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 23 Documents
 1   2   3 
Search results for , issue "Vol 5, No 3 (2024)" : 23 Documents clear
Advancements, Challenges and Safety Implications of AI in Autonomous Vehicles: A Comparative Analysis of Urban vs. Highway Environments Abu, N. S.; Bukhari, W. M.; Adli, M. H.; Maghfiroh, Hari; Ma’arif, Alfian
Journal of Robotics and Control (JRC) Vol 5, No 3 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i3.21114

Abstract

This research reviews AI integration in AVs, evaluating its effectiveness in urban and highway settings. Analyzing over 161 studies, it explores advancements like machine learning perception, sensor technology, V2X communication, and adaptive cruise control. It also examines challenges like traffic congestion, pedestrian and cyclist safety, regulations, and technology limitations. Safety considerations include human-AI interaction, cybersecurity, and liability/ethics. The study contributes valuable insights into the latest developments and challenges of AI in AVs, specifically in urban and highway contexts, which will guide future transportation research and decision-making. In urban settings, AI-powered sensor fusion technology helps AVs navigate dynamic traffic safely. On highways, adaptive cruise control systems maintain safe distances, reducing accidents. These findings suggest AI facilitates safer navigation in urban areas and enhances safety and efficiency on highways. While AI integration in AVs holds immense potential, innovative solutions like advanced perception systems and optimized long-range communication are needed to create safer and more sustainable transportation systems.
Enhance Deep Reinforcement Learning with Denoising Autoencoder for Self-Driving Mobile Robot Pratama, Gilang Nugraha Putu; Hidayatulloh, Indra; Surjono, Herman Dwi; Sukardiyono, Totok
Journal of Robotics and Control (JRC) Vol 5, No 3 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i3.21713

Abstract

Over the past years, self-driving mobile robots have captured the interest of researchers, prompting exploration into their multifaceted implementation. They have the potential to revolutionize transportation by mitigating human error and reducing traffic accidents. The process of deploying self-driving mobile robots can be divided into several steps, such as algorithm design, simulation, and real-world application. This research paper presents a simulation using DonkeyCar on the Mini Monaco track, employing a Soft Actor-Critic (SAC) alongside a denoising autoencoder. At this point, it is limited to the simulation, serving as a proof of concept for further research with hardware implementation. The simulation verifies that relying solely on SAC for the convergence of policy is not sufficient; it yields a mean episode length of only 28.82 steps and a mean episode reward of 0.7815. The simulation ended after 3557 steps due to the inability of SAC alone to converge, without completing a single lap. Later, by integrating the denoising autoencoder, convergence of policy can be achieved. It enables DonkeyCar to adeptly track the lane of the circuit. The denoising autoencoder plays an important role in accelerating the convergence of transfer learning. Notably, the mean reward per episode reached 2380.4387, with an average episode length of 771.71 and a total of 114357 steps taken. DonkeyCar manages to complete several laps. These results affirm the effectiveness of SAC with a denoising autoencoder in enhancing the performance of self-driving mobile robots.
Accuracy Improvement for Indoor Positioning Using Decawave on ESP32 UWB Pro with Display and Regression Hapsari, Gita Indah; Munadi, Rendy; Erfianto, Bayu; Irawati, Indrarini Dyah
Journal of Robotics and Control (JRC) Vol 5, No 3 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i3.20825

