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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 23 Documents
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Search results for , issue "Vol 5, No 1 (2024)" : 23 Documents clear
LW-PWECC: Cryptographic Framework of Attack Detection and Secure Data Transmission in IoT Ranjith, J; Mahantesh, K; Abhilash, C N
Journal of Robotics and Control (JRC) Vol 5, No 1 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i1.20514

Abstract

In the present era, the number of Internet of Health Things (IoHT) devices and applications has drastically expanded. Security and attack are major issues in the IoHT domain because of the nature of its architecture and sorts of devices. Over the recent few years, network attacks have dramatically increased. Many detection and encryption techniques are existing however they lack accuracy, training stability, insecurity, delay etc. By the above concerns, this manuscript introduces a novel deep learning technique called Agnostic Spiking Binarized neural network with Improved Billiards optimization for accurate detection of network attacks and Light Weight integrated Puzzle War Elliptic Curve Cryptographic framework for secure data transmission with high security and minimal delay. Optimal features from the datasets are selected by volcano eruption optimization algorithm with better convergence for reducing the overall processing time. Wilcoxon Rank Sum and Mc Neymar’s tests are performed for proving the statistical analyses. The outcomes show that the introduced approach performs with an overall accuracy of 99.93% which is better than the previous techniques demonstrating the effectiveness.
Abnormality Determination of Spermatozoa Motility Using Gaussian Mixture Model and Matching-based Algorithm
Journal of Robotics and Control (JRC) Vol 5, No 1 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i1.20686

Abstract

Sperm analysis is an initial step in the examination conducted to identify infertility cases in humans. One aspect of sperm analysis involves observing the movement of spermatozoa and determining whether it is normal or abnormal. Normal spermatozoa movement is characterized by progressive motion at an average speed of 20 µm/second, while abnormal movement includes slow or non-motile spermatozoa. Traditional methods can be employed to assess the normality or abnormality of sperm movement, but they have drawbacks such as time-consuming procedures and diverse results depending on the expertise of the examiner. On the other hand, utilizing Computer-Assisted Sperm Analysis (CASA) equipment provides consistent results, albeit at a relatively high cost. Therefore, this research proposes an alternative method for determining sperm movement abnormalities using the Gaussian Mixture Model (GMM) for background subtraction and a matching-based algorithm to track and analyze the formed trajectories, distinguishing between normal and abnormal sperm movement. Human spermatozoa in real-time are used, and their movements are recorded in video format using a bright field microscope. The testing results for determining sperm movement abnormalities based on the GMM method and matching-based algorithm were successful, particularly in videos recorded at 50 fps recording speed, 20 minutes of liquefaction time, and 40x microscope lens magnification. This condition exhibited the highest average accuracy, with a tracking accuracy of 77.3% and an average accuracy for determining sperm motility abnormalities of 87.7%. Therefore, the combined tracking of sperm movement based on the GMM method and matching-based algorithm can be utilized to identify abnormalities in the movement of human spermatozoa.
Enhanced Trajectory Tracking of 3D Overhead Crane Using Adaptive Sliding-Mode Control and Particle Swarm Optimization Alyazidi, Nezar M.; Hassanine, Abdalrahman M.; Mahmoud, Magdi S.; Ma'arif, Alfian
Journal of Robotics and Control (JRC) Vol 5, No 1 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i1.18746

