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[Fuzzy-PID in BLDC Motor Speed Control Using MATLAB/Simulink ]]>
<![CDATA[Hari Maghfiroh]]>;
<![CDATA[Musyaffa’ Ahmad]]>;
<![CDATA[Agus Ramelan]]>;
<![CDATA[Feri Adriyanto]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 3, No 1 (2022): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v3i1.10964
<![CDATA[Brushless DC motors (BLDC) are one of the most widely used types of DC motors, both in the industrial and automotive fields. BLDC motor was chosen because it has many advantages over other types of electric motors. However, in its application in the market, most of the control systems used in BLDC motors still use conventional controls. This conventional method is easy and simple to apply but has many weaknesses, one example is that if the system state changes, then the parameters of the PID must also be changed so that static and dynamic performance will decrease, causing slow response and frequent oscillations. In this study, the design and simulation of a speed control system for BLDC motors using the Fuzzy-PID method were carried out. The research method is performed through simulation with Matlab / Simulink. The simulation is carried out by providing a speed setpoint input of 650 rpm and used 2 methods, namely Fuzzy-PID Logic and Pi conventional method which was carried out for 1 second. The test results show that the Fuzzy-PID control can provide better and more stable performance than the conventional PI control. The use of Fuzzy-PID control can reduce speed fluctuation and torque stability so that the BLDC motor can operate more efficiently and reliably.]]>
<![CDATA[Design and Build of 1000 V Joule Thief Inverter by Utilizing Pineapple as an Energy Source ]]>
<![CDATA[Wiwin A Oktaviani]]>;
<![CDATA[Arrofi Maulana]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 3, No 1 (2022): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v3i1.10198
<![CDATA[The availability of fossil energy-based energy sources is currently depleting and cannot meet the increasing consumption. Therefore, the development of environmentally friendly alternative energy or known as green energy is increasingly being encouraged. One form of green energy that can be utilized, especially in the South Sumatra region, is pineapple. In this paper, the use of pineapple as a raw material for batteries is introduced. The material for making pineapple batteries will affect the amount of battery capacity produced. The pineapple battery capacity will then determine the amount of output voltage generated by the joule thief converter. Apart from the material, the voltage increase in the joule thief converter circuit is also influenced by the source voltage of the pineapple battery, the ferrite core step-up transformer, and the arrangement of the diodes and capacitors in the circuit. The pineapple battery capacity produced in this study is 1209 mAh, the maximum voltage is 4.63 V, the pineapple battery life is 1.0334 hours, and the charging process is 34 minutes. The resulting circuit in this study shows that the maximum output voltage of the joule thief converter is 1531 V, a current of 4.19 mA and the ability to increase the voltage to the source is 300 times.]]>
<![CDATA[Fractional Order PID Controller for Minimizing Frequency Deviation in a Single and Multi-area Power System with GRC, GDB and Time Delay ]]>
<![CDATA[Ahmed Mohammed Saba]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 3, No 1 (2022): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v3i1.11356
<![CDATA[In this paper, a Fractional Order PID (FOPID) controller to minimize frequency deviation in a single and two area power system is presented. Minimizing high frequency deviation in the presence of physical constraints is very paramount in load frequency control. This is because large frequency deviation can cause the transmission line to be overloaded which may damage equipment’s at the distribution level and the mechanical devices at the generating stations. In this paper, power system with physical constraints such as Communication Delay, Governor Dead Band (GDB) and Generation Rate Constraint (GRC) were considered and modeled appropriately. An anti-windup scheme was employed to limit the effects of these physical constraints on the power system. The proposed Fractional Order PID controller was designed using the Fractional Order Modeling and Control (FOMCON) toolbox available in MATLAB/Simulink. Antlion Optimization algorithm was used to optimize the gains of the FOPID controller by minimizing Integral Square Error (ISE) as the objective function. The Integral Square Error to be minimized is the summation of the errors in frequency deviation, tie-line power deviation and the area control error. Simulation results using the proposed approach were compared with other designed methods available in literatures. Simulations were first conducted on power system designed without physical constraints, and results obtained outperformed other designed methods available in literatures for one and two area power system. Three physical constraints were then added to the proposed method, and results obtained were compared with other designed method available in literatures for power system without physical constraints. The proposed method outperformed other designed method in minimizing frequency deviation, tie-line power deviation and area control errors. However, the proposed FOPID controller took a longer time to balance the generated power and load demand when compared to other designed method for power system without physical constraints]]>
<![CDATA[Optimized Neural Networks-PID Controller with Wind Rejection Strategy for a Quad-Rotor ]]>
<![CDATA[Chiraz Ben Jabeur]]>;
