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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 708 Documents
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Smart Robotic Exoskeleton: a 3-DOF for Wrist-forearm Rehabilitation Noor Sabri Shalal; Wajdi Sadik Aboud
Journal of Robotics and Control (JRC) Vol 2, No 6 (2021): November
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.26125

Abstract

In order to regain the activities of daily living (ADL) for patients suffering from different conditions such as stroke and spinal cord injury, they must be treated with rehabilitation process through programmed exercises. The human motor system can learn through motor learning. This study concerned with the rehabilitation of wrist and forearm joints to restore the ADL through designing and constructing a robotic exoskeleton. The exoskeleton was designed to rehabilitate the patients by providing a 3 degree of freedom (DOF) include flexion/ extension, adduction/abduction, and pronation/ supination movements. It is specified as being portable, comfortable, lightweight, and compatible with the human anatomical structure, in addition to providing a speed and range of motion (ROM) as that of a normal subject. It was designed with SolidWorks software program and constructed with a 3D printer technique using polylactic acid (PLA) plastic material. The overall exoskeleton was controlled with electromyography and angle information extracted using EMG myoware and gyroscope sensors respectively. it was applied for evaluation with 5 normal subjects and 12 subjects of stroke and spinal cord injury (SCI). The results were found that the exoskeleton has a strong effect on regaining muscle activity and increasing the ROMs of wrist and forearm joints. These results give proof of this exoskeleton to be used for performing physiotherapy exercises.
Mini Drone Linear and Nonlinear Controller System Design and Analyzing Esraa Hadi Kadhim; Ahmad T. Abdulsadda
Journal of Robotics and Control (JRC) Vol 3, No 2 (2022): March
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i2.14180

Abstract

Choosing the mini-drone for a specific payload for designing purposes is one of the most challenging for both cost and design purposes. It is important to develop and analyze the flight control systems of the quadcopter-type Parrot mini drone and how to make the drones more tolerant of adverse weather conditions. The main problem with any quadcopter is that it loses its balance when exposed to any external influence, even if that influence is weak. Where the controller is the most important part of the drone, six plane controllers cover the six degrees of freedom (6dof) in the movement of the drone. In our research, we have improved the height controller in the drone, thus improving the altitude controller by using (PD) and increasing the values of (Kp and Kd) in the altitude controller of the Parrot Mini Drone Mambo to make it more bearable to external influence and to maintain its altitude. We assumed that the aircraft was exposed to bad weather conditions, such as snowfall and dust, which led to an increase in the speed at which the drone fell. We also increased the free fall constant of the object in the simulation design of the drone from (-9.81 m/s2 to -12.81 m/s2) and used Matlab R2021a Simulink to undertake the tuning of the (Kp and Kd) values. This study yielded good results, as illustrated in the results section. Therefore, this research paper suggests adopting the PD controller in the altitude controller and the new values of Kp and Kd to make the drone more tolerant of weather conditions. We tested these results in practice and got good results.
Internet of Things-Based Steam Pump Motor Protection Due to Voltage Unbalance Bagas Aji Saputra; Edy Prasetyo Hidayat; Afif Zuhri Arfianto
Journal of Robotics and Control (JRC) Vol 1, No 2 (2020): March
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.1214

Abstract

PLTGU is a gas and steam power plant, producing electrical energy of 3x526 MW. The PLTGU generation process has several supporting components, one of which is a three-phase induction motor. It requires a balanced three-phase supply voltage in its operation. The problem that frequently occurs is unbalanced voltage supply, causing an imbalance of current going to the motor stator, if not directly corrected. It causes a high temperature on the motor, possible to cause a fire. Based on the problems, a system for monitoring the protection of steam pump motorcycles due to voltage unbalance based on the Internet of Things is designed.  It used a 1-phase AC Adapter voltage sensor, a current sensor SCT-013, an Arduino Uno as the processor, and a web to display the system. The test results showed that the sensor could work well. It could read voltage with an error percentage not exceeding 1%. The percentage error of the current sensor SCT-013 was 5.15%, but the value difference between the sensor and the Avo meter was 0.01. The system was displayed on the web to make to monitor the motor condition more easily
The Design of Digital Heart Rate Meter Using Microcontroller Tatiya Padang Tunggal; Shela Asta Juliani; Hendro Agus Widodo; Rachmad Andri Atmoko; Phong Thanh Nguyen
Journal of Robotics and Control (JRC) Vol 1, No 5 (2020): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.1529

