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[Online Navigation of Self-Balancing Robot using Gazebo and RVIZ ]]>
<![CDATA[Maghfiroh, Hari]]>;
<![CDATA[Probo Santoso, Henry]]>
<![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[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[Discussing the Reality Gap by Comparing Physics Engines in Kilobot Simulations ]]>
<![CDATA[Meier, Andreas]]>;
<![CDATA[Carroccio, Sascha]]>;
<![CDATA[Dornberger, Rolf]]>;
<![CDATA[Hanne, Thomas]]>
<![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 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[Smart Aquarium Design Using Raspberry Pi and Android Based ]]>
<![CDATA[Khairunisa, Khairunisa]]>;
<![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[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.]]>
<![CDATA[Automatic Wireless Nurse Caller ]]>
<![CDATA[Widadi, Sigit]]>;
<![CDATA[Al Badrun Munir, Sultan]]>;
<![CDATA[Shahu, Nishith]]>;
<![CDATA[Ahmad, Irfan]]>;
<![CDATA[Al Barazanchi, Israa]]>
<![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 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[Nur Nazilah Chamim, Anna]]>;
<![CDATA[Cahyo Hardyanto, Dwi]]>;
<![CDATA[Trinanda Putra, Karisma]]>
<![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[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[Control of DC Motor Using Integral State Feedback and Comparison with PID: Simulation and Arduino Implementation ]]>
<![CDATA[Ma'arif, Alfian]]>;
<![CDATA[Rahmat Setiawan, Naural]]>
<![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 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[Autotuning Fuzzy PID Controller for Speed Control of BLDC Motor ]]>
<![CDATA[Kristiyono, Roedy]]>;
<![CDATA[Wiyono, Wiyono]]>
<![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 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[Wajiansyah, Agusma]]>;
<![CDATA[Supriadi, Supriadi]]>;
<![CDATA[Gaffar, Achmad Fanany Onnilita]]>;
<![CDATA[Putra, Arief Bramanto Wicaksono]]>
<![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[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[Position Control of Real Time DC Motor Using LabVIEW ]]>
<![CDATA[Khalifa, Mustafa]]>;
<![CDATA[Amhedb, AL Hussein]]>;
<![CDATA[Al Sharqawi, Mohammed]]>
<![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[Direct current (DC) motors are the most used motors in control engineering applications due to their simplicity of construction, easy to control, and excellent performance. These motors should be well controlled to perform the required task. This research focuses on DC motor functional application in terms of a position control system using LabVIEW. This control system is a closed-loop real-time control system whereas incremental encoder 298 is coupled to the motor shaft to provide the feedback position signal to a controller; Proportional Integral Derivative (PID) The PID controls the position of the DC motor at the desired position with a minimum error. The PID controller was implemented in LabVIEW software which sends the control signal to the real-time DC motor through the Arduino board. In addition, LabVIEW software was developed to show the output response of motor position versus time to easily observe the performance of the system. The PID controller gains were obtained based on the trial and error method. The system under these controller parameters has been tested at different positions of tracking signal and for disturbance rejection. Finally, the results showed that the designed controller had good performance characteristics where the desired position of the motor was maintained.]]>
<![CDATA[Implementation Kinematics Modeling and Odometry of Four Omni Wheel Mobile Robot on The Trajectory Planning and Motion Control Based Microcontroller ]]>
<![CDATA[Rijalusalam, Dhiya Uddin]]>;
<![CDATA[Iswanto, Iswanto]]>
<![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 control of kinematic modeling in a four wheel omni-directional robot (FWOR) is very difficult. Because you have to adjust the speed of the four DC motors. The speed of DC motors is controlled so that the FWOR robot can be controlled. This paper will explain the application of kinematic modeling of four wheel omni directional robots as track tracking controllers and microcontroller based movement control. Kinematic is the study of robot motion based on geometric structure analysis of a stationary / moving reference coordinate frame system without considering the force, torque or certain moments that cause movement. By applying kinematic modeling and calculation of the odometric system as feedback, the control of the robot trajectory movement can be controlled with precision in accordance with the path planning that has been made. The robot track control technique is embedded in a 32-bit ARM microcontroller. The path planning system and observing robot movement are carried out using a friendly graphic interface using Processing to facilitate the robot monitoring process. The results of the experiments and tests carried out, the system is able to control the rate of movement of the robot with great precision in accordance with the path planning made.]]>