Abstract

In UWB-based indoor positioning, it is important to observe the ranging performance of the UWB module to prevent positioning errors. Ranging is the initial process in computing positioning. This research aims to observe the ranging accuracy and precision of the ESP32 UWB Pro with a Display module and analyze its performance in indoor positioning using TDoA and Trilateration. The ranging method was held using the SS-TWR which is the basic ranging used generally in UWB. ESP32 Pro is a module consisting of ESP32 and OLED display which is integrated with Decawave DW 1000. Analysis of 6750 ranging error data is carried out to determine the appropriate method to increase accuracy. The convergence of error ranges that occur leads to the use of regression as an error mitigation method for Decawave on the ESP32 UWB Pro with Display module. Increasing the accuracy of ranging regression can reduce the error from MAE of 79.98cm to only 5.05cm. It’s applied to positioning to obtain the accuracy and precision performance of the TDoA and Trilateration positioning.  The resulting MAE values are 7.47cm for X and 10.49cm for Y in TDoA Positioning. Meanwhile, in Trilateration, the MAE was 8.15cm for X and 8.47cm for Y. Our findings indicate that an increase in ranging accuracy with regression had an impact on positioning accuracy. However, the spread of error positioning shows that it’s still weak in precision.
A Review of Seaport Microgrids for Green Maritime Transportation: The Shore and the Seaside Almansor, Mohammed Jamal; Din, Norashidah Md; Baharuddin, Mohd Zafri; Alsayednoor, Huda Mohammed; Al-Shareeda, Mahmood A.; Ma, Maode; Ramly, Athirah Mohd
Journal of Robotics and Control (JRC) Vol 5, No 3 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i3.21723

Abstract

Emerging from the field of microgrids is an efficient and persuasive transitional technology with great promise for easing energy crises, environmental worries, and economic limitations in seaports. When it comes to high-performance ports, this technology becomes even more important. One example is smart ports, which use state-of-the-art ICT applications to completely revamp container and vessel management. Strengthening national economic sustainability and global competitiveness are both impacted by this invention. Reducing the environmental impact of the maritime transport business is no easy feat. In this study, we take a look at how seaport microgrids are becoming more important in the quest for environmentally friendly marine transportation. We take a look at the major problems that contemporary seaports are facing, such as the ever-increasing need for energy, the contamination of both the air and water from ship emissions and the unpredictable cost of electricity. The goal is to bring together current information about smarter ports by giving examples and to encourage new ideas and research in this field. As part of our efforts to inspire new research into smart port development, we also outline certain open questions that need answering. This report could serve as a valuable resource for future research on seaport microgrids.
Effectiveness of CNN Architectures and SMOTE to Overcome Imbalanced X-Ray Data in Childhood Pneumonia Detection Pamungkas, Yuri; Ramadani, Muhammad Rifqi Nur; Njoto, Edwin Nugroho
Journal of Robotics and Control (JRC) Vol 5, No 3 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i3.21494

Abstract

Pneumonia is a disease that causes high mortality worldwide in children and adults. Pneumonia is caused by swelling of the lungs, and to ensure that the lungs are swollen, a chest X-ray can be done. The doctor will then analyze the X-ray results. However, doctors sometimes have difficulty confirming pneumonia from the results of chest X-ray observations. Therefore, we propose the combination of SMOTE and several CNN architectures be implemented in a chest X-ray image-based pneumonia detection system to help the process of diagnosing pneumonia quickly and accurately. The chest X-ray data used in this study were obtained from the Kermany dataset (5216 images). Several stages of pre-processing (grayscaling and normalization) and data augmentation (shifting, zooming, and adjusting the brightness) are carried out before deep learning is carried out. It ensures that the input data for deep learning is not mixed with noise and is according to needs. Then, the output data from the augmentation results are used as input for several CNN deep learning architectures. The augmented data will also utilize SMOTE to overcome data class disparities before entering the CNN algorithm. Based on the test results, the VGG16 architecture shows the best level of performance compared to other architectures. In system testing using SMOTE+CNN Architectures (VGG16, VGG19, Xception, Inception-ResNet v2, and DenseNet 201), the optimum accuracy level reached 93.75%, 89.10%, 91.67%, 86.54% and 91.99% respectively. SMOTE provides a performance increase of up to 4% for all CNN architectures used in predicting pneumonia.
Deployment of STATCOM with Fuzzy Logic Control for Improving the Performance of Power System under Different Faults Conditions Fawzy, Ibram Y.; Mossa, Mahmoud A.; Elsawy, Ahmed M.; Suwarno, Iswanto; Diab, Ahmed A. Zaki
Journal of Robotics and Control (JRC) Vol 5, No 3 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i3.21558

