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[Dual Mode System of Smart Home Based on Internet of Things ]]>
<![CDATA[Chico Hermanu]]>;
<![CDATA[Hari Maghfiroh]]>;
<![CDATA[Henry Probo Santoso]]>;
<![CDATA[Zainal Arifin]]>;
<![CDATA[Catur Harsito]]>
<![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.v3i1.10961
<![CDATA[In the digitalization and automation era, the internet has become an inseparable part of human life It provides a place for devices that are connected and can be controlled wirelessly through a network infrastructure, which is called the internet of things (IoT). In this research, the dual mode system of smart home based on IoT is proposed. In this system, the smart home can be controlled both manually and automatically. The key component for the proposed system is the relay mode which can be controlled to select the mode. The hardware implementation was done to test the proposed system with good result. Blynk app is used to control in automatic mode with virtual switch. When the manual mode is selected, the automatic mode is turned off and vice versa.]]>
<![CDATA[Underwater Resurrection Routing Synergy using Astucious Energy Pods ]]>
<![CDATA[Ashraf, Shahzad]]>;
<![CDATA[Raza, Asif]]>;
<![CDATA[Aslam, Zeeshan]]>;
<![CDATA[Naeem, Hamad]]>;
<![CDATA[Ahmed, Tauqeer]]>
<![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.1535
<![CDATA[The accomplishment of sustainable communication among source and destination sink node is a rigors challenge and even establishing bodacious communication link between these nodes is nothing short of a miracle because data routes are governed by the underwater environment. Energy consumption has a significant influence as all active devices rely on the battery. As cost-effective data packet transmission is established as a norm, no charging or replacement can be achieved. Hop link evaluation and shrewd connection discovery by way of a resurrecting linking element were just a genuinely grim task, and only feasible to create the extra powered energy pods (URR-SAEP) that had never been carried out before after detailed study. After packet transfer, the sensor node performs the link inspection process, and when a link is deemed shaky at less than or equivalent to 50 percent of capacity, the target node incorporates its residual capacity status and returns it to the source node that attaches other unoptimizable energy pods to improve only the targeted node link from 50 percent to 90 percent. Performance evaluation using NS2 with Aqua-Sim 2.0 simulator has been obtained comparing with DBR and EEDBR protocols in terms of point-to-point delay, Packet dissemination ratio, Network lifespan and Energy Diminution.]]>
<![CDATA[Modeling and optimization of photovoltaic cells with GA algorithm ]]>
<![CDATA[Alayi, Reza]]>;
<![CDATA[Harasii, Hossein]]>;
<![CDATA[Pourderogar, Hamed]]>
<![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.2149
<![CDATA[In this research, the modeling and analysis of the solar tracking system were carried out to obtain the optimal angle in photovoltaic systems for generating maximum power using genetic algorithm (GA). In this paper, the control system is proposed by the GA genetic algorithm that optimizes the output energy of the PV system by adjusting the spatial angles of the solar panel in both vertical and horizontal axes. In this method, without the need for additional hardware, the optimal panel position angles are calculated by using the Matlab software to capture the most sun and maximize output energy. The main advantage is that the system operates discretely during operation and losses are reduced, as well as in the clouds, solar radiation is received and the output energy rises. The important results of this study can be the system is optimized, the output power of the photovoltaic system in a fixed array mode increases by 15.85%.]]>
<![CDATA[Predicting Impact of COVID-19 on Crude Oil Price Image with Directed Acyclic Graph Deep Convolution Neural Network ]]>
<![CDATA[O. Oyewola, David]]>;
<![CDATA[Femi Augustine, Akomolafe]]>;
<![CDATA[Gbenga Dada, Emmanuel]]>;
<![CDATA[Ibrahim, Asabe]]>
<![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.2261
<![CDATA[Deep learning methods have achieved amazing results in sequential input, prediction and image classification. In this study, we propose image transformation of time series crude oil price by incorporating 2-D Directed Acyclic Graph to Convolutional Neural Network (DAG) based on image processing properties. Crude oil price time series is converted into 2-D images, utilizing 10 distinctive technical indicators. Geometric Brownian Motion was utilized to produces data for a 10-day time span. Thus, 10x10 sized 2-D images are constructed. Each image is then labelled as Buy or Sell depending on the returns of the time series. The results show that integrating DAG with CNN improves the prediction accuracy by 14.18%. Â DAG perform best with an accuracy of 99.16%, sensitivity of 100% and specificity of 99.19%. COVID-19 has negatively affected Nigeria crude oil price which indicates a downward trend of crude oil price. The study recommends poly-cultural economy of Nigeria economy for national development of the nation.]]>
