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.
Articles
708 Documents
<![CDATA[Mixing and controlling the pH of citrate and phosphate with website ]]>
<![CDATA[Syahrul Syahrul]]>;
<![CDATA[Ilham Komarujaman]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 4 (2021): July ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.2494
<![CDATA[In this study built an instrument capable of mixing and controlling chemical pH of citrate solution and phosphate solution as buffer solution. The problem often experienced in mixing chemicals is a matter of safety and the accuracy of the concentration of the mixing of the substance. The function of this instrument is to mix and control the pH of the citrate and phosphate solution. It is hoped that in the presence of this instrument, the manufacture of citrate solutions and phosphate solutions can be carried out electronically which does not involve manual calculations to obtain the desired pH of the solution, and is relatively safe from direct contact with chemicals. This instrument is built using a pH sensor as the sensing pH value of the solution to be made. And as a controller used microcontroller. Results of pH control other than can be stored in the database, can also be transmitted to the internet (website) using a wifi interface device. Mixers and pH controls of citrate and phosphate have been realized and resulted in good pH control.]]>
<![CDATA[The Voltage Control in Single-Phase Five-Level Inverter for a Stand-Alone Power Supply Application Using Arduino Due ]]>
<![CDATA[Daniel Santoso]]>;
<![CDATA[Leonardus Heru Pratomo]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.25117
<![CDATA[In the era of industrial revolution 4.0 expanded digital transformation, such as inverters. The principle of the inverter is to change the DC source to the AC source. The device using an AC source needs a voltage source that is controlled. Hence, the voltage source that is controlled is usually generated from a stand-alone power supply. The stand-alone power supply usually used a conventional inverter. The conventional inverter uses high frequency switching to obtain lower distortion harmonic in output voltage. Another solution is using a five-level inverter that has fewer power switches. The purpose in these research is to make a stand-alone power supply using a single-phase five-level inverter asymmetric topology, which has five power switches to control voltage output based on the standard of IEEE 519. The inverter does sinusoidal pulse width modulation on two the signal reference that was shifting 180 degrees toward the carrier signal. That research has been simulated using Power Simulator software and has been implemented in the laboratory. According to the result of simulation and implementation are generated voltage THD value amount of 4.39%.]]>
<![CDATA[Accelerometer Implementation as Feedback on 5 Degree of Freedom Arm Robot ]]>
<![CDATA[Kunal Kunal]]>;
<![CDATA[Afif Zuhri Arfianto]]>;
<![CDATA[Joessianto Eko Poetro]]>;
<![CDATA[Farhad Waseel]]>;
<![CDATA[Rachmad Andri Atmoko]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 1, No 1 (2020): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.1107
<![CDATA[The research investigated the automatic control system implemented with the 5 DOF (Degree of Freedom) arm robot control system using the closed-loop control method with the MPU 6050 sensor, which integrated the rotation of the MG995 motor servo as a feedback function. The control of this robot used android–based application, in which the app sends data of the rotate angle for each servo motor rotated to a certain angle. The HC – 05 Bluetooth received the data and the Arduino UNO R3 microcontroller processed them. The microcontroller managed every rotation of each servo motor that integrated with an MPU6050 sensor with serial monitor communication to display the rotation of each servo motor. The test results obtained by the standard deviation value showed how large the sample diversity was. The result of this study showed a standard deviation correlation with the number of sample diversity. The higher the standard deviation value, the more sample data spread (data diverse or varies). Otherwise, the smaller the standard deviation value, the more homogenous the sample data. If the standard deviation equals zero, it indicates that the sample has identical data. The highest standard deviation value from servo motor 1 is 5.20, servo motor 2 and 3 are 1.00, servo motor 4 is 2.89, and servo motor 5 is 2.9]]>
<![CDATA[Design of Automatic Watering System Based on Arduino ]]>
<![CDATA[Prasojo, Ipin]]>;
<![CDATA[Maseleno, Andino]]>;
<![CDATA[tanane, Omar]]>;
<![CDATA[Shahu, Nishith]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 1, No 2 (2020): March ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.1213