<![CDATA[Hassene Seddik]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 3, No 1 (2022): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v3i1.11660
<![CDATA[In this paper a full approach of modeling and intelligent control of a four rotor unmanned air vehicle (UAV) known as quad-rotor aircraft is presented. In fact, a PID on-line optimized Neural Networks Approach (PID-NN) is developed to be applied to angular trajectories control of a quad-rotor. Whereas, PID classical controllers are dedicated for the positions, altitude and speed control. The goal of this work is to concept a smart Self-Tuning PID controller, for attitude angles control, based on neural networks able to supervise the quad-rotor for an optimized behavior while tracking a desired trajectory. Many challenges could arise if the quad-rotor is navigating in hostile environments presenting irregular disturbances in the form of wind modeled and applied to the overall system. The quad-rotor has to quickly perform tasks while ensuring stability and accuracy and must behave rapidly with regards to decision making facing disturbances. This technique offers some advantages over conventional control methods such as PID controller. Simulation results are founded on a comparative study between PID and PID-NN controllers based on wind disturbances. These later are applied with several degrees of strength to test the quad-rotor behavior and stability. These simulation results are satisfactory and have demonstrated the effectiveness of the proposed PD-NN approach. In fact, the proposed controller has relatively smaller errors than the PD controller and has a better capability to reject disturbances. In addition, it has proven to be highly robust and efficient face to turbulences in the form of wind disturbances.]]>
<![CDATA[Magnetic Stirrer with Speed Advisor and Timer Based on Microcontroller ]]>
<![CDATA[I Made Aditya Nugraha]]>;
<![CDATA[I Made Agus Mahardiananta]]>;
<![CDATA[Putu Agus Mahadi Putra]]>;
<![CDATA[I Gede Sura Adnyana]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 3, No 1 (2022): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v3i1.11279
<![CDATA[A magnetic stirrer is a laboratory tool that is used to stir or mix a solution with another solution so that the solution is heterogeneous. Technology and science have now progressed, so in this study, a microcontroller-based magnetic stirrer was designed. This tool is designed with digital speed and time settings, with digital technology, it is hoped that the data reading error of the speed and time of mixing samples can be minimized, efficient in time, relatively easier to use, and produces a homogeneous solution. Based on the results of the analysis that has been carried out by a microcontroller-based magnetic stirrer in a solution with low viscosity from mixing water and syrup, it requires mixing time for 1 minute with low, medium, and high speeds. For a solution with a higher viscosity using water and special grade syrup, it takes 5 minutes at medium and high speeds. To mix water with salt and water with sugar takes 10 minutes at high speed.]]>
<![CDATA[A New Robotic Application for COVID-19 Specimen Collection Process ]]>
<![CDATA[Cengiz Deniz]]>;
<![CDATA[Gürsel Gökmen]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 3, No 1 (2022): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v3i1.11659
<![CDATA[Covid-19 manual specimen collection process is too critical for health care workers due to they are able to getting infection from Covid-19-patient during the medical interaction. The purpose of this study, a novel robotic application is developed to achieve automatic specimen collection process for new corona virus (COVID-19). This application is a protection tool for health care workers for the Covid-19 pandemic. This robotic application easily and safely complete the sampling process task and assist to health care workers to prevent infection. The application is basically consist of a collaborative robot (COBOT), base plate, fixtures and a gripper. There are co-operation activities between the COBOT and health care worker to complete all tasks. The robotic application has been tested in the plant health care center as a prototype. The cycle-time (192 sec) for the robotic process needs to be improved. The Manual process is still %60 faster than robotic application. The biggest challenge in this application is patient’s mouth and nose physical size changes. Robot movements for the specimen collection in nose and mouth are arranged just based on the fixed point. This needs to be improved according to size changes. Covid-19 specimen collection process with a robotic application has been presented which don’t need any health care worker interaction with patient. This application needs to be improved related with above challenges to make a shelf product. It will create valuable impact and save lives in this pandemic.]]>
<![CDATA[Control and Monitoring Automatic Floodgate based on NodeMCU and IOT with Fuzzy Logic Testing ]]>
<![CDATA[Satriya Ramahdika Utama]]>;
<![CDATA[Ahmad Firdausi]]>;
<![CDATA[Galang Persada Hakim]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 3, No 1 (2022): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v3i1.11199
