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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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Mobile Robot Navigation Using Planning Algorithm and Sliding Mode Control in a Cluttered Environment Islem Reguii; Imen Hassani; Chokri Rekik
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.v3i2.13765

Abstract

The research contribution of the present work is to solve the path planning and path tracking problems in static and dynamic environments. A new Planning Navigation Algorithm Technique is developed in order to solve the problem of navigation with obstacle avoidance. The basic idea of this algorithm searches for a safe path for navigation. First, this algorithm is focused to identify an optimal collision-free route to a spatially defined objective. Then, in each displacement, the developed algorithm handles to maximize the distance between the obstacles and minimize the distance to the goal. This is to obtain the optimal trajectory for navigation. On the other side, a sliding mode controller is adopted to solve the tracking trajectory task. The basic idea of this control system is to allow the robot mobile to track the desired trajectory with minimum error. In addition, the comparative study between the proposed approach and the previous work is presented in order to demonstrate the satisfaction of the proposed strategy. Finally, simulation results which are developed using Matlab software are presented to show the robustness and efficiency of the developed algorithm and the reactivity of the proposed sliding mode controller.
ROS 2 Configuration for Delta Robot Arm Kinematic Motion and Stereo Camera Visualization Khairul Muzzammil Saipullah; Wira Hidayat Mohd Saad; Sook Hui Chong; Muhammad Idzdihar Idris; Syafeeza Ahmad Radzi
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.v3i3.14436

Abstract

The Delta robot is one of the robot types that is used in agriculture and industrial application. However, before the complex physical development of the robot, a simulation needs to be developed to ensure the perfect functionality of the design. Therefore, this paper presented a development of simulation for a parallel delta robot using a Robot Operating System 2 (ROS 2) environment and stereo camera visualization.  The contribution of this research is to present the development details and the proposed solution to solve issues encountered during the development. The development of script in the format of eXtensible Markup Language (XML), Unified Robot Description Format (URDF), and Simulation Description Format (SDF) are presented for describing a robot's physical structure, allowing a robotic system to be depicted in a tree structure, and defining the delta robot arm, which is made up of closed-loop kinematic chain linkage that will be simulated in Gazebo. For the results, several Gazebo plugin libraries are compared and tested for the wheels motion control, stereo camera visualization, and delta robot arm kinematic motion. From the experiment, the best method is inverse kinematic motion the method is selected and used in the simulation. The selected method resulted in an average percentage error of 3.92%, 3.72%, and 2.92%, respectively for each joint.
Early Diagnosis for Dengue Disease Prediction Using Efficient Machine Learning Techniques Based on Clinical Data Bilal Abdualgalil; Sajimon Abraham; Waleed M. Ismael
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.v3i3.14387

Abstract

Dengue fever is a worldwide issue, especially in Yemen. Although early detection is critical to reducing dengue disease deaths, accurate dengue diagnosis requires a long time due to the numerous clinical examinations. Thus, this issue necessitates the development of a new diagnostic schema. The objective of this work is to develop a diagnostic model for the earlier diagnosis of dengue disease using Efficient Machine Learning Techniques (EMLT). This paper proposed prediction models for dengue disease based on EMLT. Five different efficient machine learning models, including K-Nearest Neighbor (KNN), Gradient Boosting Classifier (GBC), Extra Tree Classifier (ETC), eXtreme Gradient Boosting (XGB), and Light Gradient Boosting Machine (LightGBM). All classifiers are trained and tested on the dataset using 10-Fold Cross-Validation and Holdout Cross-Validation approaches. On a test set, all models were evaluated using different metrics: accuracy, F1-sore, Recall, Precision, AUC, and operating time. Based on the findings, the ETC model achieved the highest accuracy in Hold-out and 10-fold cross-validation, with 99.12 % and 99.03 %, respectively. In the Holdout cross-validation approach, we conclude that the best classifier with high accuracy is ETC, which achieved 99.12 %. Finally, the experimental results indicate that classifier performance in holdout cross-validation outperforms 10-fold cross-validation. Accordingly, the proposed dengue prediction system demonstrates its efficacy and effectiveness in assisting doctors in accurately predicting dengue disease.
Low Power NAND Gate–based Half and Full Adder / Subtractor Using CMOS Technique Angelo A. Beltran Jr.; Kristina Nones; Reina Louise Salanguit; Jay Bhie Santos; Jose Maria Rei Santos; Keith Joseph Dizon
Journal of Robotics and Control (JRC) Vol 2, No 4 (2021): July
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.2487