Abstract

This paper purposes to demonstrate the effectiveness of fuzzy logic controller (FLC) over proportional integral (PI) controller for reducing the fault current and maintaining the voltage profile at different faults conditions using Static Synchronous Compensator (STATCOM) which is considered an effective FACTS (Flexible Alternating Current Transmission System) device. The study evaluates the performance of a power system equipped with STATCOM which is connected in shunt with bus B1 under various faults conditions, including single-phase and three-phase faults. The performance of the STATCOM is evaluated by using two different controllers: PI controllers and FLCs. A comparative analysis is done between the performances of the two different controllers using Matlab/Simulink software package. The results obtained conclude that the presented system gives better performance with STATCOM as compared to not using it under several faults conditions besides, the STATCOM gives better response with FLC as compared to PI controller. It is demonstrated that STATCOM with FLC can reduce the positive sequence fault current at bus B1 ‎to 96.49% of its value without ‎using STATCOM under line to ground fault and 98.17% under three line to ‎ground fault whereas STATCOM with PI controller can reduce it ‎to (99.57, 99.05%), respectively. Also, the bus voltage B1 is improved to 102.19% by using STATCOM with fuzzy controller under line to ground fault and 101.86% under three line to ‎ground fault whereas STATCOM with PI controller can improve it ‎to (100.21, 100.93%), respectively.
Design of Power Control Circuit for Grid-Connected PV System-Based Neural Network Al-Jaboury, Omar N. Rajab; Hamodat, Zaid; Daoud, Raid W.
Journal of Robotics and Control (JRC) Vol 5, No 3 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i3.20751

Abstract

This research explores the application of neural networks in managing grid- photovoltaic (PV) systems. this paper aims to improve the performance and reliability of PV systems using artificial intelligence capabilities, specifically neural networks. The main emphasis of this system is to control active and reactive power and to track the maximum power point (MPPT). This study introduces an intelligent control technique for fuel cell distributed generation (DG) grid connection inverters. The algorithm allows for the management of both active and reactive power for the unit. The algorithm provides local reactive power compensation, making it economically viable. The controller modeling and performance validation are conducted using MATLAB/Simulink and Sim power system blocks, demonstrating its capacity for enhancing power factor. This makes fuel cell technology a clean, highly controllable, and economically viable option for DG systems. The system maximizes the energy extraction of PV panels and maintains them at their ideal PowerPoint across various environmental conditions. It also raises the voltage from 260 volts to 350 volts.  Simulations and practical evaluations validate the proposed control system. The obtained results indicate that the total harmonic distortion (THD) of the grid current under operating conditions was less than 1.86%. This demonstrates significant improvements in the efficiency and reliability of PV systems. The neural network controller shows remarkable flexibility and the ability to quickly adapt to fluctuations in load and radiation, which contributes to developing a more sustainable and stable energy network.
Improved Droop Control Based on Modified Osprey Optimization Algorithm in DC Microgrid Aribowo, Widi; Suryoatmojo, Heri; Pamuji, Feby Agung
Journal of Robotics and Control (JRC) Vol 5, No 3 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i3.21347

