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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 Attendance System based on improved Facial Recognition Dang, Thai-Viet
Journal of Robotics and Control (JRC) Vol 4, No 1 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i1.16808

Abstract

Nowadays, the fourth industrial revolution has achieved significant advancement in high technology, in which artificial intelligence has had vigorous development. In practice, facial recognition is one most essential tasks in the field of computer vision with various potential applications from security and attendance system to intelligent services. In this paper, we propose an efficient deep learning approach to facial recognition. The paper utilizes the architecture of improved FaceNet model based on MobileNetV2 backbone with SSD subsection.  The improved architecture uses depth-wise separable convolution to reduce the model size and computational volume and achieve high accuracy and processing speed. To solve the problem of identifying a person entering and exiting an area and integrating on advanced mobile devices limits to (such as limited memory and on-device storage) highly mobile resources. Especially, our approach yields better results in practical application with more than 95% accuracy on a small dataset of the original face images. Obtained frame rate (25 FPS) is very favorable compared to the field of facial recognition using neural network. Besides, the deep learning based on solution could be applicable in many low-capacity hardware or optimize system’s resource. Finally, the smart automated attendance systems is successfully designed basing on the improved efficient facial recognition.
Simulation Model of PID Controller for DC Servo Motor at Variable and Constant Speed by Using MATLAB Abdullah, Zainab B.; Shneen, Salam Waley; Dakheel, Hashmia S.
Journal of Robotics and Control (JRC) Vol 4, No 1 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i1.15866

Abstract

The current simulation is conducted in order to develop an appropriate design for the control systems and control the speed of the electric motor. To obtain the appropriate and required design, work is carried out for two cases, a constant speed and the other case at variable speed in different conditions for operation of dc servo motor, these conditions include rotating in a clockwise direction, break and returns rotating in the opposite clockwise direction. Through the proposed working conditions, it is possible to obtain the best values for the parameters of the control unit that improve the working performance of dc servo motor, which were shown by the simulation results and their values were kp =5, ki=3 and kd=5 for PID controller. Which changed the system response speed, rise time and the upper and lower bypass ratio at acceptable rates and ratios to prove an improvement procedure in the work of the electric motor.
IoT-Based Smart Air Conditioner as a Preventive in the Post-COVID-19 Era: A Review Saputra, Dhanar Intan Surya; Suarnatha, I Putu Dody; Mahardika, Fajar; Wijanarko, Andik; Handani, Sitaresmi Wahyu
Journal of Robotics and Control (JRC) Vol 4, No 1 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i1.17090

Abstract

The Internet of Things (IoT) refers to physical objects with sensors, computing power, software, and other technologies that communicate and exchange data with other devices, platforms, and systems over the Internet or other communication networks. Remarkable developments in IoT have paved the way for new possibilities, enabling the creation and automation of innovative services and advanced applications and constituting a collection of crucial enabling technologies for smart homes. In this New-Normal Era, the concept of an IoT-based Smart Air Conditioner (AC) as a Preventive Effort against COVID-19 is a proposed innovation and application. The Smart AC is designed based on the analysis of existing problems and is equipped with literature obtained in the study. The purpose of this study is to review the research literature on IoT-enabled Smart AC to emphasize the main trends and open problems of integrating IoT technology to create sustainable and efficient Smart homes. The IoT-based Smart AC was designed and equipped with air quality filter features, human sensors, temperature control, voice control, Cloud Storage, and Solar Panel services that can be controlled via smartphone devices. From the framework and study results, the IoT offers many benefits. The IoT-based Smart AC concept is one step ahead of existing AC products.
Modelling and Simulation of a Redundant Agricultural Manipulator with Virtual Prototyping Reddy, A. Sridhar; Chembuly, V. V. M. J. Satish; Rao, V. V. S. Kesava
Journal of Robotics and Control (JRC) Vol 4, No 1 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i1.17121

