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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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An Alternative Nonlinear Lyapunov Redesign Velocity Controller for an Electrohydraulic Drive Mintsa, Honorine Angue; Eny, Gérémino Ella; Senouveau, Nzamba; Kenné, Jean-Pierre; Nzué, Rolland Michel Assoumou
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.v4i2.17340

Abstract

This research aims at developing control law strategies that improve the performances and the robustness of electrohydraulic servosystems (EHSS) operation while considering easy implementation. To address the strongly nonlinear nature of the EHSS, a number of control algorithms based on backstepping approach is intensively used in the literature. The main contribution of this paper is to consider an alternative approach to synthetize a Lyapunov redesign nonlinear EHSS velocity controller. The proposed control law design is based on an appropriate choice of the control lyapunov function (clf), the extension of the Sontag formula and the construction of a nonlinear observer. The clf includes all the three system variable states in a positive define function. The Sontag formula is used in the time derivative of our clf in order to ensure an asymptotic stabilizing controller for regulating and tracking objectives. A nonlinear observer is developed in order to bring to the proposed controller the estimated values of the first and the second time output derivatives. The design, the tuning implementation and the performances of the proposed controller are compared to those of its equivalent backstepping controller. It is shown that the proposed controller is easier to design with simple implementation tuning while the backstepping controller has several complex design steps and implementation tuning issue. Moreover, the best performances especially under disturbance in the viscous damping are achieved with the proposed controller.
Synthesis of Hybrid Fuzzy Logic Law for Stable Control of Magnetic Levitation System Chiem, Nguyen Xuan; Thang, Le Tran
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.v4i2.17537

Abstract

In this paper, we present a method to design a hybrid fuzzy logic controller (FLC) for a magnetic levitation system (MLS) based on the linear feedforward control method combined with FLC. MLS has many applications in industry, transportation, but the system is strongly nonlinear and unstable at equilibrium. The fast response linear control law ensures that the ball is kept at the desired point, but does not remain stable at that point in the presence of noise or deviation from the desired position. The controller that combines linear feedforward control and FLC is designed to ensure ball stability and increase the system's fast-response when deviating from equilibrium and improve control quality. Simulation results in the presence of noise show that the proposed control law has a fast and stable effect on external noise. The advantages of the proposed controller are shown through the comparison results with conventional PID and FLC control laws.
Motorized Vehicle Diagnosis Design Using the Internet of Things Concept with the Help of Tsukamoto's Fuzzy Logic Algorithm Nathanael Juwono, Jeremy; Don Bosco Julienne, Nicolas; Samuel Yogatama, Anthonie; Widianto, Mochammad Haldi
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.v4i2.17256

Abstract

There are many popular branches, including the Internet of Things (IoT) and Artificial Intelligence (AI), which have solved many problems. Same as that, the automotive field is also growing with the technology of OBD-II. Unfortunately, not many people are familiar with OBD-II even though the features offered are very varied to prevent vehicle damage. This proposed work uses an IoT and AI system to make a vehicle diagnosis system with a help of OBD-II technology. By using ESP32 to collect data in each vehicle and using one Mini-PC to run the diagnosis with Fuzzy Logic Tsukamoto for three or more vehicles, this work can decrease the research cost. This work also uses the Fuzzy Logic Tsukamoto to diagnose vehicle health which is considered very suitable in real-time data situations. The method that we proposed is using Iterative Waterfall because of its simplicity and because there is a feedback path in every step. Iterative Waterfall is divided into 4 stages,  Requirement Gathering and Analysis, System Design, implementation of Development, and Testing. Numerical validation is included by using MAPE for the testing in the IoT system and AI system. According to the MAPE result for the IoT system, the engine off voltage is 0.9510789847% and the engine start voltage is 3.136217503% which is considered a very good result. The MAPE result for the AI system is quite high, which is 20.74364412%, and because of that, the AI system needed more research for better performance. Overall, the system that has been proposed is already successful in monitoring vehicle health based on the parameters that have been determined.
An Ultra Fast Semantic Segmentation Model for AMR’s Path Planning Tran, Hoai-Linh; Dang, Thai-Viet
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.v4i3.18758

