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[Car Parking Distance Controller Using Ultrasonic Sensors Based On Arduino Uno ]]>
<![CDATA[Susilo, Jenli]]>;
<![CDATA[Febriani, Anita]]>;
<![CDATA[Rahmalisa, Uci]]>;
<![CDATA[Irawan, Yuda]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September (Forthcoming Issue) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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<![CDATA[The design of a car parking sensor is done because there are some problems such as the absence of parking attendants from 18:00 to 06:00 and the lack of parking attendants so the researchers took the title of arduino uno-based car parking distance controller by using ultrasonic sensors in this study using 3 main components, namely Arduino UNO, Arduino MP3 Shield and Ultrasonic HC-SR04. Arduino Shield MP3 is a module that is used to play sound. MP3 which can give voice commands that have been programmed before using Arduino IDE and combined with Ultrasonic HC-SR04 components in the calculation of the distance to the object. The distance (cm) obtained as input is then processed and then combined with the Arduino Shield MP3, then at a predetermined distance will output a predetermined voice command. Then the method used is the prototype method which starts from designing, writing the system, implementing it with the aim of making a prototype of a car parking sensor and testing it with a prototype. Conclusion testing the car sensor sensor car makes it easy for car drivers to park the car.]]>
<![CDATA[Backstepping Control for a Tandem Rotor UAV Robot with Two 2-DOF Tiltable Coaxial Rotors ]]>
<![CDATA[Xu, Xiongshi]]>;
<![CDATA[Watanabe, Keigo]]>;
<![CDATA[Nagai, Isaku]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September (Forthcoming Issue) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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<![CDATA[The study of a fully actuated multi-rotor UAV robot is very important in the field of infrastructure inspection because it needs a dexterous motion, such as hovering in a special fixed attitude, etc. This paper presents a backstepping control method for a simplified fully actuated model of a tandem-rotor UAV robot with two 2-DOF tiltable coaxial rotors. A MIMO vectorial backstepping approach is adopted here because the input distribution matrix is a square and nonsingular matrix. The two-stage control method based on the Lyapunov second method is presented to stabilize the position and attitude of the whole system. The static control allocation problem is also solved by using a Moore-Penrose pseudo-inverse. Finally, two simulations are demonstrated to verify the performance of the proposed control method, where one is a stabilizing problem in which all the desired position and attitude are to be constant, whereas the other is a trajectory tracking problem in which the desired positions are time-varying while the desired attitudes are to be constant.]]>
<![CDATA[Temperature Monitoring System for Egg Incubators Using Raspberry Pi3 Based on Internet of Things (IoT) ]]>
<![CDATA[Purwanti, Siti]]>;
<![CDATA[Febriani, Anita]]>;
<![CDATA[Mardeni, Mardeni]]>;
<![CDATA[Irawan, Yuda]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September (Forthcoming Issue) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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<![CDATA[The incubator is made as a substitute for hatching naturally at the same time. The success of the hatch machine is largely determined by the temperature stability in the incubator. In the use of small-scale hatcheries for native chicken hatching, they are still faced with the problem of low hatchability due to one of the obstacles, namely the power outage during the hatching process. To improve the monitoring performance of egg incubators, the writer wishes to conduct research "Monitoring to Control and Monitor Temperature in Egg Incubators" using a webcam camera to monitor temperature conditions and hatch eggs. The working system is the DHT11 sensor will detect the temperature, the webcam camera in real time will monitor the state of the eggs then the raspberry pi3 will automatically control the temperature and electrical energy on the incubator, the smartphone monitors and can also control the temperature with the state of the eggs in realtime, 12V battery as a replacement energy when the PLN goes out. From the results of the tests carried out, the authors can draw conclusions, namely: The webcam camera can display the condition of the eggs in the incubator room. Android smartphones can receive information with a webcam camera during the hatching process. The data logger can display recapitulated temperature and humidity data.]]>
<![CDATA[Water Quality Measurement and Filtering Tools Using Arduino Uno, PH Sensor and TDS Meter Sensor ]]>
<![CDATA[Irawan, Yuda]]>;
<![CDATA[Febriani, Anita]]>;
