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[Stability Data Xbee S2b Zigbee Communication on Arduino Based Sumo Robot ]]>
<![CDATA[I Made Aditya Nugraha]]>;
<![CDATA[I Gusti Made Ngurah Desnanjaya]]>;
<![CDATA[I Wayan Dani Pranata]]>;
<![CDATA[Wawan Harianto]]>
<![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.2370
<![CDATA[Wireless technology is a solution to reach hard-to-reach places using cable technology. The use of wireless technology can reach these areas without using copper or cables in the data transmission process. Communication technology using wireless is one solution to connect the control system to support the creation and achievement of the goals of the 4.0 revolution so that control and monitoring become easier. With the convenience provided by wireless technology such as connecting various types of system devices between other systems. One type of wireless technology is WPAN, especially on the ZigBee system from Digi International with the IEEE 802.15.4 protocol standard with low power consumption and working at a frequency of 2.4 GHz. Utilization of the communication system from the ZigBee protocol can control according to the range capabilities of the ZigBee system. ZigBee's ability and use of communication can perform communication control robot sumobot (slave robot) and remote control (robot leader) as an introduction to command data to carry out movements on the slave robot in accordance with the orders from the robot leader After trying XBEE to send data at a certain distance without experiencing data loss, the best distance is obtained, namely 1 - 100 meters with the firmware coordinator and router settings. Data delays can be minimized with a transfer rate of 3 kbps in the data transfer rate.]]>
<![CDATA[Temperature Monitoring System for Egg Incubators Using Raspberry Pi3 Based on Internet of Things (IoT) ]]>
<![CDATA[Siti Purwanti]]>;
<![CDATA[Anita Febriani]]>;
<![CDATA[Mardeni Mardeni]]>;
<![CDATA[Yuda Irawan]]>
<![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.25105
<![CDATA[The incubator is made as a substitute for hatching naturally at the same time. The success of the hatch machine is largely determined by the temperature stability in the incubator. In the use of small-scale hatcheries for native chicken hatching, they are still faced with the problem of low hatchability due to one of the obstacles, namely the power outage during the hatching process. To improve the monitoring performance of egg incubators, the writer wishes to conduct research "Monitoring to Control and Monitor Temperature in Egg Incubators" using a webcam camera to monitor temperature conditions and hatch eggs. The working system is the DHT11 sensor will detect the temperature, the webcam camera in real time will monitor the state of the eggs then the raspberry pi3 will automatically control the temperature and electrical energy on the incubator, the smartphone monitors and can also control the temperature with the state of the eggs in realtime, 12V battery as a replacement energy when the PLN goes out. From the results of the tests carried out, the authors can draw conclusions, namely: The webcam camera can display the condition of the eggs in the incubator room. Android smartphones can receive information with a webcam camera during the hatching process. The data logger can display recapitulated temperature and humidity data.]]>
<![CDATA[An hybridization of global-local methods for autonomous mobile robot navigation in partially-known environments ]]>
<![CDATA[Samia Sahloul]]>;
<![CDATA[Donia BEN HALIMA Abid]]>;
<![CDATA[Chokri REKIK]]>
<![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.2483
<![CDATA[This paper deals with the navigation problem of an autonomous non-holonomic mobile robot in partially-known environment. In this proposed method, the entire process of navigation is divided into two phases: an off-line phase on which a distance-optimal reference trajectory enables the mobile robot to move from an initial position to a desired target which is planned using the B-spline method and the Dijkstra algorithm. In the online phase of the navigation process, the mobile robot follows the planned trajectory using a sliding mode controller with the ability of avoiding unexpected obstacles by the use of fuzzy logic controller. Also, the fuzzy logic and fuzzy wall-following controllers are used to accomplish the reactive navigation mission (path tracking and obstacle avoidance) for a comparative purpose. Simulation results prove that the proposed path planning method (B-spline) is simple and effective. Also, they attest that the sliding mode controller track more precisely the reference trajectory than the fuzzy logic controller (in terms of time elapsed to reach the target and stability of two wheels velocity) and this last gives best results than the wall-following controller in the avoidance of unexpected obstacles. Thus, the effectiveness of our proposed approach (B-spline method combined with sliding mode and fuzzy logic controllers) is proved compared to other techniques.]]>
<![CDATA[The Design and Analysis of DC Electrical Voltage-Current Datalogger Device Implemented on Wind Turbine Control System ]]>
<![CDATA[Sri Murti]]>;
<![CDATA[Prisma Megantoro]]>;
