cover
Article Per Year (5 Year)
All
Home Page
OAI Link
Editorial Team
Contact
Reviewer
Google Scholar
Contact Name
Iswanto
Contact Email
-
Phone
+628995023004
Journal Mail Official
jrc@umy.ac.id
Editorial Address
Kantor LP3M Gedung D Kampus Terpadu UMY Jl. Brawijaya, Kasihan, Bantul, Yogyakarta 55183
Location
Kab. bantul,
Daerah istimewa yogyakarta
INDONESIA
Journal of Robotics and Control (JRC)
Published by Universitas Muhammadiyah Yogyakarta
ISSN : 27155056     EISSN : 27155072     DOI : https://doi.org/10.18196/jrc
Core Subject : Science, Engineering,
Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering
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.
Arjuna Subject : Teknik (semua kategori) - Teknik Kontrol dan Sistem
Articles 13 Documents
 1   2 
Search results for , issue "Vol 4, No 6 (2023)" : 13 Documents clear
Design and Development of swarm AGV’s alliance for Search and Rescue operations Pyla, Ratan; Pandalaneni, Vikranth; Raju, P Jeevan Narayana; G, Guga Priya
Journal of Robotics and Control (JRC) Vol 4, No 6 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i6.18392

Abstract

Rapid response is essential for saving lives in search and rescue operations since the amount of time is critical. In this project, a swarm of autonomous ground vehicles (AGVs) equipped with ROS-based software architecture will be designed and built for rapid search and rescue missions. The swarm of AGVs will function autonomously to navigate through challenging areas and be outfitted with a variety of sensors, including cameras, and LIDAR. The proposed system will be capable of performing 2D mapping, live video surveillance, autonomous navigation, victim/object detection, and two-way audio communication. The goal of the project is to reduce the risk to human life in dangerous areas by providing a quick and efficient response system for search and rescue operations. A centralized management system with a de-centralized module will be created as part of the project to keep an eye on and manage the AGV horde. However, there will be a functionality to take control of a specific robot in the swarm network when needed. In difficult areas where it might not be safe for humans to operate, the suggested method will enable quick and efficient search and rescue operations.
A New Method for Improving the Fairness of Multi-Robot Task Allocation by Balancing the Distribution of Tasks Msala, Youssef; Hamed, Oussama; Talea, Mohamed; Aboulfatah, Mohamed
Journal of Robotics and Control (JRC) Vol 4, No 6 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i6.18650

Abstract

This paper presents an innovative task allocation method for multi-robot systems that aims to optimize task distribution while taking into account various performance metrics such as efficiency, speed, and cost. Contrary to conventional approaches, the proposed method takes a comprehensive approach to initialization by integrating the K-means clustering algorithm, the Hungarian method for solving the assignment problem, and a genetic algorithm specifically adapted for Open Loop Travel Sales Man Problem (OLTSP). This synergistic combination allows for a more robust initialization, effectively grouping similar tasks and robots, and laying a strong foundation for the subsequent optimization process. The suggested method is flexible enough to handle a variety of situations, including Multi-Robot System (MRS) with robots that have unique capabilities and tasks of varying difficulty. The method provides a more adaptable and flexible solution than traditional algorithms, which might not be able to adequately address these variations because of the heterogeneity of the robots and the complexity of the tasks. Additionally, ensuring optimal task allocation is a key component of the suggested method. The method efficiently determines the best task assignments for robots through the use of a systematic optimization approach, thereby reducing the overall cost and time needed to complete all tasks. This contrasts with some existing methods that might not ensure optimality or might have limitations in their ability to handle a variety of scenarios. Extensive simulation experiments and numerical evaluations are carried out to validate the method's efficiency. The extensive validation process verifies the suggested approach's dependability and efficiency, giving confidence in its practical applicability.
A Passivity-based Control Combined with Sliding Mode Control for a DC-DC Boost Power Converter Huynh, Minh Ngoc; Duong, Hoai Nghia; Nguyen, Vinh Hao
Journal of Robotics and Control (JRC) Vol 4, No 6 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i6.20071