Abstract

Cardiac tests generally use an electrocardiograph, the results of which are used by medical teams to diagnose heart conditions. Individual ECG examination is held in a health care institution so that it cannot be held independently, considering the high costs and the need for analysis by a specialist.  It is, therefore, necessary to have a functional and portable device to detect heart rate. The heart rate measuring device, equipped with a finger sensor, was designed for adults. The 15-second measurement interval showed the heart rate in one minute and the results were shown on an LCD. The minimum system circuit used ATMega 16.
Consensus of Multi-agent Reinforcement Learning Systems: The Effect of Immediate Rewards Neshat Elhami Fard; Rastko Selmic
Journal of Robotics and Control (JRC) Vol 3, No 2 (2022): March
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i2.13082

Abstract

This paper studies the consensus problem of a leaderless, homogeneous, multi-agent reinforcement learning (MARL) system using actor-critic algorithms with and without malicious agents. The goal of each agent is to reach the consensus position with the maximum cumulative reward. Although the reward function converges in both scenarios, in the absence of the malicious agent, the cumulative reward is higher than with the malicious agent present. We consider here various immediate reward functions. First, we study the immediate reward function based on Manhattan distance. In addition to proposing three different immediate reward functions based on Euclidean, $n$-norm, and Chebyshev distances, we have rigorously shown which method has a better performance based on a cumulative reward for each agent and the entire team of agents. Finally, we present a combination of various immediate reward functions that yields a higher cumulative reward for each agent and the team of agents. By increasing the agents’ cumulative reward using the combined immediate reward function, we have demonstrated that the cumulative team reward in the presence of a malicious agent is comparable with the cumulative team reward in the absence of the malicious agent. The claims have been proven theoretically, and the simulation confirms theoretical findings.
Design and Implementation of a Mobile Robot for Carbon Monoxide Monitoring Wahyu Rahmaniar; Ardhi Wicaksono
Journal of Robotics and Control (JRC) Vol 2, No 1 (2021): January
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.2143

Abstract

The gas detection problem is relevant to many real-world applications, such as leak detection in industrial settings and landfill monitoring. The mobile robot used for gas detection has several advantages and can reduce danger for humans. In this study, we proposed an integration system for a mobile robot that can be used for carbon monoxide (CO) monitoring with different operating temperatures. The design and implementation of a mobile robot system that proposed consists of the onboard and ground stations. The proposed system can read CO gas concentration and temperature then send it wirelessly using an XBee module to the ground station. This system was also able to receive the command from the ground station to move the robot. The system provided real-time acquisition data that believed can be a useful tool for monitoring and can be applied for various purposes. The experimental results show that a combination of a mobile robot and environmental sensors can be used for environmental monitoring.
Enhancement of the Tracking Performance for Robot Manipulator by Using the Feed-forward Scheme and Reasonable Switching Mechanism Ha Quang Thinh Ngo; Minh Hoang Nguyen
Journal of Robotics and Control (JRC) Vol 3, No 3 (2022): May
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i3.14585

Abstract

Robot manipulator has become an exciting topic for many researchers during several decades. They have investigated the advanced algorithms such as sliding mode control, neural network, or genetic scheme to implement these developments. However, they lacked the integration of these algorithms to explore many potential expansions. Simultaneously, the complicated system requires a lot of computational costs, which is not always supported. Therefore, this paper presents a novel design of switching mechanisms to control the robot manipulator. This investigation is expected to achieve superior performance by flexibly adjusting various strategies for better selection. The Proportional-Integral-Derivative (PID) scheme is well-known, easy to implement, and ensures rapid computation while it might not have much control effect. The advanced interval type-2 fuzzy sliding mode control properly deals with nonlinear factors and disturbances. Consequently, the PID scheme is switched when the tracking error is less than the threshold or is far from the target. Otherwise, the interval type-2 fuzzy sliding mode control scheme is activated to cope with unknown factors. The main contributions of this paper are (i) the recommendation of a suitable switching mechanism to drive the robot manipulator, (ii) the successful integration of the interval type-2 fuzzy sliding mode control to track the desired trajectory, and (iii) the launching of several tests to validate the proposed controller with robot model. From these achievements, it would be stated that the proposed approach is effective in tracking performance, robust in disturbance-rejection, and feasible in practical implementation.
A Systematic Review of Current Trends in Artificial Intelligence for Smart Farming to Enhance Crop Yield Mochammad Haldi Widianto; Mochamad Iqbal Ardimansyah; Husni Iskandar Pohan; Davy Ronald Hermanus
Journal of Robotics and Control (JRC) Vol 3, No 3 (2022): May
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i3.13760