Abstract

In this research, a modified Osprey optimization algorithm (MOOA) is presented to optimize droop control parameters. MOOA is a modification of the Osprey optimization algorithm by adding levy flight which has the advantage of exploiting a wider space and being adaptive to environmental changes. This research also modifies droop control, Proportional Integral Derivative (PID) is applied to secondary control. PID has flexibility in responding to changes in system conditions and fast response in dealing with system changes. The PID parameters are optimized using MOOA and are called MOOA-PID. The MOOA method is validated using 23 CEC2017 benchmarks-function and performance on DC microgrid systems. This research uses the latest algorithms as a comparison, namely One-to-One Based Optimizer (OOBO), Preschool Educational Optimization Algorithm (PEOA), and the red-tailed hawk (RTH) algorithm in testing 23 CEC2017 benchmark functions. From the simulation of the 23 CEC2017 benchmark function, it is known that the MOOA method has better capabilities. MOOA has advantages in 15 out of 23 benchmark functions. In DC microgrid system testing, MOOA-PID is compared with the Proportional Integral (PI) method which is optimized with MOOA and is called MOOA-PI. Testing on the microgrid is aimed at determining the performance of the transient response of power, voltage and current in the system. Tests on DC microgrid systems found that the application of MOOA-PID in secondary control had better capabilities than MOOA-PI. The average value of voltage overshoot from MOOA-PID is 9.828% better than MOOA-PI. The average ITSE MOOA-PID score is 22.3% better than MOOA-PI.
Robust Adaptive Iterative Learning Control for De-Icing Robot Manipulator Ngo, Thanh Quyen; Tran, Thanh Hai
Journal of Robotics and Control (JRC) Vol 5, No 3 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i3.21791

Abstract

This paper introduces a new method of controlling uncertain robot using robust adaptive iterative learning control (RAILC) to track the trajectory in iterative operation mode. This method uses a PD controller combined with gain switching and forward learning techniques to predict the desired torque of the actuator. Using the Lyapunov method, this paper presents an RAILC control scheme for an uncertain robot system with structural and unstructured properties while ensuring the stability of the closed-loop system in the domain repeat. This study believes that this new control method can advance the field of robot control, especially in dealing with structured and unstructured uncertainties. It can help improve the flexibility and performance of robotic systems in real-world applications, such as automated manufacturing, transportation services, or healthcare. At the same time, providing simulation and test results demonstrates the effectiveness of the new control method in deicing high voltage power lines for robots.
PID Controller for A Bearing Angle Control in Self-Driving Vehicles Khather, Salam Ibrahim; Ibrahim, Muhammed A.; Ibrahim, Mustafa Hussein
Journal of Robotics and Control (JRC) Vol 5, No 3 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i3.21612

Abstract

The enhancement of self-driving vehicles has the potential to disrupt traditional transportation systems, Utilizing progress in secure and intelligent mobility. However, control of movement in self-driving vehicles is still difficult to carry out driving duties in a constantly changing road environment. The regulation of bearing angle is an essential component in self-driving vehicles navigation systems, facilitating the secure and efficient operation of vehicles across a range of environments, including urban streets, highways, and off-road terrain. It employs algorithms and sensor fusion to perceive surroundings, compute trajectories, and execute precise steering commands. The bearing angle represents the angle between the vehicle's current and desired directions. By consistently monitoring this angle and implementing appropriate steering inputs, the self-driving vehicle can accurately stay on track and proactively adapt to obstacles or adhere to a designated route. In this context, we explore the advancements in bearing angle control methods for self-driving vehicles. By conducting simulations of a simplified block diagram for a self-guiding vehicle's bearing angle control techniques, the efficacy of the steering system of self-driving cars has been briefly examined. We provide various methods of control, which are considered approaches for controlling the angle of bearings through lag lead compensation and PID auto-tuned controllers. The results show that the auto-tuned PID controller outperforms all other controllers in terms of transient and steady-state responses.

Page 1 of 3 | Total Record : 23

 1   2   3 

Filter by Year

2024 2024


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 (Forthcoming Issue) Vol 2, No 6 (2021): November Vol 2, No 5 (2021): September Vol 2, No 5 (2021): September (Forthcoming Issue) Vol 2, No 4 (2021): July (Forthcoming Issue) Vol 2, No 4 (2021): July Vol 2, No 3 (2021): May Vol 2, No 3 (2021): May (Forthcoming Issue) 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