Abstract

The development of autonomous robots for agricultural applications includes motion planning, fruit picking, and collision avoidance with surrounding environments, and these become challenging tasks. For harvesting applications, robust control of the manipulator is needed for the effective motion of the robot. Several combinations of Proportional(P)- Integrative(I)- Derivative(D) controllers are modelled and a simulation study was performed for trajectory tracking of a redundant manipulator in virtual agricultural environments. The article presents a comprehensive study on kinematic modelling and dynamic control of redundant manipulator for fruit-picking applications in virtual environments. The collisions with surrounding environment were eliminated using ‘bounding box technique’. The joint variables are obtained by constructing Inverse Kinematics (IK) problem and are determined using a classical optimization technique. Different controllers are modelled in the ‘Simulink’ environment and are tuned to generate error-free trajectory tracking during harvesting. The task space locations (TSLs) are considered as via-points, and joint variables at each TSLs are obtained by Sequential Quadratic Programming (SQP) technique. Joint-level trajectories are generated using Quintic and B-spline polynomials. For effective trajectory tracking, torque variations are controlled using the PID and Feedforward (FF) controller. The dynamic simulations of the robot manipulator are performed in Simscape Multibody software. Results show that the during the trajectory tracking of the manipulator, the Feed-forward controller performs best with Quintic polynomial trajectory.
Non-Linear Estimation using the Weighted Average Consensus-Based Unscented Filtering for Various Vehicles Dynamics towards Autonomous Sensorless Design Widjiantoro, Bambang L.; Wafi, Moh Kamalul; Indriawati, Katherin
Journal of Robotics and Control (JRC) Vol 4, No 1 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i1.16164

Abstract

The concerns to autonomous vehicles have been becoming more intriguing in coping with the more environmentally dynamics non-linear systems under some constraints and disturbances. These vehicles connect not only to the self-instruments yet to the neighborhoods components, making the diverse interconnected communications which should be handled locally to ease the computation and to fasten the decision. To deal with those interconnected networks, the distributed estimation to reach the untouched states, pursuing sensorless design, is approached, initiated by the construction of the modified pseudo measurement which, due to approximation, led to the weighted average consensus calculation within unscented filtering along with the bounded estimation errors. Moreover, the tested vehicles are also associated to certain robust control scenarios subject to noise and disturbance with some stability analysis to ensure the usage of the proposed estimation algorithm. The numerical instances are presented along with the performances of the control and estimation method. The results affirms the effectiveness of the method with limited error deviation compared to the other centralized and distributed filtering. Beyond these, the further research would be the directed sensorless design and fault-tolerant learning control subject to faults to negate the failures.
Internet of Things System Wearable Healthcare for Monitoring the Challenges of COVID-19 Pandemic Thuria Saad Znad; Intisar A.M. Al Sayed; Saif Saad Hameed; Israa Al_Barazanchi; Poh Soon JosephNg; Ahmed L. Khalaf
Journal of Robotics and Control (JRC) Vol 3, No 6 (2022): November
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v3i6.16393

Abstract

During the COVID-19 situation, various application-based work has to be studied and deployed to enable an IoT-based health framework. This work-based study may guide professionals in envisaging solutions to related problems and fighting against the COVID-19 type pandemic. Therefore, it identifies various technologies of IoT-based systems for monitoring pandemic situations. The mechanisms included in IoT like actuators, sensors, and the cloud-based network serves to help people from home rather than visiting the hospital occasionally. It uses optimizers to train the “noise” and “cough” target classes. Mel Frequency Cepstral Coefficients (MFCCs) were initially employed in several speech processing approaches, but as the discipline of Music Information Retrieval (MIR) advanced alongside machine learning, it was discovered that MFCCs could accurately capture timbre. Overall, the study finds different IoT applications for the medical area during the pandemic situation with detailed descriptions. In this present condition, advanced methodologies have given way to innovation in day-to-day life. The IoT-based model provides an enhancement of 98.8% with a minimum training loss of 0.15. The framework depicts the excellent working of the proposed framework, and a true positive value of around 96.6% is shown in the confusion matrix and a true negative rate of around 97% was illustrated using this model. By making it possible for the cost-effective fabrication of wearable sensors through printing on a variety of flexible polymeric substrates, the rapid advancements in solution-based nanomaterials presented a hopeful viewpoint to the field of wearable sensors. This review focuses on the most recent significant advancements in the field of wearable sensors, including novel nanomaterials, manufacturing techniques, substrates, sensor types, sensing mechanisms, and readout circuits. It concludes with difficulties in the subject's future application.
Flower Pollination Algorithm to Tune PID Controller of TCP/AQM Wireless Networks Eissa, Suad Ali; Shneen, Salam Waley; Ali, Ekbal Hussain
Journal of Robotics and Control (JRC) Vol 4, No 2 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i2.17533