<![CDATA[Food self-sufficiency is a government program that has been being actively promoted so that Indonesia can reach food independence by the end of 2019. Indonesia is a maritime country and also an agricultural country with two seasons namely rainy season and dry season. In the rainy season, food plants usually do not need to be watered, while in the dry season, the plants must be watered regularly in accordance with soil moisture conditions. Farmers usually do not grow food plants in the dry season for fear that it will not grow well. The farmer’s dependence on the season causes the production to decline and becomes an obstacle in the success of the food self-sufficiency program. An information and communication technology-based agricultural device is needed to overcome the problem. The research aimed to design a programmed microcontroller chip to control watering automatically based on soil moisture detected using a domestic soil moisture sensor. This device detects whether the soil is dry or not. The farmers do not need to do watering manually. In addition to helping farmers, the device can also be installed on plantations, seedbed nurseries, urban parks, hotels, offices, and in homes that have parks or plants that need regular watering.]]>
<![CDATA[Mobile Robot Path Planning in a Trajectory with Multiple Obstacles Using Genetic Algorithms ]]>
<![CDATA[Rahmaniar, Wahyu]]>;
<![CDATA[Rakhmania, Amalia Eka]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 3, No 1 (2022): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v3i1.11024
<![CDATA[Path planning is an essential algorithm to help robots complete their task in the field quickly. However, some path planning algorithms are computationally expensive and cannot adapt to new environments with a distinctly different set of obstacles. This paper presents optimal path planning based on a genetic algorithm (GA) that is proposed to be carried out in a dynamic environment with various obstacles. First, the points of the feasible path are found by performing a local search procedure. Then, the points are optimized to find the shortest path. When the optimal path is calculated, the position of the points on the path is smoothed to avoid obstacles in the environment. Thus, the average fitness values and the GA generation are better than the traditional method. The simulation results show that the proposed algorithm successfully finds the optimal path in an environment with multiple obstacles. Compared to a traditional GA-based method, our proposed algorithm has a smoother route due to path optimization. Therefore, this makes the proposed method advantageous in a dynamic environment.]]>
<![CDATA[Design of Laboratory Scale Fluid Level Measurement Device Based on Arduino ]]>
<![CDATA[Apsari, Nur Fitri]]>;
<![CDATA[Megantoro, Prisma]]>;
<![CDATA[Sattar, Mian Usman]]>;
<![CDATA[Maseleno, Andino]]>;
<![CDATA[Tanane, Omar]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 1, No 5 (2020): September ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.1530
<![CDATA[Measuring the height of a liquid using analog is very difficult, and its accuracy is very low. It is more accurate to measure liquid level using digital technology. Measurements of the correct fuel level are needed to measure fuel purchases at fuel stations or fuel retailers. The study aimed to design laboratory-level fuel level measurements based on the Arduino Uno microcontroller. The method used was a direct comparison between the measuring instrument and a ruler as a measuring standard. This device used a gas gauging sensor on the vehicle and an Arduino Uno microcontroller to process data and display data on the LCD and LabView. The results of the fluid level measurement could be used to determine the height of fuel surface. The error rate of the measuring instrument was ± 3% in a calm and bumpy state. The results showed that the device is suitable for use in measurement.]]>
<![CDATA[Tower Planning And Arrangements Mobile Telecommunication District Central Aceh With Methode Fuzzy Clustering ]]>
<![CDATA[Safwani, Eva]]>;
<![CDATA[Firdausi, Ahmad]]>;
<![CDATA[Hakim, Galang]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 1 (2021): January ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.2144
<![CDATA[Advances in technology, especially in the telecommunications industry has been progress rapidly. Various types of cellular communication systems began operating by covering targeted service areas throughout Indonesia even to the corners of the archipelago, operators continue to try to build infrastructure so that service and the quality is increasing. One of the on going infrastructure developments is Base Transceiver Station (BTS). However, BTS development infrastructure must consider the aesthetics and compliance with the Regional Spatial Plan an area to determine the potential location of tower construction optimally. In this paper we propose the Fuzzy Clustering and Harmony Search to optimize the placement of potential new tower locations. In the optimization process using several parameters such as total population, total area, and shared tower needs for the next 5 (five) years. The results of optimization show that needs BTS in 2024 network services require an additional 74 BTS and supported by 21 new towers together.]]>