<![CDATA[Flood is still a problem that always been a mayor obstacle in several big cities in Indonesia such as DKI Jakarta. If the rainfall so high and river can be accommodate the rainfall, there will be flooding. So that river water doesn’t overflow, it is necessary to make a floodgate in the river flow. One of the previous studies that has been carried out regarding the control and monitoring of water dam gates is researched by Fahruddin. 2014 from the Faculty of Science and Technology, Makassar State Islamic University: Describes the design of a device capable of monitoring the height of water activity in the reservoir and controlling the floodgates automatically according to the height of water activity. The research that the writer is currently carrying out is the design method which consists of a series of sensors, NodeMCU microcontrollers, and Stepper Motors. The workflow of this system is when the water rises or falls, it send a signal to the sensor. And then the signal will be input for the microcontroller which is then processed to turn on the motor, so that it can open or close the floodgates, and send information to the indicator screen and Telegram application. After the experiment is carried out, it can be said that the system can work properly, namely when the ultrasonic sensor experiment, it was found that the sensor has been sent an output signal that was in accordance with the water level in actual condition. Based on testing using the fuzzy method, it was found that opening value at the floodgate obtained during the test had an average accuracy rate of 91% with an error difference of 9%.]]>
<![CDATA[Vehicle Parking Security System with Face Recognition Detection Based on Eigenface Algorithm ]]>
<![CDATA[Nia Maharani Raharja]]>;
<![CDATA[Muhammad Arief Fathansyah]]>;
<![CDATA[Anna Nur Nazilah Chamim]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 3, No 1 (2022): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v3i1.12681
<![CDATA[RFID (Radio Frequency Identification) card technology is used for intelligent parking systems. Officers no longer need to record and check manually and repeatedly every vehicle that comes in and out with this system. The system has a weakness, namely if the RFId card is dropped or lost, the person who finds it can use the card. For the purpose of increasing security for users, one of the latest technologies is the use of facial recognition methods. The eigenface algorithm system is an algorithm used for face recognition. The algorithm is used as a training process for the previously inputted employee faces. The results of the training data are stored in a database which is then used as a key to recognize the face of the owner of the motorized vehicle who took the motorcycle. In the trial results of the data application, motorized vehicle owners enter when the facial recognition level is above 70%.]]>
<![CDATA[A Simulation-Based Study of Maze-Solving-Robot Navigation for Educational Purposes ]]>
<![CDATA[Ismu Rijal Fahmi]]>;
<![CDATA[Dwi Joko Suroso]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 3, No 1 (2022): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v3i1.12241
<![CDATA[The point of education in the early stage of studying robotics is understanding its basic principles joyfully. Therefore, this paper creates a simulation program of indoor navigations using an open-source code in Python to make navigation and control algorithms easier and more attractive to understand and develop. We propose the maze-solving-robot simulation as a teaching medium in class to help students imagine and connect the robot theory to its actual movement. The simulation code is built for free to learn, improve, and extend in robotics courses or assignments. A maze-solving robot study case is then done as an example of implementing navigation algorithms. Five algorithms are compared, such as Random Mouse, Wall Follower, Pledge, Tremaux, and Dead-End Filling. Each algorithm is simulated a hundred times in every type of the proposed mazes, namely mazes with dead ends, loops only, and both dead ends and loops. The observed indicators of the algorithms are the success rate of the robots reaching the finish lines and the number of steps taken. The simulation results show that each algorithm has different characteristics that should be considered before being chosen. The recommendation of when-to-use the algorithms is discussed in this paper as an example of the output simulation analysis for studying robotics.]]>
<![CDATA[Induction Motor DTC Performance Improvement by Reducing Flux and Torque Ripples in Low Speed ]]>
<![CDATA[Yassine Zahraoui]]>;
<![CDATA[Mohamed Akherraz]]>;
<![CDATA[Chaymae Fahassa]]>;
<![CDATA[Sara Elbadaoui]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 3, No 1 (2022): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v3i1.12550
<![CDATA[Since induction motors were invented, human civilization has changed forever. Due to their beneficial characteristics, induction motors are widely used and have become the most prevalent electrical counterparts. Many control strategies for induction motors have been developed, varying from scalar to vector control. In the class of vector control, the Direct Torque Control (DTC) was proposed as an alternative that ensures separated flux and torque control while remaining completely in a stationary reference frame. It offers direct inverter switching, reasonable simplicity than other vector control techniques, and less sensitivity to parameter variation. However, the use of hysteresis controllers in conventional DTC involves non-desired ripples in the system's flux and torque, which leads to bad system performances, primarily in low-speed operations. This paper aims to minimize the chattering and ensure the augmented system's performance in terms of robustness and stability. The proposed method is an improved version of DTC, which combines the addition of the Space Vector Machine (SVM) algorithm to the DTC and the increased number of DTC sectors that generate reference control voltages. Satisfactory results have been obtained by numerical simulation in MATLAB/Simulink. Eventually, the proposed method is proven to be a fast dynamic decoupled control that robustly responds to external disturbance and system uncertainties, especially in the low-speed range.]]>
