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Journal of Robotics and Control (JRC)
Published by Universitas Muhammadiyah Yogyakarta
ISSN : 27155056     EISSN : 27155072     DOI : https://doi.org/10.18196/jrc
Core Subject : Science, Engineering,
Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering
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.
Arjuna Subject : Teknik (semua kategori) - Teknik Kontrol dan Sistem
Articles 35 Documents
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Search results for , issue "Vol 2, No 4 (2021): July" : 35 Documents clear
An hybridization of global-local methods for autonomous mobile robot navigation in partially-known environments Sahloul, Samia; Abid, Donia BEN HALIMA; REKIK, Chokri
Journal of Robotics and Control (JRC) Vol 2, No 4 (2021): July (Forthcoming Issue)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.2483

Abstract

This paper deals with the navigation problem of an autonomous non-holonomic mobile robot in partially-known environment. In this proposed method, the entire process of navigation is divided into two phases: an off-line phase on which a distance-optimal reference trajectory enables the mobile robot to move from an initial position to a desired target which is planned using the B-spline method and the Dijkstra algorithm. In the online phase of the navigation process, the mobile robot follows the planned trajectory using a sliding mode controller with the ability of avoiding unexpected obstacles by the use of fuzzy logic controller. Also, the fuzzy logic and fuzzy wall-following controllers are used to accomplish the reactive navigation mission (path tracking and obstacle avoidance) for a comparative purpose. Simulation results prove that the proposed path planning method (B-spline) is simple and effective. Also, they attest that the sliding mode controller track more precisely the reference trajectory than the fuzzy logic controller (in terms of time elapsed to reach the target and stability of two wheels velocity) and this last gives best results than the wall-following controller in the avoidance of unexpected obstacles. Thus, the effectiveness of our proposed approach (B-spline method combined with sliding mode and fuzzy logic controllers) is proved compared to other techniques.
Optimized Harmonic Reduction PWM based Control Technique for Three-Phase quasi Z-Source Inverter Gayen, Pritam Kumar; Sadhukhan, Archak
Journal of Robotics and Control (JRC) Vol 2, No 4 (2021): July (Forthcoming Issue)
Publisher : Universitas Muhammadiyah Yogyakarta

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Abstract

This paper proposes an optimized harmonic reduction pulse width modulation (HRPWM) control strategy for three-phase quasi Z-source inverter (qZSI). In traditional sinusoidal or space vector pulse width modulation techniques, the flexibility in adjustment of individual switching angles is not possible and thus, these techniques are not optimum choices for low switching frequency operations of high/medium power qZSI. In the proposed technique, adjustments of switching angles of HRPWM waveform are possible to achieve optimum performance. The optimum performance is targeted as maximization of boosting factor and simultaneous minimization of weighted total harmonic distortion (WTHD) at the output voltage of qZSI. The hybrid particle swarm optimization gravitational search algorithm (PSOGSA) is used for computation of optimum switching angles of suggested HRPWM waveform at various modulation indices. The obtained WTHDs up to 49th order harmonics and boosting factors of optimized HRPWM methodology are compared with that of the maximum boost control (MBC) technique for qZSI to justify superior performances of the suggested method in low switching frequency range. The proposed concept has been verified via simulation study. The experimentation (qZSI controlled by microcontroller) validates the working of optimized HRPWM based qZSI which agrees with software results.
Mixing and controlling the pH of citrate and phosphate with website Syahrul, Syahrul; Komarujaman, Ilham
Journal of Robotics and Control (JRC) Vol 2, No 4 (2021): July (Forthcoming Issue)
Publisher : Universitas Muhammadiyah Yogyakarta

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Abstract

In this study built an instrument capable of mixing and controlling chemical pH of citrate solution and phosphate solution as buffer solution. The problem often experienced in mixing chemicals is a matter of safety and the accuracy of the concentration of the mixing of the substance. The function of this instrument is to mix and control the pH of the citrate and phosphate solution. It is hoped that in the presence of this instrument, the manufacture of citrate solutions and phosphate solutions can be carried out electronically which does not involve manual calculations to obtain the desired pH of the solution, and is relatively safe from direct contact with chemicals. This instrument is built using a pH sensor as the sensing pH value of the solution to be made. And as a controller used microcontroller. Results of pH control other than can be stored in the database, can also be transmitted to the internet (website) using a wifi interface device. Mixers and pH controls of citrate and phosphate have been realized and resulted in good pH control.
Morse Code Receiver On Invisible Light Using Background Subtraction Method Irawan, Yuda; Wahyuni, Refni; Herianto, Herianto
Journal of Robotics and Control (JRC) Vol 2, No 4 (2021): July (Forthcoming Issue)
Publisher : Universitas Muhammadiyah Yogyakarta