<![CDATA[Wahyuni, Refni]]>;
<![CDATA[Devis, Yesica]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September (Forthcoming Issue) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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<![CDATA[Rusunawa Rejosari is a flats owned by the Pekanbaru city government which is inhabited by underprivileged residents, water in the Rusunawa Rejosari borehole emits an unpleasant and murky odor, making it unfit for consumption and use for daily needs by residents who live there. Indonesia issued the TDS Standard by the Ministry of Health and the Indonesian National Standard (SNI), which is a maximum value of 500 ppm TDS and for the standard Hydrogen Potential (PH) of clean water 6.6 - 9.0 PH. Based on the above problems, a Water Quality Measurement and Filtration Tool was made using Arduino, a Hydrogen Potential Sensor (PH) and a Total Dissolved Solids (TDS) Sensor. Based on the research that has been carried out, it can be concluded that the tool runs smoothly, as evidenced by the measurement results of the accuracy of the sensor and successfully filters the water when the measurement is not normal, so that the water is suitable for consumption and use.]]>
<![CDATA[The Voltage Control in Single-Phase Five-Level Inverter for a Stand-Alone Power Supply Application Using Arduino Due ]]>
<![CDATA[Santoso, Daniel]]>;
<![CDATA[Pratomo, Leonardus Heru]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September (Forthcoming Issue) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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<![CDATA[In the era of industrial revolution 4.0 expanded digital transformation, such as inverters. The principle of the inverter is to change the DC source to the AC source. The device using an AC source needs a voltage source that is controlled. Hence, the voltage source that is controlled is usually generated from a stand-alone power supply. The stand-alone power supply usually used a conventional inverter. The conventional inverter uses high frequency switching to obtain lower distortion harmonic in output voltage. Another solution is using a five-level inverter that has fewer power switches. The purpose in these research is to make a stand-alone power supply using a single-phase five-level inverter asymmetric topology, which has five power switches to control voltage output based on the standard of IEEE 519. The inverter does sinusoidal pulse width modulation on two the signal reference that was shifting 180 degrees toward the carrier signal. That research has been simulated using Power Simulator software and has been implemented in the laboratory. According to the result of simulation and implementation are generated voltage THD value amount of 4.39%.]]>
<![CDATA[Assessment of Collision Avoidance Strategies for an Underwater Transportation System ]]>
<![CDATA[Rehman, Faheem Ur]]>;
<![CDATA[Anderlini, Enrico]]>;
<![CDATA[Thomas, Giles]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September (Forthcoming Issue) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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<![CDATA[Transportation using multiple autonomous vehicles with detection avoidance capability is useful for military applications. It is important for such systems to avoid collisions with underwater obstacles in an effective way, while keeping track of the target location. In this paper, sensor-based and path-planning methods of external collision avoidance were investigated for an underwater transportation system. In particular, sensor-based wall-following and hard-switching collision avoidance strategies and an offline RRT* path-planning method was implemented on the simulation model of the transportation system of four Hovering Autonomous Underwater Vehicles (HAUVs). Time-domain motion simulations were performed with each method and their ability to avoid obstacles was compared. The hard-switching method resulted in high yaw moments which caused the vehicle to travel towards the goal by a longer distance. Conversely, in the wall-following method, the yaw moment was kept to zero. Moreover, the wall-following method was found to be better than the hard-switching method in terms of time and power efficiency. The comparison between the offline RRT* path-planning and wall-following methods showed that the fuel efficiency of the former is higher whilst its time efficiency is poorer. The major drawback of RRT* is that it can only avoid the previously known obstacles. In future, offline RRT* and wall following can be blended for a better solution. The outcome of this paper provides guidance for the selection of the most appropriate method for collision avoidance for an underwater transportation system.]]>
<![CDATA[Underactuated Rehabilitation Robotics for Hand Function ]]>
<![CDATA[Zhu, Xuanren]]>;