Abstract

In recent years, low power consumption has been an important consideration for the design of system since there is a high demand for consumer electronics such as cellphones for a longer battery life. This paper presents the simulation of half adder, half subtractor, full adder, and the full subtractor. The presented circuit contains NAND gates combining the NMOS and PMOS. These CMOS circuitries has the advantage of lower voltage, lower power consumption, and higher energy efficiency. The NMOS and PMOS were bridge together to produce the desired output. This design provides the CMOS half adder, half subtractor, full adder, and full subtractor using the Tanner EDA software tool. The complete CMOS circuit schematic are described in this paper. The design methods and principles are described thereafter. Simulations have been done with the use of the Tanner EDA tool in a CMOS technology standard and response output was verified comparing the obtained waveform along with its truth table. In comparison with conventional logic truth table, T-Spice output simulation matches with theoretical expectations.
Design of a Continuous Passive Motion (CPM) Machine for Wrist Joint Therapy Antonius Hendro Noviyanto; Laurentia Deby Septilianingtyas; Dita Rahmawati
Journal of Robotics and Control (JRC) Vol 2, No 4 (2021): July
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.2498

Abstract

Patients after joint surgery require passive movements that are carried out continuously. The movement is given to the patient to reduce the stiffness that occurs in the joints after joint surgery. Joint stiffness is characterized by pain and limited motion of the joint, which is caused due to reduced synovial fluid. Synovial fluid in the joints can be reduced if the joint is not moved for a long time. This research will design a wrist joint therapy machine that can be moved flexion, extension, ulnar, and radial. Besides that, the device to be designed can be adjusted the angle of movement of the tool and the speed of movement of the tool. The angles of movement that can be reached are (1) flexion movement: 80 ° movement angle, (2) extension movement: 75 ° movement angle, (3) radial movement: 25 ° movement angle, and (4) ulnar movement: movement angle 39 °. Adjustable speeds include 1 RPM, 2 RPM, and 3 RPM. In the result of the testing device, we find the maximum difference of movement in 2° and the speed of rotation we have the difference in 0.5 seconds. Based on experiments that have been done, the tool can be controlled in accordance with the desired movement settings.
NFT Hydroponic Control Using Mamdani Fuzzy Inference System Indra Agustian; Bagus Imam Proayoga; Hendy Santosa; Novalio Daratha; Ruvita Faurina
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.v3i3.14714

Abstract

The Nutrient Film Technique (NFT) method is one of the most popular hydroponic cultivation methods. This method has advantages such as easier maintenance, faster and optimal plant growth, better use of fertilizers, and less deposition. The disadvantages of NFT include the consumption of electrical power and the faster spread of disease. Therefore, NFT requires a good nutrient control and monitoring system to save electricity and achieve optimal growth and resistance to pests and diseases. In this study, a nutrient control was designed with indicators of pH and TDS levels and equipped with an Internet of Things (IoT) based monitoring system. The control system used is the Mamdani Fuzzy Inference System. The output of the system is the active time of the pH Up, pH Down, and AB Mix nutrient pumps, which aim to normalize the pH and TDS of nutrient liquids. The experimental results show that one to three control steps are needed to normalize pH. One control step has a response time of 60 seconds, and it can prevent pH Up and pH Down oscillations. As for TDS control, the prediction of AB mix pump active time works accurately, and TDS levels can be normalized in one control step. Overall, based on surface control, simulations, and real experimental data, it is indicated that the control system operates very well and can normalize pH and TDS to the desired normal standard.
Design and Implementation of Force Sensation and Feedback Systems for Telepresence Robotic Arm Akhtar Un Nisa; Saifullah Samo; Raheel Ahmed Nizamani; Areesha Irfan; Zuha Anjum; Laveet Kumar
Journal of Robotics and Control (JRC) Vol 3, No 5 (2022): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i5.15959

Abstract

Humans put their own lives aside to save other human’s life and perform risky and dangerous activities. The risk can be reduced by using new technologies. This research study focuses on telepresence and teleoperation systems with motion and force control systems that replace humans in hazardous workspaces. In telepresence, the system helps humans to visualize the environment in real-time. In teleoperation, the system provides sensation to assist human beings in performing out-of-reach and dangerous operations safely as in real, providing a shadow hand to the operator. In this study, a system is developed that consists of a slave robotic arm and a master wearable device with bidirectional communication between the robotic arm and operator (master wearable device). It also presents a gesture-controlled robotic arm that uses sensors to read and translate human arm movements as commands. The slave robotic arm, senses applied force on an object and a master wearable device develops the force according to sensed force, in a result operator senses/feels the same object in the control room at distance. The slave robotic arm also mimics the operator arm to reach the proper position of an object. Several experiments were conducted with untrained personnel and satisfactory results were yielded, which showed that the motion and force replication is 90-95% accurate.
A Systematic Review of LPWAN and Short-Range Network using AI to Enhance Internet of Things Mochammad Haldi Widianto; Ardiles Sinaga; Maria Artanta Ginting
Journal of Robotics and Control (JRC) Vol 3, No 4 (2022): July
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i4.15419