Abstract

In this paper, a passivity-based control combined with sliding mode control for a DC-DC boost power converter is proposed. Moreover, a passivity-based control for a DC-DC boost power converter is also proposed. Using a co-ordinate transformation of state variables and control input, a DC-DC boost power converter is passive. A new plant is zero-state observable and the equilibrium point at origin of this plant is asymptotically stable. Then, a passivity-based control is applied to this plant such that the capacitor voltage is equal to the desired voltage. Additionally, the sliding mode control law is chosen such that the derivative of Lyapunov function is negative semidefinite. Finally, a passivity-based control combined with sliding mode control law is applied to this plant such that the capacitor voltage is equal to the desired voltage. The simulation results of the passivity-based control, the sliding mode control and the passivity-based control combined with sliding mode control demonstrate the effectiveness and show that the capacitor voltage is kept at the desired voltage when the desired voltage, the input voltage E and the load resistor R are changed. The results show that compared with the passivity-based control, the passivity-based control combined with sliding mode control has better performance such as shorter settling time, 8.5 ms when R changes and it has smaller steady-state error, which is indicated by the value of integral absolute error (IAE), 0.0679 when the desired voltage changes. The paper has limitations such as the assumed circuit parameters.
Design of an Integral Fuzzy Logic Controller for a Variable-Speed Wind Turbine Model Almaged, Mohammed; Mahmood, Ali; Alnema, Yazen Hudhaifa Shakir
Journal of Robotics and Control (JRC) Vol 4, No 6 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i6.20194

Abstract

The demand for electricity is continuously growing around the world and thus the need for renewable and long-lasting sources of energy has become an essential challenge. Wind turbines are considered one of the major sources of renewable electricity generation. Therefore, there is a crucial demand for wind turbine model and control systems that are capable of precisely simulating the actual wind power systems. In this paper, an advanced fuzzy logic controller is proposed to control the speed of a wind turbine system. Initially, aero dynamical, mechanical and electrical models of two mass wind turbines models are derived. Analytical calculation of the power coefficient is adopted through a nonlinear function of six coefficients that mainly depends on pitch angle and tip speed ratio. The ultimate power output from the turbine can reach up to 50 % which is achieved at zero pitch angle with an approximately tip speed ratio of eight. This is then followed by designing a hybrid fuzzy-plus I pitch controller to regulate the speed of the wind turbine shaft. In general, fuzzy logic control strategy have the advantages over traditional control techniques especially when the system is highly non-linear and has to deal with strong disturbances such as wind turbulence. To evaluate the reliability and robustness of the controller, the response of the wind turbine system is tested under several types of disturbances including wind fluctuation, sudden disturbances on high and low speed shafts. Simulation findings reveals that the performance of fuzzy-integral control technique outweighs that of conventional fuzzy approach in terms of multiple performance evaluation indexes such as zero overshoot and steady state error, rise time and a settling time of (32.9 s) (44.7 s) respectively. The reliability and robustness of the controller is tested by applying speed and torque disturbances of 25% of their maximum ranges. Results have revealed that the controller was able to reject all disturbances efficiently with a change in pitch angle up to a maximum of 10 degrees in order to retain a constant rotor speed at 1000 rpm.
Safe Experimentation Dynamics Algorithm for Identification of Cupping Suction Based on the Nonlinear Hammerstein Model Suresh, Kavindran; Ghazali, Mohd Riduwan; Ahmad, Mohd Ashraf
Journal of Robotics and Control (JRC) Vol 4, No 6 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i6.18909

Abstract

The use of cupping therapy for various health benefits has increased in popularity recently. Potential advantages of cupping therapy include pain reduction, increased circulation, relaxation, and skin health. The increased blood flow makes it easier to supply nutrients and oxygen to the tissues, promoting healing. Nevertheless, the effectiveness of this technique greatly depends on the negative pressure's ability to create the desired suction effect on the skin. This research paper suggests a method to detect the cupping suction model by employing the Hammerstein model and utilizing the Safe Experimentation Dynamics (SED) algorithm. The problem is that the cupping suction system experiences pressure leaks and is difficult to control. Although, stabilizing the suction pressure and developing an effective controller requires an accurate model. The research contribution lies in utilizing the SED algorithm to tune the parameters of the Hammerstein model specifically for the cupping suction system and figure out the real system with a continuous-time transfer function. The experimental data collected for cupping therapy exhibited nonlinearity attributed to the complex dynamics of the system, presenting challenges in developing a Hammerstein model. This work used a nonlinear model to study the cupping suction system. Input and output data were collected from the differential pressure sensor for 20 minutes, sampling every 0.1 seconds. The single-agent method SED has limited exploration capabilities for finding optimum value but excels in exploitation. To address this limitation, incorporating initial values leads to improved performance and a better match with the real experimental observations. Experimentation was conducted to find the best model parameters for the desired suction pressure. The therapy can be administered with greater precision and efficacy by accurately identifying the suction pressure. Overall, this research represents a promising development in cupping therapy. In particular, it has been demonstrated that the proposed nonlinear Hammerstein models improve accuracy by 84.34% through the tuning SED algorithm.
Integrated Room Monitoring and Air Conditioning Efficiency Optimization Using ESP-12E Based Sensors and PID Control Automation: A Comprehensive Approach
Journal of Robotics and Control (JRC) Vol 4, No 6 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i6.18868