Abstract

Cranes hold a prominent position as one of the most extensively employed systems across global industries. Given their critical role in various sectors, a comprehensive examination was necessary to enhance their operational efficiency, performance, and facilitate the control of transporting loads. Furthermore, due to the complexities involved in disassembling and reinstalling cranes, as well as the challenges associated with precisely determining system parameters, it became essential to implement adaptive control methods capable of efficiently managing the system with minimal resource requirements. This work proposes a trajectory tracking control using adaptive sliding-mode control (SMC) with particle swarm optimization (PSO) to control the position and rope length of a 3D overhead crane system with unknown parameters. The PSO is mainly used to identify the model and estimate the uncertain parameters. Then, sliding-mode control is adapted using the PSO algorithm to minimize the tracking error and ensure robustness against model uncertainties. A model of the systems is derived assuming changing rope length. The model is nonlinear of second order with five states, three actuated states: position x and y, and rope length l, and two unactuated states, which are the rope angles θx and θy. The system has uncertain parameters, which are the system’s masses Mx, My and Mz, and viscous damping coefficients Dx, Dy and Dy. A simulation study is established to illustrate the influence and robustness of the developed controller and it can enhance the tracking trajectory under different scenarios to test the scheme.
Leveraging a Two-Level Attention Mechanism for Deep Face Recognition with Siamese One-Shot Learning Albayati, Arkan Mahmood; Chtourou, Wael; Zarai, Faouzi
Journal of Robotics and Control (JRC) Vol 5, No 1 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i1.20135

Abstract

Discriminative feature embedding is used for largescale facial recognition. Many image-based facial recognition networks use CNNs like ResNets and VGG-nets. Humans prioritise different elements, but CNNs treat all facial pictures equally. NLP and computer vision use attention to learn the most important part of an input signal. The inter-channel and inter-spatial attention mechanism is used to assess face image component significance in this study. Channel scalars are calculated using Global Average Pooling in face recognition channel attention. A recent study found that GAP encodes low-frequency channel information first. We compressed channels using discrete cosine transform (DCT) instead of scalar representation to evaluate information at frequencies other than the lowest frequency for the channel attention mechanism. Later layers can acquire the feature map after spatial attention. Channel and spatial attention increase CNN facial recognition feature extraction. Channel-only, spatial-only, parallel, sequential, or channel-after-spatial attention blocks exist. Current face recognition attention approaches may be outperformed on public datasets (Labelled Faces in the Wild).
Path Planning and Trajectory Tracking Control for Two-Wheel Mobile Robot Hassan, Ibrahim A.; Abed, Issa A.; Al-Hussaibi, Walid A.
Journal of Robotics and Control (JRC) Vol 5, No 1 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i1.20489

Abstract

The mobile robot is a system that can work in various environments. This means that the robot must be able to navigate without delay and avoid any obstacles placed within the boundaries of its movement. Designing mobile robots that can be intelligently managed and operate autonomously when traveling from one place to another requires at least two steps. To start with, path planning is required to prevent motion collisions. Tracking the robot's trajectory is a crucial second task. The primary goal of this study is to find the quickest and safest path between the two positions. In this work, we investigated the path planning of a mobile robot with dynamic, and dynamic obstacles with moving goal environments using RRT, BiRRT, and HA* algorithms. These algorithms are easy, computationally inexpensive, and simple to use. They have been chosen for numerous real-time path-planning applications. The DDMR's kinematic model has been utilized in this paper to control path tracking, and a PID controller has been proposed to reduce tracking deviations between the robot's actual route and the reference trajectory. This work introduced the PSO, FPA, CSA, SSA, BWOA, and proposed HBPO optimization techniques for obtaining PID parameters (k_p,k_i,k_d) for improved mobile robot trajectory tracking. The simulation results have been examined using three trajectory shapes: step, circular, and infinite. The simulation findings reveal that HA* outperforms the other algorithms by generating collision-free pathways that are smoother and shorter than their RRT and BiRRT equivalents. On the other hand, the proposed HBPO outperforms the other methods. The HBPO method converges quicker than the other proposed algorithms.
A Multi Representation Deep Learning Approach for Epileptic Seizure Detection Hermawan, Arya Tandy; Zaeni, Ilham Ari Elbaith; Wibawa, Aji Prasetya; Gunawan, Gunawan; Hendrawan, William Hartanto; Kristian, Yosi
Journal of Robotics and Control (JRC) Vol 5, No 1 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i1.20870

