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[Novel PID Controller on Battery Energy Storage Systems for Frequency Dynamics Enhancement ]]>
<![CDATA[Abdillah, Muhammad]]>;
<![CDATA[Jayadiharja, Tirta]]>;
<![CDATA[Arjadi, R Harry]]>;
<![CDATA[Setiadi, Herlambang]]>;
<![CDATA[Zamora, Ramon]]>;
<![CDATA[Afif, Yusrizal]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 4, No 3 (2023) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v4i3.17212
<![CDATA[Frequency dynamics is one of the important aspects of power system stability. From the frequency dynamics, the operator could plan how is the reliability of the electricity. The frequency can be maintained by controlling the balance between load demand and generation. To maintain the balance of the generation, the governor is playing an important role to increase the speed of the turbine and enhance the generating capacity of the generator (ramp-up). However, as the speed of the governor is slower than the increasing load demand, in the sub-transient area, the frequency may experience higher overshoot. Hence, it is important to add additional devices such as battery energy storage systems to enhance the frequency dynamics response in the sub-transient area. One of the important parts of storage is the controller. The controller must make sure the storage charges and discharge energy are in the sub-transient area. Hence PID controller can be the solution to make the storage operate optimally This paper proposed a novel PID controller on battery energy storage systems (BESS) to enhance the dynamics performance of frequencies. The five-area power system is used as the test system to investigate the efficacy of the proposed novel idea. Time domain simulation is investigated to see the improvement of the frequency dynamics response. From the simulation results, it is found that adding a PID controller on BESS could enhance the BESS response and result in frequency dynamics response improvement.]]>
<![CDATA[The Efficiency of an Optimized PID Controller Based on Ant Colony Algorithm (ACO-PID) for the Position Control of a Multi-articulated System ]]>
<![CDATA[Fatima Zahra Baghli]]>;
<![CDATA[Yassine Lakhal]]>;
<![CDATA[Youssef Ait El Kadi]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 4, No 3 (2023) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v4i3.17709
<![CDATA[In this article, a robot manipulator is controlled by the PID controller in a closed loop system with unit feedback. The difficulty of using the controller is parameter tuning, because the tuning parameters still use the trial and error method to find the PID parameter constants, namely Proportional Gain (Kp), Integral Gain (Ki) and Derivative Gain (Kd). In this case the Ant colony Optimization algorithm (ACO) is used to find the best gain parameters of the PID. The Ant algorithm is a method of combinatorial optimization, which utilizes the pattern of ants search for the shortest path from the nest to the place where the food is located, this concept is applied to tuning PID parameters by minimizing the objective function such that the robot manipulator has improved performance characteristics. This work uses the Matlab Simulink environment, First, after obtaining the system model, the ant colony algorithm is used to determine the proper coefficients ????p, ????i, and Kd in order to minimize the trajectory errors of the two joints of the robot manipulator. Then, the parameters will implement in the robot system. According to the results of the computer simulations, the proposed method (ACO-PID) gives a system that has a good performance compared with the classical PID.]]>
<![CDATA[Vision-Based Soft Mobile Robot Inspired by Silkworm Body and Movement Behavior ]]>
<![CDATA[Abed, Ali A.]]>;
<![CDATA[Al-Ibadi, Alaa]]>;
<![CDATA[Abed, Issa A.]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 4, No 3 (2023) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v4i3.16622
<![CDATA[Designing an inexpensive, low-noise, safe for individual, mobile robot with an efficient vision system represents a challenge. This paper proposes a soft mobile robot inspired by the silkworm body structure and moving behavior. Two identical pneumatic artificial muscles (PAM) have been used to design the body of the robot by sewing the PAMs longitudinally. The proposed robot moves forward, left, and right in steps depending on the relative contraction ratio of the actuators. The connection between the two artificial muscles gives the steering performance at different air pressures of each PAM. A camera (eye) integrated into the proposed soft robot helps it to control its motion and direction. The silkworm soft robot detects a specific object and tracks it continuously. The proposed vision system is used to help with automatic tracking based on deep learning platforms with real-time live IR camera. The object detection platform, named, YOLOv3 is used effectively to solve the challenge of detecting high-speed tiny objects like Tennis balls. The model is trained with a dataset consisting of images of Tennis balls. The work is simulated with Google Colab and then tested in real-time on an embedded device mated with a fast GPU called Jetson Nano development kit. The presented object follower robot is cheap, fast-tracking, and friendly to the environment. The system reaches a 99% accuracy rate during training and testing. Validation results are obtained and recorded to prove the effectiveness of this novel silkworm soft robot. The research contribution is designing and implementing a soft mobile robot with an effective vision system.]]>