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Abstract

Morse code is a system of representation of letters, numbers, punctuation marks and signals using a code of dots and lines that are arranged to represent certain characters in the alphabet or certain signals (signs) that are agreed upon for use throughout the world was studied by nilas[1]. This code was coined by Samuel F.B. Morse and Alfred Vail in 1835 was studied by ming[2]. This research aims at how to apply the Background Subtraction method in the design of the morse sign language receiver in the invisible light. Build an Android-based application for recognition of Morse sign language by keeping messages sent using Morse sign language secret through infrared light from the sight of those who can read the message. From the results of the tests that have been carried out, it is concluded that the level of accuracy of testing using the False Match Rate (FMR) obtained a success percentage of 65% from the 26 character data tested. From the 26 character data tested, it was obtained data with the number of characters that were successfully counted correctly, namely 17 characters, while the character data that failed to be counted was 9 characters with a detection result of 26 characters.
RSSI Indoor Outdoor Personal Localization: A Study to Found Targeted Social Engineering Victim by Attacker Via Wireless Methods Firdausi, Ahmad; P. N. Hakim, Galang
Journal of Robotics and Control (JRC) Vol 2, No 4 (2021): July (Forthcoming Issue)
Publisher : Universitas Muhammadiyah Yogyakarta

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Abstract

Social engineering is a common method to collect more information from victim trough socialization. This method employs human psychology to manipulate other people. In cyber society today, the attacker could use various methods to tapping into victim smartphone, and after that the attacker can get victim persona profiling information. The attacker can select random victim and then using wireless localization methods, the attacker could found its victim. After the random victim has been found the attacker can start social engineering directly to the victim based on persona profiling information, to gain trust and more personal information that can lead inflicting damage to the victim. In this paper, we demonstrate to localize victim using green obaidat calibrate Path loss Propagation models and $4 dollar device based on victim Smartphone RSSI Wi-Fi Signal. With this device we could localize a person within 15 meter with just only 0.64 dbm in difference between our RSSI measurement and simulation.
Detector Leakage Gas Lpg Based On Telegram Notification Using Wemos D1 and Mq-6 Sensor Uci Rahmalisa; Anita Febriani; Yuda Irawan
Journal of Robotics and Control (JRC) Vol 2, No 4 (2021): July
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.2493

Abstract

Based on the test results of the National Standardization Agency (BSN), as much as 66% of the gas cylinders tested were found to be unfit for use was studied by zhang[1]. Along with the increasing use of LPG gas, the quality of gas cylinder products has decreased, and the need for supervision of gas cylinder products from the manufacturer, so it cannot cause danger was studied by dae[2]. Gas leaks most often come from the gap between the mouth of the tube and the regulator so that it can cause pollution to the polluted room. This is due to the seal that serves as a sealing gap between the gas cylinder valve and the regulator not working was studied by saeed[3]. This seal serves to close and isolate the gap between the regulator and the upper mouth of the gas cylinder so that gas leakage can be avoided, or it could also be caused by rat bites on the hose which can cause gas to leak. For this reason, a LPG gas leak detection device can be made remotely. Created a LPG gas leak detection system based on Wemos D1 microcontroller using telegram notification. The whole tool is divided into several parts which consist of mq-6 sensor, ESP8266-01S module, wemos d1 microcontroller, and buzzer. This tool works when the ESP8266-01S module searches for the nearest internet network and the mq-6 sensor detects lpg gas, from the ESP8266-01S module and mq-6 sensor then to the Wemos D1 microcontroller to process, from the Wemos D1 microcontroller then activates the buzzer as a warning alarm that then transfer data through the ESP8266-01S module to the website and give notification of a gas leak to the smartphone of the user of the device. The mq-6 sensor functions if the gas content value is above 80. The results show that the gas content value is more than 80 as detected lpg gas, because it has tested the system and when there is no lpg gas the gas content value is less than 80.
Online Digital Image Stabilization for an Unmanned Aerial Vehicle (UAV) Wahyu Rahmaniar; Amalia Eka Rakhmania
Journal of Robotics and Control (JRC) Vol 2, No 4 (2021): July
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.2484

Abstract

The Unmanned Aerial Vehicle (UAV) video system uses a portable camera mounted on the robot to monitor scene activities. In general, UAVs have very little stabilization equipment, so getting good and stable images of UAVs in real-time is still a challenge. This paper presents a novel framework for digital image stabilization for online applications using a UAV. This idea aims to solve the problem of unwanted vibration and motion when recording video using a UAV. The proposed method is based on dense optical flow to select features representing the displacement of two consecutive frames. K-means clustering is used to find the cluster of the motion vector field that has the largest members. The centroid of the largest cluster was chosen to estimate the rigid transform motion that handles rotation and translation. Then, the trajectory is compensated using the Kalman filter. The experimental results show that the proposed method is suitable for online video stabilization and achieves an average computation time performance of 47.5 frames per second (fps).
Proposing Utilization of Photovoltaic (PV) Source into Power Distribution Network Using University of Port Harcourt as a Case Study Omorogiuwa Eseosa; Noel Iloayira Wariboko
Journal of Robotics and Control (JRC) Vol 2, No 4 (2021): July
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.2491