<![CDATA[Gabriel De Brito Silva]]>;
<![CDATA[Andino Maseleno]]>
<![CDATA[ Journal of Robotics and Control (JRC) Vol 1, No 3 (2020): May ]]>
Publisher : <![CDATA[Universitas Muhammadiyah Yogyakarta ]]>
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DOI: 10.18196/jrc.1317
<![CDATA[DC electrical voltage - current measuring instrument and data logger is an instrument used to measure the current and voltage generated wind turbine and recording the measurement results. The fuction of this instrument is to activate the dummy load on the wind turbine control system to reduce the voltage that exceeds the safe limit when saving electrical energy. The purpose of this research is to manufacture and analyze DC electrical voltage - current measuring instrument with arduino uno based data logger which is capable to measure DC current and voltage generated by Hybrid Power Plants (PLTH) in Pantai Baru Pandansimo Bantul Yogyakarta, and using metrology method to analyze the degree of uncertainty of the measuring instrument. In this research, heuristic method is used to determine the characteristics of the sensor. Sensor characterization has been done, followed by calibration of measurement instrument to determine the magnitude of the uncertainty of the measurement instrument. The results of this research indicated that the characteristics of voltage sensor (CR5310-300) obtained equation of linear regression y=0.29253x + 0.662, while the current sensor characteristics (WCS1800) obtained equation of linear regression y=0.072978x - 37.2408. After the characterization procedure is done, the measuring instrument callibrated using a traced clampmeter. The calibration results indicated that the voltage sensor has accuracy of 99.99%. Whereas for the current measuring instrument has an uncertainty that is extended at standard current 0 - 9 amperes of 0.316 amperes and at the standard current of 9.7 amperes of 0.317 amperes with an accuracy of 99.98%. Based on the results of this research, can be obtained that current and voltage measuring instrument has good accuracy level.]]>
<![CDATA[Motorcycle Security System using SMS Warning and GPS Tracking ]]>
<![CDATA[Budi Artono]]>;
<![CDATA[Tri Lestariningsih]]>;
<![CDATA[R. Gaguk Pratama Yudha]]>;
<![CDATA[Arizal Alfan Bachri]]>
<![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.1531
<![CDATA[Today, technology has been developing rapidly. Various types of technology have been developed and provide a great deal of convenience in human life activities, including security systems. Motorcycles, parked in a park or on the street, are at high risk of being stolen. A security system for Motorcycles with SMS warning and GPS tracking that can prevent theft of a motorcycle is needed. The research aimed to design a security system for motorcycle consisting of a SIM808 GSM Module to send warning messages, and a GPS tracker to provide information in latitude and longitude coordinates to track the stolen motorcycle using Google Maps. GPS Tracker worked by reading the coordinates where the object was located. The tests were carried out by moving and integrating the motorcycle system, and the results could be seen in the coordinate changes, monitored by Google map showing the movement of the motorcycle. The system made was significantly closer to what was planned.]]>
<![CDATA[Arduino-based Disaster Management System ]]>
<![CDATA[Angelo Beltran Jr.]]>;
<![CDATA[Keith Joseph Dizon]]>;
<![CDATA[Kristina Nones]]>;
<![CDATA[Reina Louise Salanguit]]>;
<![CDATA[Jay Bhie Santos]]>;
<![CDATA[Josemaria Rei Santos]]>
<![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.2147
<![CDATA[The Philippines suffered from an inexhaustible number of deadly typhoons, earthquakes, volcano eruptions making it a country prone to natural disasters. Natural causes are inevitable but having a warning device to alert people and prepare them from what’s about to come is essential today. In this paper, the Arduino-based disaster management system is proposed. The device created is a disaster management device that consists of temperature, soil drift, accelerometer, tilt, and rain sensor. A hardware prototype model was developed. It is operated through microcontroller Arduino and implemented using the C language. The effectiveness of the proposed method is verified by experimental studies. If a sensor is activated, it will send data to the selected receiver, which is a mobile phone. Acquired data were provided in this article. Results reveal the effectiveness and efficacy of the proposed system. An expressive future directive has been incorporated at the end of this paper.]]>
<![CDATA[Analysis of Performance of Permanent Magnet Generator Fluks Axial 1 Phasa with Variation Load ]]>
<![CDATA[Zulkiffli Saleh]]>;
<![CDATA[Yosi Apriani]]>;
<![CDATA[Khoirul Karim]]>;
<![CDATA[Aldiansyah Aldiansyah]]>
<![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.2260
