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[Control of DC Motor Using Integral State Feedback and Comparison with PID: Simulation and Arduino Implementation ]]>
<![CDATA[Ma'arif, Alfian]]>;
<![CDATA[Rahmat Setiawan, Naufal]]>
<![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.25122
<![CDATA[The Direct Current (DC) motor is widely applied in various implementations. The main problem in the DC motor is controlling the angular speed on the specific reference. This research then proposed an integral state feedback design for tracking control in DC motor, with Simulink Matlab simulation and the Arduino hardware implementation. The results will be compared with the implementation of the PID controller. The integral state feedback controller can handle the system to reach the setpoint with good performance in the simulations, even with changing different poles and setpoints. In the hardware implementation, the current sensor (INA219) and encoder sensor are used since all state variables need to be calculated. Based on the result, the controller can reach the setpoint stably with oscillation. Similar results are showed in simulations with different setpoints. Compared with the PID Controller, the integral state feedback controller has a better response with faster rise time and faster settling time.]]>
<![CDATA[Automatic Wireless Nurse Caller ]]>
<![CDATA[Sigit Widadi]]>;
<![CDATA[Sultan Al Badrun Munir]]>;
<![CDATA[Nishith Shahu]]>;
<![CDATA[Irfan Ahmad]]>;
<![CDATA[Israa Al Barazanchi]]>
<![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.25111
<![CDATA[The nurse caller device is used as a special communication device between the patient and the nurse within the hospital area as a means of speeding the nurse's time response in providing immediate care to the patient. The designed wireless-based nurse caller device made installation easier and neater. The remote used a Bluetooth module MH-10 connected to the ATMega8 microcontroller as the sender and receiver. The data process using a microcontroller ATMega8 produced characters on the LCD, turned on the LED, and activated the buzzer to call the nurse. The results of the test on the device showed that the farthest distance taken by the HM-10 Bluetooth module in the open area (outdoor) was about 45 meters, and the closed area (indoor) was about 20 meters.]]>
<![CDATA[Web-Based Flood Hazard Monitoring ]]>
<![CDATA[Anna Nur Nazilah Chamim]]>;
<![CDATA[Dwi Cahyo Hardyanto]]>;
<![CDATA[Karisma Trinanda Putra]]>
<![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.25110
<![CDATA[Flood is a natural disaster. It occurs in several cities in Indonesia. Floods caused by rivers that overflowed and then flooded residential areas. It comes mostly unexpectedly without early warning. It causes many losses, especially the loss of material, and health threats to surrounding communities. The advance of network technology can reduce the adverse effects of flooding by providing warning alarms and water level monitoring system in real-time that can be accessed via the web. Based on the problem, a monitoring system was designed to monitor water levels via a web that work in real time for 24 hours, and store water level data into the database. The use of this website requires an internet connection, so that internet services must be available.]]>
<![CDATA[Autotuning Fuzzy PID Controller for Speed Control of BLDC Motor ]]>
<![CDATA[Roedy Kristiyono]]>;
<![CDATA[Wiyono Wiyono]]>
<![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.25114
<![CDATA[The PID control system is widely used for industrial machine control processes. The success of PID control is determined by tuning PID parameters. In PID control the tuning is carried out offline without taking into account changes that occur in the plant and the disturbances that arise. This study aims to optimize PID parameters online by taking into account the changes that occur in the plant and the disturbances that arise using fuzzy logic-based controls and tested on a BLDC motor which is a non-linear system. Set PID parameters with fuzzy logic using a combination of 49 if-then rules. To set proper PID parameters in real time, a two-level control system was built. The first level to define PID parameters by finding the minimum and maximum values of kp, ki and kd by the reaction method curve. The second level is designing the Fuzzy system to automatically set the PID parameters, then formulating a combination of 49 fuzzy if-then rules to get the value kp, ki, kd, error and change in delta error value. Testing of set point changes at BLDC Motor loads with no load and 0.5kg load and changes in speed get a response from the PID control system with an average value of 0.025 seconds rise time, 0.1625 seconds preset time, and 15.98% overshoot. While the Fuzzy PID control produces an average rise time value of 0.0025 seconds, preset time 0.057 seconds, overshoot of 5.42%.]]>
<![CDATA[Modeling of 2-DOF Hexapod Leg Using Analytical Method ]]>
<![CDATA[Agusma Wajiansyah]]>;
<![CDATA[Supriadi Supriadi]]>;
<![CDATA[Achmad Fanany Onnilita Gaffar]]>;
<![CDATA[Arief Bramanto Wicaksono Putra]]>
<![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.25119