Abstract

Current technology has been widely applied for development, one of which has an Artificial Intelligence (AI) applied to Smart Farming. AI can give special capabilities to be programmed as needed. In cooperation with agricultural systems, AI is part of improving the quality of agriculture. This technology is no stranger to being applied in basic fields such as agriculture. This smart technology is needed to increase crop yields for various regions by utilizing the current trends paper. This is necessary because less land is available for agriculture, and there is a greater need for food sources. Therefore, this systematic review aims to collect the current trends in AI studies for Smart Farming papers using the latest year features from 2018-2022. This paper is handy for researchers and industry in looking for the latest papers on research to enhance crop yields. The authors utilized Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) of 534 articles from IEEE, ACM, MDPI, IAES, and ScienceDirect. After going through a careful process, 67 papers were found that were judged according to the criteria. After the authors got some of the current trends, the author has discussed several factors regarding the results obtained to enhance crop yields, such as Weather, Soil, Irrigation, Unmanned Aerial Vehicle (UAV), Pest Control, Weed Control, and Disease Control.
Improved Third Order PID Sliding Mode Controller for Electrohydraulic Actuator Tracking Control Muhamad Fadli Ghani; Rozaimi Ghazali; Hazriq Izzuan Jaafar; Chong Chee Soon; Yahaya Md Sam; Zulfatman Has
Journal of Robotics and Control (JRC) Vol 3, No 2 (2022): March
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i2.14236

Abstract

An electrohydraulic actuator (EHA) system is a combination of hydraulic systems and electrical systems which can produce a rapid response, high power-to-weight ratio, and large stiffness. Nevertheless, the EHA system has nonlinear behaviors and modeling uncertainties such as frictions, internal and external leakages, and parametric uncertainties, which lead to significant challenges in controller design for trajectory tracking. Therefore, this paper presents the design of an intelligent adaptive sliding mode proportional integral and derivative (SMCPID) controller, which is the main contribution toward the development of effective control on a third-order model of a double-acting EHA system for trajectory tracking, which significantly reduces chattering under noise disturbance. The sliding mode controller (SMC) is created by utilizing the exponential rule and the Lyapunov theorem to ensure closed-loop stability. The chattering in the SMC controller has been significantly decreased by substituting the modified sigmoid function for the signum function. Particle swarm optimization (PSO) was used to lower the total of absolute errors to adjust the controller. In order to demonstrate the efficacy of the SMCPID controller, the results for trajectory tracking and noise disturbance rejection were compared to those obtained using the proportional integral and derivative (PID), the proportional and derivative (PD), and the sliding mode proportional and derivative (SMCPD) controllers, respectively. In conclusion, the results of the extensive research given have indicated that the SMCPID controller outperforms the PD, PID, and SMCPD controllers in terms of overall performance. 
Internet of Things Applications in Precision Agriculture: A Review N. S. Abu; W. M. Bukhari; C. H. Ong; A. M. Kassim; T. A. Izzuddin; M. N. Sukhaimie; M. A. Norasikin; A. F. A. Rasid
Journal of Robotics and Control (JRC) Vol 3, No 3 (2022): May
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i3.14159

Abstract

The goal of this paper is to review the implementation of an Internet of Things (IoT)-based system in the precision agriculture sector. Each year, farmers suffer enormous losses as a result of insect infestations and a lack of equipment to manage the farm effectively. The selected article summarises the recommended systematic equipment and approach for implementing an IoT in smart farming. This review's purpose is to identify and discuss the significant devices, cloud platforms, communication protocols, and data processing methodologies. This review highlights an updated technology for agricultural smart management by revising every area, such as crop field data and application utilization. By customizing their technology spending decisions, agriculture stakeholders can better protect the environment and increase food production in a way that meets future global demand. Last but not least, the contribution of this research is that the use of IoT in the agricultural sector helps to improve sensing and monitoring of production, including farm resource usage, animal behavior, crop growth, and food processing. Also, it provides a better understanding of the individual agricultural circumstances, such as environmental and weather conditions, the growth of weeds, pests, and diseases.

Page 27 of 71 | Total Record : 708

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