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 5 Documents
 1 
Search results for , issue "Vol. 6 No. 2 (2025)" : 5 Documents clear
Image Denoising Using Generative Adversarial Network by Recursive Residual Group Naser, Maysaa A. Ulkareem; Al-Asadi, Abbas H. Hassin
Journal of Robotics and Control (JRC) Vol. 6 No. 2 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i2.24302

Abstract

Cardiac magnetic resonance imaging (CMR) is a vital tool for noninvasively assessing heart shape and function, offering exceptional spatial and temporal resolution alongside superior soft tissue contrast. However, CMR images often suffer from noise and artifacts due to cardiac and respiratory motion or patient movement impacting diagnostic accuracy. While real-time noise suppression can mitigate these issues, it comes at a high computational and financial cost. This paper introduces a method that includes a complete way to clean up medical images by using a new Denoising Generative Adversarial Network (D-GAN). The D-GAN architecture incorporates a recursive residual group-based generator and a discriminator inspired by PatchGAN.The recursive residual group-based generator and the Selective Kernel Feature Fusion (SKFF) mechanism are part of a new D-GAN architecture that makes denoising work better. A PatchGAN-based discriminator designed to improve adversarial training dynamics and texture modeling for medical images. These innovations offer improved feature refinement and texture modeling, enhancing the denoising of cardiac MRI images. allows the model to get a doubling context of local and global, informational, and hierarchical developed features located in the generator. Our technique outperforms other methods in terms of PSNR and SSIM. With scores of 0.837, 0.911, and 0.971 for noise levels of 0.3, 0.2, and 0.1, and PSNR scores of 29.48 dB, 32.58 dB, and 37.85 dB, the results show that the D-GAN method is better than other methods.
Enhanced RRT* with APF and Halton Sequence for Robot Path Planning Hameed, Mohammed T.; Raheem, Firas A.; Nasser, Ahmed R.
Journal of Robotics and Control (JRC) Vol. 6 No. 2 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i2.24921

Abstract

This paper presents a new path planning method (APF-IRRT*-HS), which relies on the optimization process of the conventional RRT* algorithm and combined with the APF method where the sampling process of the RRT* algorithm is improved using the Halton sequence, which is known to be deterministic and repeatable and provides more efficient coverage than other low discrepancy sequences with the modified goal-based method which provides a probabilistic approach to decide whether to sample from a point directly at the target or to choose a random point from the Halton sequence based on the current distance. We implemented the proposed method in two cases of mass point and two-link robots. The proposed method compares path length with the conventional RRT* algorithm and APF-RRT*, as well as time efficiency and number of iterations. The technique proves effective in various dynamic environments. Specifically, the APF-IRRT*-HS algorithm achieved an improvement of approximately 21.88% and 7.5% in path length, 79.75% and 49.2% in computation time, and 57.39% and 40% in the number of iterations compared with the RRT* and RRT*-APF algorithms, respectively. We can use this method in everyday applications such as robotic arms, drones, self-driving cars, etc. More advanced methods, such as multi-link robots and real-time constraints, can be used in the future.
Hybrid SVD and SURF-Based Framework for Robust Image Forgery Detection and Object Localization Najjar, Fallah H.; AbdulAmeer, Ansam Ali; Kadum, Salman
Journal of Robotics and Control (JRC) Vol. 6 No. 2 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i2.25567