Abstract

This study addresses the critical need for efficient room monitoring and air conditioning systems, particularly in educational settings like the STMIK STIKOM Indonesia campus. The paper introduces a novel approach that combines ESP-12E based sensors with Proportional-Integral-Derivative (PID) control automation to optimize air conditioning efficiency. Utilizing an ESP-12E microcontroller, the study designed and implemented a room monitoring tool equipped with DHT22 and BH1750 sensors for accurate measurement of temperature, humidity, and light intensity. We also explores the integration of a PID control system into an existing air conditioning (AC) unit. The PID controller was fine-tuned to maintain a stable indoor temperature of 25oCelsius, even when subjected to external heat loads, such as ten LED lamps. The effectiveness of this system was quantified through real-time monitoring of temperature, humidity, and energy consumption, both pre- and post-implementation. Results indicated a rapid and stable response from the PID controller, achieving an amplitude of 1 within 0.08 seconds, thereby confirming its successful tuning and adaptability. We found that this study has broader implications for enhancing energy efficiency and creating conducive learning environments. However, it is worth noting that the research was conducted under specific conditions, and further studies could explore its applicability in different settings.
Handling Four DOF Robot to Move Objects Based on Color and Weight using Fuzzy Logic Control Nugroho, Emmanuel Agung; Setiawan, Joga Dharma; Munadi, M.
Journal of Robotics and Control (JRC) Vol 4, No 6 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i6.20087

Abstract

Manipulators are increasingly used in industry to improve efficiency in jobs that require precision, long duration, and repetitive work. This research was conducted on a laboratory scale to control manipulators on a pick-and-place system in the product storage and packing area. The object of this research is a four-degree-of-freedom (4-DOF) manipulator controlled using a fuzzy logic system. The hardware used is a conveyor machine to model the product delivery process, Dobot Magician as a 4-DOF manipulator, HX711 load cell serves as a weight sensor, TCS-3200 serves as a color sensor, and Arduino Mega 2560 as a controller. The software used is Dobot Studio as the main program to control the movement of the robot and Matlab to develop the Fuzzy Logic Control (FLC) function, which is embedded in the Arduino. Fuzzy logic control processes weight variables and color variables read by sensors as information data to control the movement of the manipulator. The results showed that the manipulator was able to pick up and place objects according to the path-planning coordinates. The testing data states that the precision and accuracy of the average coordinates of product pick and place against the path planning has an error deviation of 1.8%.
Optimizing Predictive Performance: Hyperparameter Tuning in Stacked Multi-Kernel Support Vector Machine Random Forest Models for Diabetes Identification Saputra, Dimas Chaerul Ekty; Ma'arif, Alfian; Sunat, Khamron
Journal of Robotics and Control (JRC) Vol 4, No 6 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i6.20898

Abstract

This study addresses the necessity for more advanced diagnostic tools in managing diabetes, a chronic metabolic disorder that leads to disruptions in glucose, lipid, and protein metabolism caused by insufficient insulin activity. The research investigates the innovative application of machine learning models, specifically Stacked Multi-Kernel Support Vector Machines Random Forest (SMKSVM-RF), to determine their effectiveness in identifying complex patterns in medical data. The innovative ensemble learning method SMKSVM-RF combines the strengths of Support Vector Machines (SVMs) and Random Forests (RFs) to leverage their diversity and complementary features. The SVM component implements multiple kernels to identify unique data patterns, while the RF component consists of an ensemble of decision trees to ensure reliable predictions. Integrating these models into a stacked architecture allows SMKSVM-RF to enhance the overall predictive performance for classification or regression tasks by optimizing their strengths. A significant finding of this study is the introduction of SMKSVM-RF, which displays an impressive 73.37% accuracy rate in the confusion matrix. Additionally, its recall is 71.62%, its precision is 70.13%, and it has a noteworthy F1-Score of 71.34%. This innovative technique shows potential for enhancing current methods and developing into an ideal healthcare system, signifying a noteworthy step forward in diabetes detection. The results emphasize the importance of sophisticated machine learning methods, highlighting how SMKSVM-RF can improve diagnostic precision and aid in the continual advancement of healthcare systems for more effective diabetes management.
Evaluating the Battery Management System's Performance Under Levels of State of Health (SOH) Parameters Amifia, Lora Khaula; Kamali, Muhammad Adib
Journal of Robotics and Control (JRC) Vol 4, No 6 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i6.20401

