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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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Design of a Continuous Passive Motion (CPM) Machine for Wrist Joint Therapy Noviyanto, Antonius Hendro; Septilianingtyas, Laurentia Deby; Rahmawati, Dita
Journal of Robotics and Control (JRC) Vol 2, No 4 (2021): July (Forthcoming Issue)
Publisher : Universitas Muhammadiyah Yogyakarta

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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.
Control of DC Motor Using Integral State Feedback and Comparison with PID: Simulation and Arduino Implementation Ma'arif, Alfian; Rahmat Setiawan, Naural
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September (Forthcoming Issue)
Publisher : Universitas Muhammadiyah Yogyakarta

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Abstract

The Direct Current (DC) motor is widely applied in various implementations. The main problem in the DC motor is controlling the angular speed on the specific reference. This research then proposed an integral state feedback design for tracking control in DC motor, with Simulink Matlab simulation and the Arduino hardware implementation. The results will be compared with the implementation of the PID controller. The integral state feedback controller can handle the system to reach the setpoint with good performance in the simulations, even with changing different poles and setpoints. In the hardware implementation, the current sensor (INA219) and encoder sensor are used since all state variables need to be calculated. Based on the result, the controller can reach the setpoint stably with oscillation. Similar results are showed in simulations with different setpoints. Compared with the PID Controller, the integral state feedback controller has a better response with faster rise time and faster settling time.
Validation Method for Digital Flow Meter for Fuel Vendors Megantoro, Prisma; Husnan, Danar Aulia; Sattar, Mian Usman; Maseleno, Andino; Tanane, Omar
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.1210

Abstract

Research on the design of fuel measuring device for vendors using Arduino Mega 2560 microcontroller and positive displacement flow meter sensor was conducted. It aimed to design and create a prototype of fuel measuring device for retail traders, and to find error values on the device. The research began with searching for reference books, making hardware and programming, and finally testing the device. The components used were Arduino Mega 2560, positive displacement flow meter sensor, keypad, selenoid valve and 4x20 LCD. The test was performed by comparing the results of the measuring cup to the number displayed on the LCD, followed by reproducibility. Data collection was carried out every volume of 500ml, 1000ml, 1500ml, and 2000ml. The results of the research showed that the error value was 2.24% with the comparison of 1.91%. Several factors affecting the highness of error value were human factor, sensor and device factor, as well as the comparison device being used. Referring to the error value that smaller than 5%, this device is worthy for mass production
Simulation of Vetilligo Therapy Equipment Hudha Wijaya, Nur; Agtesa, Adelia; De Brito Silva, Gabriel; Dhinakaran, V.; Usman, Mian
Journal of Robotics and Control (JRC) Vol 1, No 4 (2020): July
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.1426

Abstract

Vitiligo is a skin disorder caused by a lack of melanin pigment in the skin, which causes white patches on certain parts of the skin because this melanin pigment is not able to produce the skin color. Previously, one of the treatments for vitiligo was using a UVB lamp with a 311 nm wavelength that could not yet be adjusted to dim the lights as safety when conducting therapy. Therefore, the research aims to design a simulation of the vitiligo therapy device equipped with a timer LED lamp, a safety of lighting, and the data storage. The data are stored in the SD Card to make it easier for patients to control changes before and after therapy. The simulation of this therapeutic apparatus is controlled using the Arduino Uno system and regulates lightning protection using a PWM circuit and ultrasonic sensors. The highest error obtained is 2.4%. at 5 cm. The overall device system, namely timer, buzzer, hour meter, and data storage has been working well and the error value is still within tolerance which is below 5%. Thus, it is hoped that this vitiligo therapy simulation device is able to operate as a real therapeutic device
Survey on IoT: Security Threats and Applications Ahmad, Irfan; Saber Niazy, Mohammad; Ahmad Ziar, Riaz; Khan, Sabawoon
Journal of Robotics and Control (JRC) Vol 2, No 1 (2021): January
Publisher : Universitas Muhammadiyah Yogyakarta

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Abstract

the rapid growth of the internet of things (IoT) in the world in recent years is due to its wide range of usability, adaptability, and smartness. Most of the IoT applications are performing jobs an automatic manner without interactions of human or physical objects. It’s required that the current and upcoming devices will be smart, efficient and able to provide the services to the users to implement such a new technology with a secure manner. Thus the security issues are exploring day by day by the researchers. IoT devices are most portable and light in nature so it has several issues such as battery consumption, memory, and as these devices are working open range so the most important is security. In this survey paper, we have elaborated on the security attacks with reference to the different kinds of IoT layers. In the last, we have presented some of the applications of the IoT. This study will provide assistance to the researchers and manufacturers to evaluate and decrease the attacks range on IoT devices.
Dehydration level detector through human urine with LED and LDR Loniza, Erika; Catur Dhamayanti, Dewanti; Safitri, Meilia
Journal of Robotics and Control (JRC) Vol 2, No 3 (2021): May (Forthcoming Issue)
Publisher : Universitas Muhammadiyah Yogyakarta