<![CDATA[With the potential of low water head energy and relatively small water discharge then it takes a low round generator to be applied to the potential of existing energy. The development of Permanent Magnet Generator (PMG), being an alternative considering the pole construction of the rotor is relatively simple compared to conventional generators, so it is technically required a more number of rotor poles in the effort to lower the speed The nominal dial generator. The purpose of this research is to analyze the 1-phase axial generator performance with varied resistive loads and inductive loads. This research has 4 stages of research: 1). Study literature. 2). Carried out testing tools. 3). Measurement of data retrieval. 4). Data analysis. From this research obtained results from the tools and measurements of the data retrieval of the performance of axial generator 1 phase with inductive and resistive load Vaiasi. Load mounted 15 watts, voltage 35.10, current 0.80, RPM 2550 when load 75 Waat, Voltage 11.50, current 1.54, RPM 2220. From these results can be concluded axial generator 1 phase currents also get bigger but voltage and rpm decreases.]]>
<![CDATA[Fire Early Warning Using Fire Sensors, Microcontroller and SMS Gateway ]]>
<![CDATA[Rizqi Sukma Kharisma]]>;
<![CDATA[Ardi Setiyansah]]>
<![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.2372
<![CDATA[A fire disaster that does not save can certainly cause losses, both in the form of objects and casualties. This occurs for several reasons: late information obtained from the fire department or the owner's ignorance at the time of a fire. In this study, a fire early detection system was built using smoke, heat, and gas sensors based on an SMS gateway and an alarm. This system is used to provide information about fire detection as early as possible to protect against fire disasters. With this system, the potential and risk of fire can be reduced. This system is used to identify potential fires that occur in housing. Several experiments were carried out with fire simulations to get the reaction from the sensors used. Covers smoke testing, temperature testing, gas testing, and SMS message responses from various providers. This research produces a fire early warning system that provides SMS and alarm alerts.]]>
<![CDATA[Morse Code Receiver On Invisible Light Using Background Subtraction Method ]]>
<![CDATA[Yuda Irawan]]>;
<![CDATA[Refni Wahyuni]]>;
<![CDATA[Herianto Herianto]]>
<![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.2492
<![CDATA[Morse code is a system of representation of letters, numbers, punctuation marks and signals using a code of dots and lines that are arranged to represent certain characters in the alphabet or certain signals (signs) that are agreed upon for use throughout the world was studied by nilas[1]. This code was coined by Samuel F.B. Morse and Alfred Vail in 1835 was studied by ming[2]. This research aims at how to apply the Background Subtraction method in the design of the morse sign language receiver in the invisible light. Build an Android-based application for recognition of Morse sign language by keeping messages sent using Morse sign language secret through infrared light from the sight of those who can read the message. From the results of the tests that have been carried out, it is concluded that the level of accuracy of testing using the False Match Rate (FMR) obtained a success percentage of 65% from the 26 character data tested. From the 26 character data tested, it was obtained data with the number of characters that were successfully counted correctly, namely 17 characters, while the character data that failed to be counted was 9 characters with a detection result of 26 characters.]]>
<![CDATA[Assessment of Collision Avoidance Strategies for an Underwater Transportation System ]]>
<![CDATA[Faheem Ur Rehman]]>;
<![CDATA[Enrico Anderlini]]>;
<![CDATA[Giles Thomas]]>
<![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.25112
<![CDATA[Transportation using multiple autonomous vehicles with detection avoidance capability is useful for military applications. It is important for such systems to avoid collisions with underwater obstacles in an effective way, while keeping track of the target location. In this paper, sensor-based and path-planning methods of external collision avoidance were investigated for an underwater transportation system. In particular, sensor-based wall-following and hard-switching collision avoidance strategies and an offline RRT* path-planning method was implemented on the simulation model of the transportation system of four Hovering Autonomous Underwater Vehicles (HAUVs). Time-domain motion simulations were performed with each method and their ability to avoid obstacles was compared. The hard-switching method resulted in high yaw moments which caused the vehicle to travel towards the goal by a longer distance. Conversely, in the wall-following method, the yaw moment was kept to zero. Moreover, the wall-following method was found to be better than the hard-switching method in terms of time and power efficiency. The comparison between the offline RRT* path-planning and wall-following methods showed that the fuel efficiency of the former is higher whilst its time efficiency is poorer. The major drawback of RRT* is that it can only avoid the previously known obstacles. In future, offline RRT* and wall following can be blended for a better solution. The outcome of this paper provides guidance for the selection of the most appropriate method for collision avoidance for an underwater transportation system.]]>