<![CDATA[Improved Modified Chaotic Invasive Weed Optimization Approach to Solve Multi-Target Assignment for Humanoid Robot ]]>
<![CDATA[Kashyap, Abhishek Kumar]]>;
<![CDATA[Parhi, Dayal]]>;
<![CDATA[Pandey, Anish]]>
<![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.2377
<![CDATA[The paper presents an improved modified chaotic invasive weed optimization (IMCIWO) approach for solving a multi-target assignment for humanoid robot navigation. MCIWO is improved by utilizing the Bezier curve for smoothing the path and replaces the conventional split lines. In order to efficiently determine subsequent locations of the robot from the present location on the provided terrain, such that the routes to be specifically generated for the robot are relatively small, with the shortest distance from the barriers that have been generated using the IMCIWO approach. The MCIWO approach designed the path based on obstacles and targets position which is further smoothened by the Bezier curve. Simulations are performed which is further validated by real-time experiments in WEBOT and NAO robot respectively. They show good effectiveness with each other with a deviation of under 5%. Ultimately, the superiority of the developed approach is examined with existing techniques for navigation, and findings are substantially improved.]]>
<![CDATA[Application for Selection of Student Final Project Supervisors Based on the Selected Category and Expertise of Lecturers Using the Naive Bayes Classifier Method ]]>
<![CDATA[Ikhsanudin, Muhamad]]>;
<![CDATA[Irawan, Yuda]]>
<![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.2499
<![CDATA[At the end of the task the supervisor has an important role for the success achieved and graduation of students. For this reason, ideal supervisors are needed for students. As discussed in the STMIK Hang Tuah Pekanbaru in the process of submitting the title of this thesis, so are some of the problems that arise, namely regarding the matter of coaching because the process is still using conventional methods that is based on personal knowledge of the Head of Study Program, the difficulty of the development process of submitting the Student's final position for difficulties check the final supervisor's assignment. The application of selecting the final project supervisor for students is the solution of the debate. The supervisor lecturer recommendation system that can utilize the naïve bayes classifier algorithm as a determinant of the probability of the lecturer results students can choose. Naive Bayes is a prediction technique based on simple probabilities based on the application of the Bayes theorem (Bayes rule) with a strong assumption of independence. The selection is based on the final criteria for the assignment and expertise of the lecturer. From the application of this recommendation is obtained from the recommendations of supervisors in accordance with the concept of the student's final project. With reference data, training and Bayes rules obtained sufficient results to satisfy students in getting a supervisor who is in accordance with the topic of the student's final project.]]>
<![CDATA[Human Activity Recognition using Machine Learning Approach ]]>
<![CDATA[Haroon P S, Abdul Lateef]]>;
<![CDATA[D. R, Premachand]]>
<![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.25113
<![CDATA[The growing development in the sensory implementation has facilitated that the human activity can be used either as a tool for remote control of the device or as a tool for sophisticated human behaviour analysis. With the aid of the skeleton of the human action input image, the proposed system implements a basic but novel process that can only recognize the significant joints. The proposed system contributes a cost-effective human activity recognition system along with efficient performance in recognizing the significant joints. A template for an activity recognition system is also provided in which the reliability of the process of recognition and system quality is preserved with a good balance. The research presents a condensed method of extraction of features from spatial and temporal features of event feeds that are further subject to the mechanism of machine learning to improve the performance of recognition. The significance of the proposed study is reflected in the results, which when trained using KNN, show higher accuracy performance. The proposed system demonstrated 10-15% of memory usage over 532 MB of digitized real-time event information with 0.5341 seconds of processing time consumption. Therefore on a practical basis, the supportability of the proposed system is higher. The outcomes are the same for both real-time object flexibility captures and static frames as well.]]>
