speed. In making the wind direction prediction algorithm, artificial neural network (ANN) method is used with input parameters such as wind speed, temperature, humidity, pressure, and altitude. Data acquisition is done at one minute intervals with long data collection for one day, 1072 data are obtained, the data is then fed to the ANN model that has been prepared. Based on the results of tests that have been done, it is found that the Mean Absolute Error in the model is 0.4%.]]>
<![CDATA[Accelerometer Implementation as Feedback on 5 Degree of Freedom Arm Robot ]]>
<![CDATA[Kunal Kunal]]>;
<![CDATA[Afif Zuhri Arfianto]]>;
<![CDATA[Joessianto Eko Poetro]]>;
<![CDATA[Farhad Waseel]]>;
<![CDATA[Rachmad Andri Atmoko]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 1, No 1 (2020): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.1107
<![CDATA[The research investigated the automatic control system implemented with the 5 DOF (Degree of Freedom) arm robot control system using the closed-loop control method with the MPU 6050 sensor, which integrated the rotation of the MG995 motor servo as a feedback function. The control of this robot used android–based application, in which the app sends data of the rotate angle for each servo motor rotated to a certain angle. The HC – 05 Bluetooth received the data and the Arduino UNO R3 microcontroller processed them. The microcontroller managed every rotation of each servo motor that integrated with an MPU6050 sensor with serial monitor communication to display the rotation of each servo motor. The test results obtained by the standard deviation value showed how large the sample diversity was. The result of this study showed a standard deviation correlation with the number of sample diversity. The higher the standard deviation value, the more sample data spread (data diverse or varies). Otherwise, the smaller the standard deviation value, the more homogenous the sample data. If the standard deviation equals zero, it indicates that the sample has identical data. The highest standard deviation value from servo motor 1 is 5.20, servo motor 2 and 3 are 1.00, servo motor 4 is 2.89, and servo motor 5 is 2.9]]>
<![CDATA[Data Storage Based Heart and Body Temperature Measurement Device ]]>
<![CDATA[Nur Hudha Wijaya]]>;
<![CDATA[Andi Gofer Alvian]]>;
<![CDATA[Afif Zuhri Arfianto]]>;
<![CDATA[Joessianto Eko Poetro]]>;
<![CDATA[Farhad Waseel]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 1, No 1 (2020): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.1103
<![CDATA[Body health is the most important thing for human life. The heart is one of the organs of the body that is very important for humans. The heart functions to regulate the circulation of oxygen-rich blood and to carry leftover food in the body. Heart rate illustrates how hard the heart works. The heart rate needs to be monitored to find out the patient's condition. BPM measurement and temperature is an activity of measuring heart rate and body temperature. The patient’s body temperature affects the patient's rapid heart to pump blood throughout the body. The study aims to design a heart rate and body temperature measuring device using an infrared LED as a transmitter and a photodiode as a receiver, an LM35 as the temperature sensor, and an LCD to display the final output. This tool uses an ATMega8 microcontroller as the controlling system. The device was completed with data storage and temperature indicators. The result of the test on the device showed that the device performed very well in measuring the heart rate and body temperature of adult patients aged 20 until 40 years old.]]>