Abstract

The current study aims to conduct a simulation that is useful in developing an appropriate design that addresses the problem of congestion in the Internet network through controlling the queue of the router. The simulation is conducted through the proposed model for simulation with different control systems that help in raising the quality of performance such as traditional Proportional Integral Derivative (PID) and advanced optimal by Flower Pollination Algorithm  (FPA). It depends for Transmission Control Protocol/ Active Queue Management( TCP/AQM )simulation model for a linear system and another non-linear system. To adjust the network work and raise the level of performance, different control systems were chosen, taking into account all the things that appear through conducting experiments and for different purposes. One of the most important things that must be taken into consideration is the system disturbances as a result of the volume and values of the data, causing congestion . It was shown through the results of the experiments that were conducted considering the cases of the linear and nonlinear system to pass data traffic in the network and by adopting the different techniques of the control units, the preference of optimizasion systems over the traditional ones, as well as the preference of the traditional over  without control in close loop, is the improvement of the performance of linear systems compared to the open and closed system without control. The simulation results showed that very clear the superiority of the optimization by FPA-PID controller over the conventional system (PID)  , as well as very clear the superiority of  the traditional system (PID)over closed system without control and open loop system.
A New Self-Tuning Nonlinear PID Motion Control for One-Axis Servomechanism with Uncertainty Consideration Shamseldin, Mohamed A.; Abdelghany, Mohamed A.
Journal of Robotics and Control (JRC) Vol 4, No 2 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i2.17433

Abstract

This paper introduces a new study for one-axis servomechanism with consideration the parameter variation and system uncertainty. Also, a new approach for high-performance self-tuning nonlinear PID control was developed to track a preselected profile with high accuracy. Moreover, a comparison study between the proposed control technique and the well-known controllers (PID and Nonlinear PID). The optimal control parameters were determined based on the COVID-19 optimization technique. The parameters of the servomechanism system changed randomly at a preselected range through the online simulation. The change of these parameters acts as the nonlinearity resources (friction, backlash, environmental effects) and system uncertainty. A comparative study between the linear and nonlinear models had been accomplished and investigated. The results show that the proposed controller can track several operating points with high accuracy, low rise time, and small overshoot.
Novel PID Controller on Battery Energy Storage Systems for Frequency Dynamics Enhancement Abdillah, Muhammad; Jayadiharja, Tirta; Arjadi, R Harry; Setiadi, Herlambang; Zamora, Ramon; Afif, Yusrizal
Journal of Robotics and Control (JRC) Vol 4, No 3 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i3.17212

Abstract

Frequency dynamics is one of the important aspects of power system stability. From the frequency dynamics, the operator could plan how is the reliability of the electricity. The frequency can be maintained by controlling the balance between load demand and generation. To maintain the balance of the generation, the governor is playing an important role to increase the speed of the turbine and enhance the generating capacity of the generator (ramp-up). However, as the speed of the governor is slower than the increasing load demand, in the sub-transient area, the frequency may experience higher overshoot. Hence, it is important to add additional devices such as battery energy storage systems to enhance the frequency dynamics response in the sub-transient area. One of the important parts of storage is the controller. The controller must make sure the storage charges and discharge energy are in the sub-transient area. Hence PID controller can be the solution to make the storage operate optimally This paper proposed a novel PID controller on battery energy storage systems (BESS) to enhance the dynamics performance of frequencies. The five-area power system is used as the test system to investigate the efficacy of the proposed novel idea. Time domain simulation is investigated to see the improvement of the frequency dynamics response. From the simulation results, it is found that adding a PID controller on BESS could enhance the BESS response and result in frequency dynamics response improvement.
Adaptive P Control and Adaptive Fuzzy Logic Controller with Expert System Implementation for Robotic Manipulator Application Chotikunnan, Phichitphon; Pititheeraphab, Yutthana
Journal of Robotics and Control (JRC) Vol 4, No 2 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i2.17757

Abstract

This study aims to develop an expert system implementation of P controller and fuzzy logic controller to address issues related to improper control input estimation, which can arise from incorrect gain values or unsuitable rule-based designs. The research focuses on improving the control input adaptation by using an expert system to resolve the adjustment issues of the P controller and fuzzy logic controller. The methodology involves designing an expert system that captures error signals within the system and adjusts the gain to enhance the control input estimation from the main controller. In this study, the P controller and fuzzy logic controller were regulated, and the system was tested using step input signals with small values and larger than the saturation limit defined in the design. The PID controller used CHR tuning to least overshoot, determining the system's gain. The tests were conducted using different step input values and saturation limits, providing a comprehensive analysis of the controller's performance. The results demonstrated that the adaptive fuzzy logic controller performed well in terms of %OS and settling time values in system control, followed by the fuzzy logic controller, adaptive P controller, and P controller. The adaptive P controller showed similar control capabilities during input saturation, as long as it did not exceed 100% of the designed rule base. The study emphasizes the importance of incorporating expert systems into control input estimation in the main controller to enhance the system efficiency compared to the original system, and further improvements can be achieved if the main processing system already possesses adequate control ability. This research contributes to the development of more intelligent control systems by integrating expert systems with P controllers and fuzzy logic controllers, addressing the limitations of traditional control systems and improving their overall performance.

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