<![CDATA[Design of an Optimal Fractional Complex Order PID Controller for Buck Converter ]]>
<![CDATA[Warrier, Preeti]]>;
<![CDATA[Shah, Pritesh]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 4, No 3 (2023) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v4i3.17446
<![CDATA[Dynamic and robust controllers are the inherent requirement of power electronic converters, which are subjected to dynamic variations and nonlinearities. The effectiveness of fractional order controllers in non-linear system control has been well-established by studies in the past few decades. Various forms of fractional order controllers have been used in power-electronic control. Recent research indicates that complex order controllers, extensions of fractional controllers, are more robust against uncertainties and non-linearities than their integer and fractional order counterparts. Though complex order controllers have been employed in various nonlinear plants, they have not been extensively tested on power electronic applications. Also, the design and tuning of the controller is difficult. This paper investigates the effectiveness of a complex order PID controller on a typical power electronic DC-DC buck converter for the first time. Two types of complex order controllers of the form PI^{a+ib}D^c and PI^{a+ib}D^{c+id} were designed for a power electronic buck converter. The complex order controllers were implemented in Simulink and the optimal tuning of the complex order controller parameters for various performance indices was performed using different optimization algorithms. The Cohort Intelligence algorithm was found to give the most optimal results. Both the complex controllers showed more robustness towards uncertainties than the linear and fractional PID controllers. The PI^{a+ib}D^c controller gave the smoothest and fastest response under non-linearities. The dynamic performance of the complex order controller is the best and can be expected to be useful for more power electronic applications.]]>
<![CDATA[Temperature and Humidity Control System with Air Conditioner Based on Fuzzy Logic and Internet of Things ]]>
<![CDATA[Furizal, Furizal]]>;
<![CDATA[Sunardi, Sunardi]]>;
<![CDATA[Yudhana, Anton]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 4, No 3 (2023) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v4i3.18327
<![CDATA[Work is an activity that takes most of the day to earn a living and improve the standard of living. During work, many people have to work indoors, which can be a less comfortable and unhealthy place if the temperature and humidity are not well controlled. Unsuitable temperature and humidity conditions can negatively affect the health and comfort of workers, as well as interfere with productivity and work quality. However, the problem that often arises is the difficulty of controlling room temperature and humidity effectively, especially in rooms that are closed and do not get air circulation from outside. Therefore, an effective solution is needed to control the temperature and humidity of the room automatically and remotely via the internet. The contribution of this research is to develop an effective and efficient AC control system in controlling room temperature and humidity using Tsukamoto's Fuzzy Inference System (FIS) method and the Internet of Things (IoT). Tsukamoto's FIS is used to produce AC temperature values in room temperature and humidity control as measured by the DHT22 sensor directly integrated with the ESP32 microcontroller. This control system is monitored remotely using IoT concepts through a mobile application interface. The results of this study show that room temperature can be controlled under normal conditions, with an average change of -1.67°C and an overall average temperature of 25.95°C. While the average humidity is at a value of 80.16% which is included in the Wet set. This suggests that humidity cannot be controlled under normal conditions, so it still requires further development. In addition, it is also necessary to further investigate the effectiveness of the tool in various sizes and more complex layouts of rooms.]]>
<![CDATA[Evaluation of Single and Dual image Object Detection through Image Segmentation Using ResNet18 in Robotic Vision Applications ]]>
<![CDATA[Chotikunnan, Phichitphon]]>;
<![CDATA[Puttasakul, Tasawan]]>;
<![CDATA[Chotikunnan, Rawiphon]]>;
<![CDATA[Panomruttanarug, Benjamas]]>;
<![CDATA[Sangworasil, Manas]]>;
<![CDATA[Srisiriwat, Anuchart]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 4, No 3 (2023) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v4i3.17932