Abstract

Computer vision plays a significant role in mobile robot navigation due to the abundance of information extracted from digital images. On the basis of the captured images, mobile robots determine their location and proceed to the desired destination. Obstacle avoidance still requires a complex sensor system with a high computational efficiency requirement due to the complexity of the environment. This research provides a real-time solution to the issue of extracting corridor scenes from a single image. Using an ultra-fast semantic segmentation model to reduce the number of training parameters and the cost of computation. In addition, the mean Intersection over Union (mIoU) is 89%, and the high accuracy is 95%. To demonstrate the viability of the prosed method, the simulation results are contrasted to those of contemporary techniques. Finally, the authors employ the segmented image to construct the frontal view of the mobile robot in order to determine the available free areas for mobile robot path planning tasks.
Adaptive Single-Input Recurrent WCMAC-Based Supervisory Control for De-icing Robot Manipulator Ngo, Thanh Quyen; Le, Tong Tan Hoa; Lam, Binh Minh; Pham, Trung Kien
Journal of Robotics and Control (JRC) Vol 4, No 4 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i4.18464

Abstract

The control of any robotic system always faces many great challenges in theory and practice. Because between theory and reality, there is always a huge difference in the uncertainty components in the system. That leads to the accuracy and stability of the system not being guaranteed with the set requirements. This paper presents a novel adaptive single-input recurrent wavelet differentiable cerebellar model articulation controller (S-RWCMAC)-based supervisory control system for an m-link robot manipulator to achieve precision trajectory tracking. This adaptive S-RWCMAC-based supervisory control system consists of a main adaptive S-RWCMAC, a supervisory controller, and an adaptive robust controller. The S-RWCMAC incorporates the advantages of the wavelet decomposition property with a CMAC fast learning ability, dynamic response, and input space dimension of RWCMAC can be simplified; and it is used to control the plant. The supervisory controller is appended to the adaptive S-RWCMAC to force the system states within a predefined constraint set and the adaptive robust controller is developed to dispel the effect of the approximate error. In this scheme, if the adaptive S-RWCMAC can not maintain the system states within the constraint set. Then, the supervisory controller will work to pull the states back to the constraint set and otherwise is idle. The online tuning laws of S-RWCMAC and the robust controller parameters are derived from the gradient-descent learning method and Lyapunov function so that the stability of the system can be guaranteed. The simulation and experimental results of the novel three-link De-icing robot manipulator are provided to verify the effectiveness of the proposed control methodology. The results indicate that the proposed model has superior accuracy compared to that of the Standalone CMAC Controller. The parameters of the average squared error in the S-RWCMAC -based 3 robot joints are lower than those of the Standalone CMAC Controller by 0.023%, 0.029%, and 0.032%, respectively.
A Secured, Multilevel Face Recognition based on Head Pose Estimation, MTCNN and FaceNet Dang, Thai-Viet; Tran, Hoai-Linh
Journal of Robotics and Control (JRC) Vol 4, No 4 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i4.18780

Abstract

Artificial Intelligence and IoT have always attracted a lot of attention from scholars and researchers because of their high applicability, which make them a typical technology of the Fourth Industrial Revolution. The hallmark of AI is its self-learning ability, which enables computers to predict and analyze complex data such as bio data (fingerprints, irises, and faces), voice recognition, text processing. Among those application, the face recognition is under intense research due to the demand in users’ identification. This paper proposes a new, secured, two-step solution for an identification system that uses MTCNN and FaceNet networks enhanced with head pose estimation of the users. The model's accuracy ranges from 92% to 95%, which make it competitive with recent research to demonstrate the system's usability.
Early Prediction of Gestational Diabetes with Parameter-Tuned K-Nearest Neighbor Classifier Assegie, Tsehay Admassu; Suresh, Tamilarasi; Purushothaman, Raguraman; Ganesan, Sangeetha; Kumar, Napa Komal
Journal of Robotics and Control (JRC) Vol 4, No 4 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i4.18412

Abstract

Diabetes is one of the quickly spreading chronic diseases causing health complications, such as diabetes retinopathy, kidney failure, and cardiovascular disease. Recently, machine-learning techniques have been widely applied to develop a model for the early prediction of diabetes. Due to its simplicity and generalization capability, K-nearest neighbor (KNN) has been one of the widely employed machine learning techniques for diabetes prediction. Early diabetes prediction has a significant role in managing and preventing complications associated with diabetes, such as retinopathy, kidney failure, and cardiovascular disease. However, the prediction of diabetes in the early stage has remained challenging due to the accuracy and reliability of the KNN model. Thus, gird search hyperparameter optimization is employed to tune the K values of the KNN model to improve its effectiveness in predicting diabetes. The developed hyperparameter-tuned KNN model was tested on the diabetes dataset collected from the UCI machine learning data repository. The dataset contains 768 instances and 8 features. The study applied Min-max scaling to scale the data before fitting it to the KNN model. The result revealed KNN model performance improves when the hyperparameter is tuned.  With hyperparameter tuning, the accuracy of KNN improves by 5.29% accuracy achieving 82.5% overall accuracy for predicting diabetes in the early stage. Therefore, the developed KNN model applied to clinical decision-making in predicting diabetes at an early stage. The early identification of diabetes could aid in early intervention, personalized treatment plans, or reducing healthcare costs reducing associated risks such as retinopathy, kidney disease, and cardiovascular disease.
An Accurate Efficiency Calculation for PMSG Utilized in Renewable Energy Systems Hamodat, Zaid; Hussein, Ismail Khudhur; Nasir, Bilal Abdullah
Journal of Robotics and Control (JRC) Vol 4, No 4 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i4.18441