<![CDATA[He, Bin]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September (Forthcoming Issue) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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<![CDATA[Normal hand function plays an important role in daily life. At present, the incidence of hand dysfunction caused by diseases such as cerebral palsy or stroke is increasing year by year. For the rehabilitation of hand dysfunction, in addition to surgical treatment, effective rehabilitation exercise is also particularly important. It is also a necessary link in the efficient and intelligent development of rehabilitation medicine to develop robots that can effectively help patients with rehabilitation hand functions.In this paper, based on the analysis of the design principles and objectives of the rehabilitation robot with hand function, the kinematics model of the rehabilitation robot with hand function is constructed,based on top-down principle in the design of the machine, the design of the machine hand function rehabilitation robots design optimization process framework, and based on the kinematics model and the virtual prototype technology, build its skeleton model, and carries on the kinematics simulation analysis, the design is verified the correctness of the hand function rehabilitation robot kinematics model.]]>
<![CDATA[Discussing the Reality Gap by Comparing Physics Engines in Kilobot Simulations ]]>
<![CDATA[Andreas Meier]]>;
<![CDATA[Sascha Carroccio]]>;
<![CDATA[Rolf Dornberger]]>;
<![CDATA[Thomas Hanne]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.25120
<![CDATA[The difference between real experiments and their simulated counterparts, the so-called reality gap, is dependent on various factors and a challenging issue for every simulation-based robot experiment. The reality gap in robot experiments is often caused by software, which is not always able to sufficiently capture particular details and process them properly. In order to minimize this difference, this paper strives to assess different simulation physics engines in V-REP, the simulation framework for the Kilobot swarm robots. The outcome of the simulation software adaption is based on a unified multi robot experiment applied to Kilobots. This paper proposes a simulation attitude, which reflects the outcomes of a real world experiment with Kilobots accurately.]]>
<![CDATA[Self-Balancing Robot Navigation ]]>
<![CDATA[Hari Maghfiroh]]>;
<![CDATA[Henry Probo Santoso]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.25115
<![CDATA[Human activity has been increasing, to support the activity, people in the modern era create robots to replace some human activities. The interest in two-wheeled balance robots has continued to increase, this is because it is highly maneuverable, making it efficient for use in various areas. In this study, the online navigation of a two-wheeled self-balancing robot is done. The connection between the robot and online navigation is using a Wi-Fi connection. The world model base on the real room is created by Gazebo and then visualized in RVIZ. The map creation and navigation process are handled by the package provided by ROS. The results of the simulation and real tracking show that the robot can move from the starting point to the destination point in either a straight or a curved path. The difference of the final position of the robot between simulation and real tracking is only (15.4 cm, 4 cm) and (9.6 cm, 43 cm) for the straight and curved path. This result proved that online navigation can be used to navigate an autonomous robot without real navigation sensors.]]>
<![CDATA[Smart Aquarium Design Using Raspberry Pi and Android Based ]]>
<![CDATA[Khairunisa Khairunisa]]>;
<![CDATA[Mardeni Mardeni]]>;
<![CDATA[Yuda Irawan]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.25109
<![CDATA[For aquarium owners, sometimes their daily activities are busy with other busy activities was studied by nusantara[1]. With this density of activity it often makes it difficult for fish aquarium owners to provide fish with the feeding process, which is usually done manually when at home was studied by pasha[2]. From this problem, a smart aquarium device was designed to feed aquaculture fish automatically, namely Smart Aquarium Design Using Android-Based Raspberry Pi, designed to provide convenience in the process of maintaining fish in an aquarium. This aquarium can perform several actions such as fish feeding automatically can be done using Android via the internet network and control the aquarium decorative lights. To move the fish feeding valve, it uses a servo motor to drive the fish feeding valve and also uses a relay as an on / off aquarium decorative light. Fish feed machines can feed fish on a scheduled basis if the user forgets to feed fish. Smart aquarium is also equipped with a water filter so that aquarium water does not need to change water.]]>