<![CDATA[Lane Keeping Maneuvers Using Proportional Integral Derivative (PID) and Model Predictive Control (MPC) ]]>
<![CDATA[Samuel, Moveh]]>;
<![CDATA[Mohamad, Maziah]]>;
<![CDATA[Hussein, Mohamed]]>;
<![CDATA[Mad Saad, Shaharil]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 2 (2021): March ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.2256
<![CDATA[Safety has being a concern as a result of the high rate of road accidents and has led to the development of  driver assistance system such as Active braking, Cruise Control, Lane departure warning lane keeping and etc. has become a very active research area. However, this paper presents the performance and robustness analysis of a model predictive control and proportional integral derivative control for lane keeping maneuvers of an autonomous vehicle using computer vision simulation studies. A simulation study was carried out where a vehicle model based on single tracked bicycle model was developed in MATLAB/SIMULINK environment together with a vision dynamic system. Both PID controller and MPC were simulated to maintain the desired reference trajectory of the vehicle by controlling steering angle. Further performance and robustness analysis were carried out and the simulation results show that the proposed control system for the PID control achieved its objective even though it was less robust in maintaining its performance under various conditions like vehicle load change, different longitudinal speed and different cornering stiffness. While in the case of MPC the optimizer made sure that the predicted future trajectory of the vehicle output tracks the desired reference trajectory and was more robust in maintaining its performance under same conditions as in PID.]]>
<![CDATA[IR Based Auto-Recharging System for Autonomous Mobile Robot ]]>
<![CDATA[Rao, M.V.Sreenivas]]>;
<![CDATA[Shivakumar, M.]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 4 (2021): July ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.2486
<![CDATA[As autonomous mobile robots are progressively utilized for appropriated missions, a significant issue that should be tackled is the autonomous recharging problem. The robots can be recharged by planning and arranging effectively to maximize its working efficiency. This paper presents the implementation of automatic docking robot with docking strategy and recharging capabilities. The robot is programmed using an algorithm which will guide the robot to move around in a square path of 30 inch by 30 inch continuously. While the robot is performing its assigned task, the battery remaining voltage is monitored by voltage detection module. When the battery voltage reaches threshold value of less than 12V, the microcontroller commands the robot to go back to the docking station for recharging autonomously. This system uses IR receiver sensor in front of the robot and IR transmitter sensor near docking station. The active IR transmitter sensor which transmit infrared signal located near docking area serves as landmark in guiding robot towards docking area. The robot scans the transmitted IR signal from the sensor transmitter only when it needs to charge its battery, if detected it will take the path of charging station. Once the robot approaches the charging station with the required orientation, it connects to the supply terminals for charging. The data related to battery charging voltage is transmitted by microcontroller through Bluetooth HC-05 to PLX DAQ software tool in PC stores it in the Excel sheet as the data arrive. Once the battery is fully charged the robot moves back to continue its original task.]]>
<![CDATA[The Influence of Ruggedness Reviews 3-Dimensional Photo Carving Media Based on 3-Axis CNC Router ]]>
<![CDATA[Setyaningsih, Noor Yulita Dwi]]>;
<![CDATA[Annudin, Khan]]>;
<![CDATA[Solekhan, Solekhan]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 2, No 3 (2021): May ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.2381
<![CDATA[Today's face relief is very popular with people, both for gifts at special events or for mementos. Not everyone is able and able to produce or create relief carving 3-dimensional photos properly, so research on 3D photo carving using a CNC machine was made. CNC machine is a tool used to engrave and produce 3-dimensional photo engraving automatically. This research uses the Aspire application to create a G-Code type image. Next, connect the Arduino which in this case is used as the control device to enter the G-code obtained using the GRBL Control application. The gap in media reviews affects the time it takes in the manufacturing process, wherewith the same image design it is found that the greater the stretch of the reviews, the faster the time needed but the carving results are lined and rough. Likewise, the opposite condition, the smaller the gap in the review, the longer it takes, and the results obtained are smoother. So that in the future it can make a combination of choices from the stretch of reviews for engraved images.]]>