Abstract

Considering the importance of optimizing renewable energy systems, this paper aims at calculating the exact efficiency of a stand-alone wind turbine connected to a synchronous generator with permanent magnet excitation (PMSG). By accounting for mechanical and electrical losses (copper losses, stray load losses, iron core losses, friction losses, windings losses, and magnetizing saturation effect), the study investigates the impact of wind speed on the generator's performance and efficiency in addition to the impact of losses on the overall efficiency of (PMSG). The simulation of the PMSG dynamic model 8.5×(10)^3 V․A is executed using MATLAB/Simulink, employing a simplified equivalent circuit that accurately represents the PMSG's behavior under steady-state conditions with resistive loads. Wind speeds of 12 and 14 meters/second are chosen as fixed values to demonstrate the effect of varying wind speed on efficiency. The obtained results reveal the influence of wind speed on the PMSG efficiency. The presented findings contribute to the understanding of PMSG performance and can aid in optimizing the stand-alone wind turbine systems, they also show that the wind had an effect on the efficiency values that were obtained (97.86% at 12m/s and 97.91% at 14 m/s), while the effect of losses was very few around 3%. However, the obtained results are very good compared to previous studies to show the accuracy and validity of the suggested dynamic model.
ROS-based Controller for a Two-Wheeled Self-Balancing Robot Díaz-Téllez, Juan; García-Ramírez, Ruben Senen; Pérez-Pérez, Jairo; Estevez-Carreón, Jaime; Carreón-Rosales, Miguel Angel
Journal of Robotics and Control (JRC) Vol 4, No 4 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i4.18208

Abstract

In this article, a controller based on a Robot Operating System (ROS) for a two-wheeled self-balancing robot is designed. The proposed ROS architecture is open, allowing the integration of different sensors, actuators, and processing units. The low-cost robot was designed for educational purposes. It used an ESP32 microcontroller as the central unit, an MPU6050 Inertial Measurement Unit sensor, DC motors with encoders, and an L298N integrated circuit as a power stage. The mathematical model is analyzed through Newton-Euler and linearized around an equilibrium point. The control objective is to self-balance the robot to the vertical axis in the presence of disturbances. The proposed control is based on a bounded saturation, which is lightweight and easy to implement in embedded systems with low computational resources. Experimental results are performed in real-time under regulation, conditions far from the equilibrium point, and rejection of external disturbances. The results show a good performance, thus validating the mechanical design, the embedded system, and the control scheme. The proposed ROS architecture allows the incorporation of different modules, such as mapping, autonomous navigation, and manipulation, which contribute to studying robotics, control, and embedded systems.
Development of Speech Command Control Based TinyML System for Post-Stroke Dysarthria Therapy Device Riyanta, Bambang; Irianta, Henry Ardian; Kamiel, Berli Paripurna
Journal of Robotics and Control (JRC) Vol 4, No 4 (2023)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v4i4.15918

Abstract

Post-stroke dysarthria (PSD) is a widespread outcome of a stroke. To help in the objective evaluation of dysarthria, the development of pathological voice recognition and technology has a lot of attention. Soft robotics therapy devices have been received as an alternative rehabilitation and hand grasp assistance for improving activity daily living (ADL). Despite the significant progress in this field, most soft robotic therapy devices use a complex, bulky, lack of pathological voice recognition model, large computational power, and stationary controller. This study aims to develop a portable wirelessly multi-controller with a simulated dysarthric vowel speech in Bahasa Indonesia and non-dysarthric micro speech recognition, using tiny machine learning (TinyMl) system for hardware efficiency. The speech interface using INMP441, compute with a lightweight Deep Convolutional Neural network (DCNN) design and embedded into ESP-32. Feature model using Short Time Fourier Transform (STFT) and fed into CNN. This method has proven useful in micro-speech recognition with low computational power in both speech scenarios with a level of accuracy above 90%. Realtime inference performance on ESP-32 using hand prosthetics, with 3-level household noise intensity respectively 24db,42db, and 62db, and has respectively resulted from 95%, 85%, and 50% Accuracy. Wireless connectivity success rate with both controllers is around 0.2 - 0.5 ms.

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