<![CDATA[Data Storage Based Heart and Body Temperature Measurement Device ]]>
<![CDATA[Nur Hudha Wijaya]]>;
<![CDATA[Andi Gofer Alvian]]>;
<![CDATA[Afif Zuhri Arfianto]]>;
<![CDATA[Joessianto Eko Poetro]]>;
<![CDATA[Farhad Waseel]]>
<![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.1103
<![CDATA[Body health is the most important thing for human life. The heart is one of the organs of the body that is very important for humans. The heart functions to regulate the circulation of oxygen-rich blood and to carry leftover food in the body. Heart rate illustrates how hard the heart works. The heart rate needs to be monitored to find out the patient's condition. BPM measurement and temperature is an activity of measuring heart rate and body temperature. The patient’s body temperature affects the patient's rapid heart to pump blood throughout the body. The study aims to design a heart rate and body temperature measuring device using an infrared LED as a transmitter and a photodiode as a receiver, an LM35 as the temperature sensor, and an LCD to display the final output. This tool uses an ATMega8 microcontroller as the controlling system. The device was completed with data storage and temperature indicators. The result of the test on the device showed that the device performed very well in measuring the heart rate and body temperature of adult patients aged 20 until 40 years old.]]>
<![CDATA[Backstepping-based Super-Twisting Sliding Mode Control for a Quadrotor Manipulator with Tiltable Rotors ]]>
<![CDATA[Shilin Yi]]>;
<![CDATA[Keigo Watanabe]]>;
<![CDATA[Isaku Nagai]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 3, No 2 (2022): March ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v3i2.13368
<![CDATA[Designing a robust controller is very important in the control of outdoor unmanned aerial vehicles. This paper presents the design procedures and implementation of super-twisting sliding mode controller, which is a robust nonlinear controller. The robust controller is applied to an over-actuated quadrotor manipulator with four tiltable rotors. A serial manipulator with two links is mounted on the bottom of the quadrotor. The quadrotor possesses the property of decoupling its position and orientation. The main contribute of this paper is that a super-twisting sliding mode controller in vector form is designed and applied to the control of an over-actuated quadrotor manipulator. Another contribution of this paper is that the stability of the closed-loop system is proved by utilizing the Lyapunov stability theory. It is confirmed that the performance of the super-twisting sliding mode controller is superior to that of the conventional backstepping controller in terms of convergence rate and accuracy by simulations.]]>
<![CDATA[Simulation Model of Servo Motor by Using Matlab ]]>
<![CDATA[Fatin Nabeel Abdullah]]>;
<![CDATA[Ghada Adel Aziz]]>;
<![CDATA[Salam Waley Shneen]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 3, No 2 (2022): March ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.v3i2.13959
<![CDATA[The research aims to develop documented empirical data to obtain a high-accuracy and effective system according to a principal system as a model that represents the system for all expected cases and different working conditions. The current works are simulating a servo motor that works with specifications as a mathematical representation of it down to its representation with a transformation function. The simulation is done for different cases, the first is without a controller, and the other is an operation simulation with a conventional controller that is with a PID controller. The results, through response and accuracy, prove the preference of PID controller systems in the speed of response and high accuracy with the change or different conditions of the system, i.e., working with linear systems. A simulation is being conducted to verify the use of control systems to improve the performance of servo motors. Algorithms of control systems are developed according to designs based on prior experience. Speed and position control are the most common and used in many applications, which created the need to choose them. To overcome fluctuations and obtain a quick response and a high-precision system used, control systems, as the results proved. The research contribution is developing a design for the user control systems also checking them in simulation with the servo motor system using MATLAB. They test them in the servo motor control as well to test their performance experimentally.]]>