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Abstract

Dehydration is a condition where the body are lack of fluids. It is because the amount of fluid that enter in the body is less of fluid than the discharge. Dehydration is something that cannot be ignored. The high incidence of dehydration is due to the difficulty of seeing the signs and symptoms of dehydration for ordinary people. This tool is designed to handle the level of human dehydration by seeing whether the urine is normal or abnormal, whether is it mild dehydration, or severe dehydration. It can handled based on the color of the urine using a tool named Light Emitting Diode Sensor (LED) and a light dependent resistor (LDR). Tool innovation is the use of rechargeable batteries and a charger module to make it easier for users to recharge exhausted batteries. On the LCD also displays the proportion of the battery to make it easier for users to see the remaining battery weaponry. This tool is expected to be able to check the dehydration among the public in order to achieve the public health status. After the process of designing, testing, collecting and analyzing data on 15 samples and reading 20 times for each sample, the result is that the tool can work well, can measure the level of dehydration according to the human urine with an average value of 62.10. The reading results that appear on the LCD are the same or according to the level of dehydration shown on the urine color chart.
Folding Clothes Tool Using Arduino Uno Microcontroller And Gear Servo Irawan, Yuda; Wahyuni, Refni; Fonda, Hendry
Journal of Robotics and Control (JRC) Vol 2, No 3 (2021): May (Forthcoming Issue)
Publisher : Universitas Muhammadiyah Yogyakarta

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Abstract

Folding clothes is one of the homework that is often done for housewives, from a survey conducted on 200 housewives in Pekanbaru, the problem is that many housewives choose to fold family clothes by hand, this takes time and the energy to do the job. Based on these problems, the authors designed a microcontroller with a servo motor as a practical medium in folding the clothes applied to the clothes folding tool, where the author uses the Hardware Programming Methodology in order to carry out this research smoothly, the materials needed in this research are Arduino Uno, Gear. Servo, Power Supply, and software components. The result of this research is the creation of an automatic clothes folding device that is useful for simplifying household chores. From the test results, it can be concluded that this tool can fold clothes with a duration of 2 seconds.
Light Control Using Human Body Temperature Based on Arduino Uno and PIR (Passive Infrared Receiver) Sensor Perkasa, Reza; Wahyuni, Refni; Melyanti, Rika; -, Herianto; Irawan, Yuda
Journal of Robotics and Control (JRC) Vol 2, No 4 (2021): July (Forthcoming Issue)
Publisher : Universitas Muhammadiyah Yogyakarta

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Abstract

This study aims to implement the PIR sensor, Arduino UNO and 2 channel relay Module to automatically turn on the lights in the classroom at the STMIK Hang Tuah Pekanbaru campus, where the classes at the Hang Tuah Pekanbaru STMIK campus still use manual switches as controllers lights on. Therefore, a device is designed that can control the lights by using movements detected by the PIR sensor and processed using a computer.This system functions to turn on the lights automatically when someone enters the classroom and turn off the lights automatically when no one is in the class. The hardware used is Arduino Uno microcontroller, PIR motion sensor, 2 channel relay module, and 1.5 volt flashlight. The software for making programs is Arduino IDE where the programming language used is the C programming language. The test results show that the PIR sensor can detect the movement of people entering or leaving a room.
Autotuning Fuzzy PID Controller for Speed Control of BLDC Motor Kristiyono, Roedy; Wiyono, Wiyono
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September (Forthcoming Issue)
Publisher : Universitas Muhammadiyah Yogyakarta

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Abstract

The PID control system is widely used for industrial machine control processes. The success of PID control is determined by tuning PID parameters. In PID control the tuning is carried out offline without taking into account changes that occur in the plant and the disturbances that arise. This study aims to optimize PID parameters online by taking into account the changes that occur in the plant and the disturbances that arise using fuzzy logic-based controls and tested on a BLDC motor which is a non-linear system. Set PID parameters with fuzzy logic using a combination of 49 if-then rules. To set proper PID parameters in real time, a two-level control system was built. The first level to define PID parameters by finding the minimum and maximum values of  kp, ki and kd by the reaction method curve. The second level is designing the Fuzzy system to automatically set the PID parameters, then formulating a combination of 49 fuzzy if-then rules to get the value kp, ki, kd, error and change in delta error value. Testing of set point changes at BLDC Motor loads with no load and 0.5kg load and changes in speed get a response from the PID control system with an average value of 0.025 seconds rise time, 0.1625 seconds preset time, and 15.98% overshoot. While the Fuzzy PID control produces an average rise time value of 0.0025 seconds, preset time 0.057 seconds, overshoot of 5.42%.
Design and Implementation of Artificial Neural Networks to Predict Wind Directions on Controlling Yaw of Wind Turbine Prototype Dzulfikri, Zaky; Nuryanti, Nuryanti; Erdani, Yuliadi
Journal of Robotics and Control (JRC) Vol 1, No 1 (2020): January
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.1105

Abstract

Wind  energy as one of the new renewable energies has an important role in replacing fossil energy sources in Indonesia. In order to make the wind turbine's performance more efficient in extracting energy from the wind, it is necessary to control the actuation movements pitch and yaw of the wind turbine horizontal. Controlling the actuator yaw can increase the absorption efficiency of the power to the rotor face toward the direction of the wind. The purpose of this thesis is to be able to predict the direction of the coming wind, then move the turbine rotor in the predicted direction. In this final project a wind turbine prototype is used with a precision of 5.3%, then for the data acquisition section, a wind direction sensor is built to change the amount of wind direction to a quantity that can be measured in units of degrees, and anemometer to measure wind speed. In making the wind direction prediction algorithm, artificial neural network (ANN) method is used with input parameters such as wind speed, temperature, humidity, pressure, and altitude. Data acquisition is done at one minute intervals with long data collection for one day, 1072 data are obtained, the data is then fed to the ANN model that has been prepared. Based on the results of tests that have been done, it is found that the Mean Absolute Error in the model is 0.4%.

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