Abstract

Batteries in electric vehicles are the primary focus battery health care. The Battery Management System (BMS) maintains optimal battery conditions by evaluating the system's Htate of health (SOH). SOH identification can recommend the right time to replace the battery to keep the electric vehicle system working optimally. With suitable title and accuracy, the battery will avoid failure and have a long service life. This research aims to produce estimates and identify SOH parameters so that the performance of the battery management system increases. The central parameter values obtained are R0, Rp, and Cp based on Thevenin battery modeling. Then, to get good initialization and accurate results, the parameter identification is completed using an adaptive algorithm, namely Coulomb Counting and Open Circuit Voltage (OCV). The two algorithms compare the identification results of error, MAE, RSME, and final SOH. The focus of this research is to obtain data on estimation error values along with information regarding reliable BMS performance. The performance of the current estimation algorithm is known by calculating the error, which is presented in the form of root mean square error (RMSE) and mean absolute error (MAE). The SOH estimation results using Coulomb Counting have a better error than OCV, namely 1.770%, with a final SOH value of 17.33%. The Thevenin battery model can model the battery accurately with an error of 0.0451%.
Plant Leaf Disease Detection Using Efficient Image Processing and Machine Learning Algorithms Kiran, S M; Chandrappa, D N
Journal of Robotics and Control (JRC) Vol 4, No 6 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i6.20342

Abstract

India is often described as a country of villages, where a majority of the population depends on agriculture for their livelihood. The landscape of Indian agriculture is approximately 159.7 million hectares. Agriculture plays a pivotal role in India's Gross Domestic Product (GDP), accounting for about 18% of the nation's economic output. Diseases and pests can have detrimental effects on crops, leading to reduced yields. These challenges can include the spread of plant diseases, infestations by insects or other pests, and the overall degradation of crop health. Early detection of diseases in crops is crucial for several reasons. Detecting diseases at an early stage allows for prompt intervention, such as applying appropriate pesticides or taking preventive measures. The main aim of this study is to develop a highly effective method for plant leaf disease detection using computer vision techniques. Here, leaf disease detection comprises histogram equalization, denoising, image color threshold masking, feature descriptors such as Haralick textures, Hu moments, and color histograms to extract the salient features of leaf images. These features are then used to classify the images by training Logistic Regression, Linear Discriminant Analysis, K-nearest neighbor, decision tree, Random Forest, and Support Vector Machine algorithms using K-fold validation. K-fold validation is used to separate the validation samples from the training samples, and the K indicates the number of times this is repeated for the generalization. The training and validation processes are performed in two approaches. The first approach uses default hyperparameters with segmented and non-segmented images. In the second approach, all hyperparameters of the models are optimized to train segmented datasets. The classification accuracy improved by 2.19% by utilizing segmentation and hyperparameter tuning further improved by 0.48%. The highest average classification accuracy of 97.92% is achieved using the Random Forest classifier to classify 40 classes of 10 different plant species. Accurate detection of plant disease leads to the sustained growth of plants throughout the growing span of the plants.

Page 1 of 2 | Total Record : 13

 1   2 

Filter by Year

2023 2023


Reset
Filter By Issues
All Issue Vol. 6 No. 5 (2025) Vol. 6 No. 4 (2025) Vol. 6 No. 2 (2025) Vol. 6 No. 1 (2025) Vol. 5 No. 6 (2024) Vol 5, No 6 (2024) Vol. 5 No. 5 (2024) Vol 5, No 5 (2024) Vol 5, No 4 (2024) Vol 5, No 3 (2024) Vol 5, No 2 (2024) Vol 5, No 1 (2024) Vol 4, No 6 (2023) Vol 4, No 5 (2023) Vol 4, No 4 (2023) Vol 4, No 3 (2023) Vol 4, No 2 (2023) Vol 4, No 1 (2023) Vol 3, No 6 (2022): November Vol 3, No 5 (2022): September Vol 3, No 4 (2022): July Vol 3, No 3 (2022): May Vol 3, No 2 (2022): March Vol 3, No 1 (2022): January Vol 2, No 6 (2021): November Vol 2, No 6 (2021): November (Forthcoming Issue) Vol 2, No 5 (2021): September Vol 2, No 5 (2021): September (Forthcoming Issue) Vol 2, No 4 (2021): July Vol 2, No 4 (2021): July (Forthcoming Issue) Vol 2, No 3 (2021): May (Forthcoming Issue) Vol 2, No 3 (2021): May Vol 2, No 2 (2021): March Vol 2, No 2 (2021): March (Forthcoming Issue) Vol 2, No 1 (2021): January Vol 1, No 6 (2020): November Vol 1, No 5 (2020): September Vol 1, No 4 (2020): July Vol 1, No 3 (2020): May Vol 1, No 2 (2020): March Vol 1, No 1 (2020): January More Issue