<![CDATA[This study presents a method for enhancing the accuracy of object detection in industrial automation applications using ResNet18-based image segmentation. The objective is to extract object images from the background image accurately and efficiently. The study includes three experiments, RGB to grayscale conversion, single image processing, and dual image processing. The results of the experiments show that dual image processing is superior to both RGB to grayscale conversion and single image processing techniques in accurately identifying object edges, determining CG values, and cutting background images and gripper heads. The program achieved a 100% success rate for objects located in the workpiece tray, while also identifying the color and shape of the object using ResNet-18. However, single image processing may have advantages in certain scenarios with sufficient image information and favorable lighting conditions. Both methods have limitations, and future research could focus on further improvements and optimization of these methods, including separating objects into boxes of each type and converting image coordinate data into robot working area coordinates. Overall, this study provides valuable insights into the strengths and limitations of different object recognition techniques for industrial automation applications.]]>
<![CDATA[Design and Implementation of No Load, Constant and Variable Load for DC Servo Motor ]]>
<![CDATA[Shneen, Salam Waley]]>;
<![CDATA[Dakheel, Hashmia S]]>;
<![CDATA[Abdullah, Zainab B]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 4, No 3 (2023) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v4i3.17387
<![CDATA[Simulations were conducted to improve and design an appropriate control system and obtain a model with the required development to suit the operation of the engine with constant and variable loads, which are the proposed working conditions that are suitable for many applications. The current simulation aims to build and design a model for an electric motor (DC Servo motor) and a model for a conventional controller (PID). The proposed model addresses the cases of fixed and variable loads in terms of using the controller that improves the performance of the motor’s work for different conditions. Three cases were developed to conduct the proposed tests, which included the case of no-load, fixed and variable load. Tests were conducted. Without the console and for the purpose of comparison and observation of improvement, the test was conducted with the addition of the console. The results showed system performance may improve depending on usage using traditional control systems. Performance measurement criteria are adopted for the purpose of comparison and observation of performance improvement. The criteria that are adopted are rise time and stability (steady state) in addition to the ratio of the rate of under and over-shoot. Where it can be deduced from this the possibility of using different control systems, including traditional ones, to improve performance, and they include controlling the speed of the motors, as well as controlling the effort, and the consequent effects on the subject of the study, as it deals with transient cases and changing operating conditions with more than acceptable efficiency and relatively high quality. There are four state simulation include, 1st at no load without controller: rise time equal 309.886ms , overshoot equal 44.203% and undershoot equal 9.597%.2nd at load without controller: rise time equal 216.319ms , overshoot equal 58.654% and undershoot equal 0.210%.3rd at no load with PID controller: rise time equal 1.177s , overshoot equal 0.505% and undershoot equal 1.914%.4th at load with PID controller: rise time equal 1.112s , overshoot equal 0.509% and undershoot equal 5.856%.]]>
<![CDATA[Smart Farming Using Robots in IoT to Increase Agriculture Yields: A Systematic Literature Review ]]>
<![CDATA[Widianto, Mochammad Haldi]]>;
<![CDATA[Juarto, Budi]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 4, No 3 (2023) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v4i3.18368
<![CDATA[Robots are beneficial in everyday life, especially in helping food security in the agricultural industry. Smart farming alone is not enough because smart farming is only automated without mobile hardware. The existence of robots can minimize human involvement in agriculture so that humans can maximize activities outside of farms. This Study aims to review articles regarding robots in smart farming to increase agriclture yields. This article systematically uses the systematic literature review method utilizing the Preferred reporting items for systematic review and meta-analyses (PRISMA) by submitting 3 Research Questions (RQ). According to the authors of the 3 RQs, it is necessary to represent the function and purpose of robots in farms and to be used in the context of the importance of robots in agriculture because of the potential impact of increase agriculture yields. This Research contributes to finding and answering 3 RQ, which are the roots of the use of robots. The results taken, the authors get 116 articles that can be reviewed and answered RQ and achieve goals. RQ 1 was responded to with the article's country of origin, research criteria, and the year of the article. In RQ 2 the author answered that Research often carried out 6 schemes, then the most Research was (Challenge Robots, Ethics, and Opinions in Agriculture) and (Design, Planning, and Robotic Systems in Agriculture). Finally, in RQ 3, the author describes the research scheme based on understanding related Research. The author hopes this basic scheme can be a benchmark or a new direction for future researchers and related agricultural industries to improve agricultural quality.]]>