Abstract

Epileptic seizures, unpredictable in nature and potentially dangerous during activities like driving, pose significant risks to individual and public safety. Traditional diagnostic methods, which involve labour-intensive manual feature extraction from Electroencephalography (EEG) data, are being supplanted by automated deep learning frameworks. This paper introduces an automated epileptic seizure detection framework utilizing deep learning to bypass manual feature extraction. Our framework incorporates detailed pre-processing techniques: normalization via L2 normalization, filtering with an 80 Hz and 0,5 Hz Butterworth low-pass and high-pass filter, and a 50 Hz IIR Notch filter, channel selection based on standard deviation calculations and Mutual Information algorithm, and frequency domain transformation using FFT or STFT with Hann windows and 50% hop. We evaluated on two datasets: the first comprising 4 canines and 8 patients with 2.299 ictal, 23.445 interictal, and 32.915 test data, 400-5000Hz sampling rate across 16-72 channels; the second dataset, intended for testing, 733 icatal, 4.314 interictal, and 1908 test data, each 10 minutes long, recorded at 400Hz across 16 channels. Three deep learning architectures were assessed: CNN, LSTM, and a hybrid CNN-LSTM model-stems from their demonstrated efficacy in handling the complex nature of EEG data. Each model offers unique strengths, with the CNN excelling in spatial feature extraction, LSTM in temporal dynamics, and the hybrid model combining these advantages.  The CNN model, comprising 31 layers, yielded highest accuracy, achieving 91% on the first dataset (precision 92%, recall 91%, F1-score 91%) and 82% on the second dataset using a 30-second threshold. This threshold was chosen for its clinical relevance. The research advances epileptic seizure detection using deep learning, indicating a promising direction for future medical technology. Future work will focus on expanding dataset diversity and refining methodologies to build upon these foundational results.
Design and Implementation of Fuzzy Logic for Obstacle Avoidance in Differential Drive Mobile Robot Puriyanto, Riky Dwi; Mustofa, Ahmad Kamal
Journal of Robotics and Control (JRC) Vol 5, No 1 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i1.20524

Abstract

Autonomous mobile robots based on wheel drive are widely used in various applications. The differential drive mobile robot (DDMR) is one type with wheel drive. DDMR uses one actuator to move each wheel on the mobile robot. Autonomous capabilities are needed to avoid obstacles around the DDMR. This paper presents implementing a fuzzy logic algorithm for obstacle avoidance at a low cost (DDMR). The fuzzy logic algorithm input is obtained from three ultrasonic sensors installed in front of the DDMR with an angle difference between the sensors of 45$^0$. Distance information from the ultrasonic sensors is used to regulate the speed of the right and left motors of the DDMR. Based on the test results, the Mamdani inference system using the fuzzy logic algorithm was successfully implemented as an obstacle avoidance algorithm. The speed values of the right and left DDMR wheels produce values according to the rules created in the Mamdani inference system. DDMR managed to pass through a tunnel-shaped environment and reach its goal without hitting any obstacles around it. The average speed produced by DDMR in reaching the goal is 4.91 cm/s.
A Performance Evaluation of Repetitive and Iterative Learning Algorithms for Periodic Tracking Control of Functional Electrical Stimulation System Kurniawan, Edi; Pratiwi, Enggar B.; Adinanta, Hendra; Suryadi, Suryadi; Prakosa, Jalu A.; Purwowibowo, Purwowibowo; Wijonarko, Sensus; Maftukhah, Tatik; Rustandi, Dadang; Mahmudi, Mahmudi
Journal of Robotics and Control (JRC) Vol 5, No 1 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i1.20705