Abstract

This paper presents a highly effective and reliable approach for detecting image forgery and identifying manipulated regions in digital images. The proposed method uses a combination of Singular Value Decomposition (SVD) and the Speeded-Up Robust Features (SURF) algorithm, achieving a high degree accuracy of 99.1% for revealed tampering. After an input image is initially divided parallel to partition, then is performed by SVD to extract features with remarkable discriminability, the method is valued based on independent experiments. The norms are calculated, and pixels with the same norm begin to group to identify potentially tampered areas. In order to simplify the detection process, we conduct a weighted comparison among subgroups to distinguish real structures from false ones. Once we discover a suspicious forgery area, the SURF algorithm comes into play to accurately identify the manipulated items. This process uses a keypoint detector, descriptor calculations, the match between points, and geometric checking to improve the accuracy and reliability of forgery localization. Experimental results on different image databases show that this method is effective. It exhibits advanced ability in detecting forgeries, finding objects and locating where they are in an image. Eventually, we hope this work will produce a sturdy forgery detection system and improve the accuracy of recognizing tampered regions. The proposed method is useful in digital forensics and image verification.
Optimizing Mobile Robot Path Planning with a Hybrid Crocodile Hunting and Falcon Optimization Algorithm Hashim, Wassan Adnan; Ahmed, Saadaldeen Rashid; Mahmood, Mohammed Thakir; Almaiah, Mohammed Amin; Shehab, Rami; AlAli, Rommel
Journal of Robotics and Control (JRC) Vol. 6 No. 2 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i2.25586

Abstract

Thorough path planning is critical in unmanned ground vehicle control to reduce path length, computational time, and the number of collisions. This paper aims to introduce a new metaheuristic method called the Hybrid Crocodile Hunting-SearcH and Falcon Optimization (CHS-FO) algorithm. This method combines CHS's exploration and exploitation abilities with FO's rapid convergence rate. In this way, the use of both metaheuristic techniques limits the disadvantage of the individual approach, guaranteeing a high level of both global and local search. We conduct several simulations to compare the performance of the CHS-FO algorithm with conventional algorithms such as A* and Genetic Algorithms (GA). It is found The results show that the CHS-FO algorithm performs 30–50% better in terms of computation time, involves shorter path planning, and improves obstacle avoidance. Eristic also suggests that the path generation algorithm can adapt to environmental constraints and be used in real-world scenarios, such as automating product movement in a warehouse or conducting search and rescue operations for lost vehicles. The primary The proposed CHS-FO architecture makes the robot more independent and better at making choices, which makes it a good choice for developing the next generation of mobile robotic platforms. Goals will encompass the improvement of the algorithm's scalability for use in multiple robots, as well as the integration of the algorithm in a real environment in real time.
Design of a Robust Component-wise Sliding Mode Controller for a Two-Link Manipulator Qasim, Mohammed; Abdulla, Abdulla Ibrahim; Ayoub, Abdurahman Basil
Journal of Robotics and Control (JRC) Vol. 6 No. 2 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i2.25632

Abstract

Compared to conventional Multiple-Input Multiple-Output (MIMO) Sliding Mode Control (SMC) techniques, the component-wise SMC approach offers several advantages, including improved decoupling of system dynamics, enhanced robustness, and greater flexibility in controller design. This paper proposes a novel trajectory tracking controller for a two-link manipulator based on the component-wise sliding mode control approach. The design methodology involves determining controller gains by solving a set of inequalities. This analysis results in conditions on the system parameter uncertainties that guarantee the existence of a feasible solution to the set of inequalities. Furthermore, an algorithm is presented to determine the maximum allowable uncertainties that ensure the feasibility of the controller gains. To evaluate the performance and robustness of the proposed tracking controller, the manipulator is subjected to a series of challenging trajectories, including circular and figure-8 ones, under both nominal and maximum allowable uncertainty conditions. The proposed controller demonstrates superior performance across both circular and figure-8 trajectories, exhibiting excellent transient response and minimal steady-state error even under the maximum permissible uncertainties, which extend up to 27% in link masses. This performance is validated through a quantitative analysis that incorporates a comparative evaluation against two conventional MIMO SMC techniques. The comparison is conducted using the Integral Norm of Error (INE) to assess tracking accuracy and the Integral Norm of Control Action (INU) to evaluate the energy efficiency of the controllers. These metrics provide a comprehensive basis for analyzing both the precision and the energy consumption of the proposed control strategy in relation to established methods.

Page 1 of 1 | Total Record : 5

 1 

Filter by Year

2025 2025


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 Vol 2, No 4 (2021): July (Forthcoming Issue) 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