<![CDATA[Implementation of Automatic DC Motor Braking PID Control System on (Disc Brakes) ]]>
<![CDATA[Budiarto, Hairil]]>;
<![CDATA[Triwidyaningrum, Vivi]]>;
<![CDATA[Umam, Faikul]]>;
<![CDATA[Dafid, Ach]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 4, No 3 (2023) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v4i3.18505
<![CDATA[The vital role of an automated braking system in ensuring the safety of motorized vehicles and their passengers cannot be overstated. It simplifies the braking process during driving, enhancing control and reducing the chances of accidents. This study is centered on the design of an automatic braking device for DC motors utilizing disc brakes. The instrument employed in this study was designed to accelerate the vehicle in two primary scenarios - before the collision with an obstacle and upon crossing the safety threshold. It achieves this by implementing the Proportional Integral Derivative (PID) control method. A significant part of this system comprises ultrasonic sensors, used for detecting the distance to obstructions, and rotary encoder sensors, which are utilized to measure the motor's rotational speed. These distance and speed readings serve as essential reference points for the braking process. The system is engineered to initiate braking when the distance value equals or falls below 60cm or when the speed surpasses 8000rpm. During such events, the disc brake is activated to reduce the motor's rotary motion. The suppression of the disc brake lever is executed pneumatically, informed by the sensor readings. Applying the PID method to the automatic braking system improved braking outcomes compared to a system without the PID method. This was proven by more effective braking results when the sensors detected specific distance and speed values. Numerous PID tuning tests achieved optimal results with K_p = 5, K_i = 1, and K_d = 3. These values can be integrated into automatic braking systems for improved performance. The PID method yielded more responsive braking outcomes when applied in distance testing. On the contrary, the braking results were largely unchanged in the absence of PID. Regarding speed testing, the PID method significantly improved the slowing down of the motor speed when it exceeded the maximum speed limit of 8000 rpm. This eliminates the possibility of sudden braking, thus maintaining the system within a safe threshold. The average time taken by the system to apply braking was 01.09 seconds, an indication of its quick responsiveness. This research is a valuable addition to control science, applying the PID control method to automatic DC motor braking. It provides valuable insights and concrete applications of PID control to complex mechatronic systems. It is also noteworthy for its development and optimization of suitable PID parameters to achieve responsive and stable braking. The study, therefore, offers a profound understanding of how PID control can be employed to manage braking systems on automatic DC motors, thereby advancing knowledge and application of control in control science and mechatronics.]]>
<![CDATA[A Robust Fuzzy Fractional Order PID Design Based On Multi-Objective Optimization For Rehabilitation Device Control ]]>
<![CDATA[Zaway, Intissar]]>;
<![CDATA[Jallouli-Khlif, Rim]]>;
<![CDATA[Maalej, Boutheina]]>;
<![CDATA[Derbel, Nabil]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 4, No 3 (2023) ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v4i3.18411
<![CDATA[In this context, Fuzzy Fractional Order Proportional Integral Derivative (FOPID-FLC) controllers are emerged as efficient approaches due to their flexibility and ability to handle nonlinearities and uncertainties. This paper proposes the use of a FOPID-FLC controller for a two-degree-of-freedom (2-DOF) lower limb exoskeleton. Our proposal is based on an enhanced control approach that combines fuzzy logic advantages and fractional calculus benefits. Contrary to popular existing methods, that use the FLC to tune the FOPID parameters, the FLC in this work is used to generate the system torque depending on patient morphology. Indeed, our fundamental contribution is to design and implement an enhanced FOPID-FLC that achieves an adequate optimal control based on system rules composed of optimal torques and input data. The fractional calculus is approximated using successive first order filters. Next, a multi-objective optimization is established for the tuning of each FOPID parameters. Finally, the FLC is used to adjust the torque depending on the kid's age. The effectiveness of the proposed controller in various scenarios is validated based on numerical simulations. Extensive analyses prove that the FOPID-FLC outperforms the FOPID with a 90\% of improvement in terms of error performance indices and 20\% of improvement for the control action. Moreover, the controller exhibits improved robustness against uncertainties and disturbances encountered in rehabilitation environments.]]>