Abstract

Functional electrical stimulation (FES) is a medical device that delivers electrical pulses to the muscle, allowing patients with spinal cord injuries to perform activities such as walking, cycling, and grasping. It is critical for the FES to generate stimuli with the appropriate controller so that the desired movements can be precisely tracked. By considering the repetitive nature of the movements, the learning-based control algorithms are utilized for regulating the FES. Iterative learning control (ILC) and repetitive control (RC) are two learning algorithms that can be used to accomplish accurate repetitive motions. This study investigates a variety of ILC and RC designs with distinct learning functions; this constitutes our contribution to the field. The FES model of ankle angle, which is in a class of discrete-time linear systems is considered in this study. Two learning functions, i.e., proportional, and zero-phase learning functions, are simulated for the second-order FES model running at a sampling time of 0.1 s. The results indicate the superior performance of the ILC and RC in terms of convergence rate using the zero-phase learning function. ILC and RC with a zero-phase learning function can reach a zero root-mean-square error in two iterations if the model of the plant is correct. This is faster than proportional-based ILC and RC, which takes about 40 iterations. This indicates that the zero-phase learning function requires two iterations to ensure that the patient's ankle angle precisely tracks the intended trajectory. However, the tracking performance is degraded for both control methods, especially when the model is subject to uncertainties. This specific problem can lead to future research directions.
The Impact of Simplifications of the Dynamic Model on the Motion of a Six-Jointed Industrial Articulated Robotic Arm Movement Fazilat, Mehdi; Zioui, Nadjet
Journal of Robotics and Control (JRC) Vol 5, No 1 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i1.20263

Abstract

This research investigates the impact of model simplification on the dynamic performance of an ABB IRB-140 six-jointed industrial robotic arm, concentrating on torque prediction and energy consumption. The entire mathematical model of forward, reverse, differential kinematics, and dynamic model proposed based on the technical specifications of the arm, and to obtain the center of the mass and inertia matrices, which are essential components of the dynamic model, Utilizing Solidworks, we developed three CAD/CAM models representing the manipulator with varying detail levels, such as simplified, semi-detailed, and detailed. Our findings indicate minor differences in the model's torque and energy consumption graphs. The semi-detailed model consumed the most energy, except for joint 1, with the detailed model showing a 0.53% reduction and the simplified model a 6.8% reduction in energy consumption. Despite these variations, all models proved effective in predicting the robot's performance during a standard 30-second task, demonstrating their adequacy for various industrial applications. This research highlights the balance between computational efficiency and accuracy in model selection. While the detailed model offers the highest precision, it demands more computational resources, which is suitable for high-precision tasks. In discrepancy, simplified, less precise models offer computational efficiency, making them adequate for specific scenarios. Our study provides critical insights into selecting dynamic models in industrial robotics. It guides the optimization of performance and energy efficiency based on the required task precision and available computational resources. This comprehensive comparison of dynamic models underscores their applicability and effectiveness in diverse industrial settings.
Enhancing Security Mechanisms for IoT-Fog Networks Mansour, Salah-Eddine; Sakhi, Abdelhak; Kzaz, Larbi; Sekkaki, Abderrahim
Journal of Robotics and Control (JRC) Vol 5, No 1 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i1.20745

Abstract

This study contributes to improving Morocco's fish canning industry by integrating artificial intelligence (AI). The primary objective involves developing an AI and image processing-based system to monitor and guarantee canning process quality in the facility. It commenced with an IoT-enabled device capable of capturing and processing images, leading to the creation of an AI-driven system adept at accurately categorizing improperly crimped cans. Further advancements focused on reinforcing communication between IoT devices and servers housing individual client's neural network weights. These weights are vital, ensuring the functionality of our IoT device. The efficiency of the IoT device in categorizing cans relies on updated neural network weights from the Fog server, crucial for continual refinement and adaptation to diverse can shapes. Securing communication integrity between devices and the server is imperative to avoid disruptions in can classification, emphasizing the need for secure channels. In this paper, our key scientific contribution revolves around devising a security protocol founded on HMAC. This protocol guarantees authentication and preserves the integrity of neural network weights exchanged between Fog computing nodes and IoT devices. The innovative addition of a comprehensive dictionary within the Fog server significantly bolsters security measures, enhancing the overall safety between these interconnected entities.

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