Abstract

Artificial intelligence (AI) has recently been used frequently, especially concerning the Internet of Things (IoT). However, IoT devices cannot work alone, assisted by Low Power Wide Area Network (LPWAN) for long-distance communication and Short-Range Network for a short distance. However, few reviews about AI can help LPWAN and Short-Range Network. Therefore, the author took the opportunity to do this review. This study aims to review LPWAN and Short-Range Networks AI papers in systematically enhancing IoT performance. Reviews are also used to systematically maximize LPWAN systems and Short-Range networks to enhance IoT quality and discuss results that can be applied to a specific scope. The author utilizes selected reporting items for systematic review and meta-analysis (PRISMA). The authors conducted a systematic review of all study results in support of the authors' objectives. Also, the authors identify development and related study opportunities. The author found 79 suitable papers in this systematic review, so a discussion of the presented papers was carried out. Several technologies are widely used, such as LPWAN in general, with several papers originating from China. Many reports from conferences last year and papers related to this matter were from 2020-2021. The study is expected to inspire experimental studies in finding relevant scientific papers and become another review.
Direct Comparison using Coulomb Counting and Open Circuit Voltage Method for the State of Health Li-Po Battery Lora Khaula Amifia
Journal of Robotics and Control (JRC) Vol 3, No 4 (2022): July
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i4.15515

Abstract

Electric cars have undergone many developments in the current digital era. This is to avoid the use of increasingly scarce fuel. Recent studies on electric cars show that battery estimation is an interesting topic to be implemented directly. The battery estimation strategy is carried out by the Battery Management System (BMS). BMS is an indispensable part of electric vehicles or hybrid vehicles to ensure optimal and reliable operation of regulating, monitoring, and protecting batteries. A reliable BMS can extend battery life by setting voltage, temperature, and charging and discharging current limits. The main estimation strategy used by BMS is battery fault, SOH, and battery life. Battery State of Health (SOH) is part of the information provided by the BMS to avoid battery damage and failure. SOC is the proportion of battery capacity SOH is a measure of battery health. This study aims to develop a method for estimating SOH simultaneously using Coulomb Counting and Open Circuit Voltage (OCV) algorithms. The battery is modeled to obtain battery parameters and components of internal resistance, capacitance polarization and OCV voltage source. Several tests were implemented in this research by applying the constant current (CC)-charge CC-discharge test. The state-space system is then formed to apply the Coulomb Counting and OCV algorithms so that SOH can be estimated simultaneously. The OCV-SOC function is obtained in the form of a tenth order polynomial and the battery model parameters say that these parameters change with the health of the battery. The results of the model validation are able to accurately model the battery with an average relative error of 0.027%. Coulomb Counting resulted in an accurate SOH estimation with an error of 3.4%.
Simulation Model of Single-Phase AC-AC Converter by Using MATLAB Dina Harith Shaker; Salam Waley Shneen; Fatin Nabeel Abdullah; Ghada Adel Aziz
Journal of Robotics and Control (JRC) Vol 3, No 5 (2022): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i5.15213

Abstract

The current research sheds light on the electronic power devices that work as transformers and are named according to the function. A model of a single-phase transformer AC-AC type with half-wave and full-wave quality has been proposed. Its output is controlled by power, voltage and current, which is considered an input to the load. The fixed input transformer has a variable output according to the required power, voltage and current. Inverters of this type have so many uses that they are used in many different applications, including industrial, induction motor speed control, military, medical and household, including low-light circuits, among others. A simulation involving different types of single-phase AC transformers is proposed. The models were built in two ways, the first using a diode as an electronic switch, and the second using a thyristor. Different values for the load were chosen by adopting three values of 30 ohms, 40 ohms, and 50 ohms. An alternating power supply with an RMS value of 222 volts. Simulation was carried out after modeling to test the performance of the proposed transformer and its various modes of operation. Simulation models confirmed and reinforced the working theories of the proposed structures. From the results, we can reach the possibility of changing the voltage and power values using the electronic transformer by using the frequency of closing and opening the electronic keys within specific periods according to the proposed model, which can be represented or modified.

Page 29 of 71 | Total Record : 708

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