<![CDATA[Walking robot is one type of mobile platform that has locomotion type "walking." DOF (Degree Of Freedom) is one of essential character for the design of robot mechanism based on its models. Legs are the critical parts of the walking robot structure. The legged robot is the walking robot biologically adopted from animal or insect behavior, especially in their walking routine. The hexapod robot is one of the most statically stable legged robots and has high flexibility when standing or moving which supported by six legs that can be easily manipulated. For modeling needs and its validation, it is desirable to control each DOF in the space of Cartesian coordinate although motor system needs the reference inputs in the joint space. In this case, it needs to know the conversion between Cartesian and joint space, inverse, and forward kinematics. This study presents a kinematic model of the 2-DOF hexapod leg. This study aimed to build a kinematic model of the 2-DOF hexapod leg using an analytical approach. Analytically, the working mechanism of the robot can be modeled using forward and inverse kinematic models. In this method, this modeling is derived mathematically from the projection analysis of the movement in a certain coordinate space. The model validation was performed using the MATLAB tool and the Robotic Toolbox. The results of this study showed that the results of the inverse kinematic process have the same output signal pattern compare to the input signal pattern of the forward kinematic process.]]>
<![CDATA[Water Quality Measurement and Filtering Tools Using Arduino Uno, PH Sensor and TDS Meter Sensor ]]>
<![CDATA[Yuda Irawan]]>;
<![CDATA[Anita Febriani]]>;
<![CDATA[Refni Wahyuni]]>;
<![CDATA[Yesica Devis]]>
<![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.v2i5.10166
<![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[Daniel Santoso]]>;
<![CDATA[Leonardus Heru Pratomo]]>
<![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.25117
<![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[Implementation of Open and Close a Housing Gate Portal Using RFID Card ]]>
<![CDATA[Mutiara Sari, Ria]]>;
<![CDATA[Sabna, Eka]]>;
<![CDATA[Wahyuni, Refni]]>;
<![CDATA[Irawan, Yuda]]>
<![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.25108
<![CDATA[A safe and conducive home area is one of the things that every resident of housing expects was studied by roy[1]. Portal gate is one of the infrastructure that supports the security of a residential area was studied by irawan[1]. The implementation of the gate portal in Widya Graha I housing, Pekanbaru at this time is still done manually by the security and the application is not optimal because the portal is still often left open by the security. With the development of technology, it is necessary to have an automation system in using the gate portal so that the gate portal can be used more optimally. In designing an automatic gate portal using Arduino as the main controller for the gate portal, Arduino will send commands to the DC motor to open or close the gate portal with an RFID card as the opening of the portal and an infrared sensor as a portal cover, as a fingerprint detection sensor and Arduino as a controlling medium control data input processor. From the test results, the portal will be closed when the vehicle passes through the infrared sensor at a certain distance.]]>
<![CDATA[Underactuated Rehabilitation Robotics for Hand Function ]]>
<![CDATA[Xuanren Zhu]]>;
<![CDATA[Bin He]]>
<![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.25103
<![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[Automatic Voltage Regulator as a Voltage Control in 1 Phase Axial Generator System ]]>
<![CDATA[Apriani, Yosi]]>;
<![CDATA[Saleh, Zulkiffli]]>;
<![CDATA[Suppermen, Suppermen]]>;
<![CDATA[Sofian, Ian Mochamad]]>
<![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.25118
<![CDATA[A constant output voltage on a generator is very important to produce the expected power supply. Changes in the output voltage of a generator are influenced by various disturbing factors, one of which is load and Rotations Per Minute (RPM) which are not always constant. Therefore we need a special regulator equipment to keep the generator output voltage constant. The problem of voltage instability during load changes must be overcome to keep the voltage constant, so that equipment is needed that can control the voltage stability. This tool is the Automatic Voltage Regulator (AVR). The purpose of this study is to design a voltage control device in a single phase axial generator system. The research method used consists of 3 stages, namely: 1). Design and design of tools, 2). Stages of making tools, 3). Stages of testing the tool. The results of the research were obtained when an axial generator with an inner air gap of 0.4 cm, outer 0.5 cm and rpm 2589. The output voltage of the generator began to decrease significantly until it reached -70 volts and rpm also decreased to -200. In contrast, when the generator is operated using the AVR, the reduction only reaches -30 volts. However, when the generator is operated with AVR, the decrease in rpm is greater until it reaches -220.]]>