Abstract

Relying on Power Holding Company of Nigeria (PHCN) for power distribution in University of Port Harcourt (Uniport) has not really helped in satisfying the overall power requirements, considering the fact that alternative renewable sources of power exist in its environs and tapping into it will help ameliorate these challenges. This work involves proposing utilization of photovoltaic (PV) source into power distribution using Uniport as a case study. Solar radiation profile was obtained as latitude 40o48.1 oN and longitude 6o55.9oE with average clearance index of 4.37kwh/m2/day. Solar altitude, angle of incidence, azimuth, global solar value in kw/m2 were recorded as well as models for PV, battery bank and converter components formulated. Moreso, sensitivity and optimization studies including systems architecture, load and PV output for the solar network was carried out. User specified variables such as appliance peak power, total energy produced/consumed per day, total amount to be invested as well as lifespan of solar generating plant. Overall cost of solar PV amounted to about Two billion, seven hundred and forty million, six hundred thousand naira (N2, 740,600,000) for a twenty-four (24) hour power supply. Operation and maintenance cost for a projection of twenty-five (25) years (OPEX was also determined to be Ninety-six million, five hundred thousand naira (N96, 500,000:00). At 25 years, amount that must have been spent on bills to PHEDC for consuming maximum of ten (10) hours of electrical power is about Seven billion, eight hundred and sixteen million, three hundred and thirty-one thousand, one hundred naira (N 7,816,331,100:00). This implies that if Uniport decides to jettison PHEDC for the next twenty-five (25) years and want to be sure of a guaranteed 24 hours’ power supply, it would have saved a total of Five billion, and seventy-five million, seven hundred and thirty-one thousand, one hundred naira (N5,075,731,100:00). Furthermore, generated power by this design is 7500MWhr but the load consumed in a year is 7100MWhr/year given an excess used power of 400MWhr/year. This excess power can be sold thereby creating extra profit for the institution.
Light Control Using Human Body Temperature Based on Arduino Uno and PIR (Passive Infrared Receiver) Sensor Reza Perkasa; Refni Wahyuni; Rika Melyanti; Herianto -; Yuda Irawan
Journal of Robotics and Control (JRC) Vol 2, No 4 (2021): July
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.2497

Abstract

This study aims to implement the PIR sensor, Arduino UNO and 2 channel relay Module to automatically turn on the lights in the classroom at the STMIK Hang Tuah Pekanbaru campus, where the classes at the Hang Tuah Pekanbaru STMIK campus still use manual switches as controllers lights on. Therefore, a device is designed that can control the lights by using movements detected by the PIR sensor and processed using a computer.This system functions to turn on the lights automatically when someone enters the classroom and turn off the lights automatically when no one is in the class. The hardware used is Arduino Uno microcontroller, PIR motion sensor, 2 channel relay module, and 1.5 volt flashlight. The software for making programs is Arduino IDE where the programming language used is the C programming language. The test results show that the PIR sensor can detect the movement of people entering or leaving a room.
Proportional-Integral-Derivative and Linear Quadratic Regulator Control of Direct Current Motor Position using Multi-Turn Based on LabView Devi Handaya; Resti Fauziah
Journal of Robotics and Control (JRC) Vol 2, No 4 (2021): July
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.24102

Abstract

This study accommodates the industry needs in monitoring a control system on a DC motor using LabView. The servomotor, which is usually used for position control, was replaced in this study with a DC motor coupled with a multi-turn potentiometer sensor. The use of DC motors was carried out to reduce actuator prices while maintaining control objectives. The control method used is in the form of Proportional – Integral - Derivative (PID) and optimal control which are then compared with the output. PID tuning is done using the Root Locus method. Meanwhile, for optimal control using the Linear Quadratic Regulation (LQR) approach. Testing was done by looking at the results of direct implementation of the DC motor plant hardware through observations using LabView. By using the right zero variables in the PID control, the best performance is obtained until it can track references. Too large a zero value will result in even greater Steady State Error. The results of optimal control using different Q variables did not provide a significant change. The SSE value shows the same result. The results show that the optimal control can track the reference with lower settling time and overshoot than the PID control. However, the two control methods still produce relatively small Steady State Error.

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