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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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Landing Control Based on Energy Prediction for a Quadcopter Under External Disturbances Nguyen, Cuong V.
Journal of Robotics and Control (JRC) Vol 5, No 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23074

Abstract

Unmanned aerial vehicles (UAVs) have recently become one of the most popular research topics. The high diversity in its uses has attracted research attention regarding structure or control capabilities. However, if the energy consumed in each mission cannot be predicted, the available flight time will pose many risks to the UAV and data security. This paper proposes a control algorithm based on predicting the remaining flight time to determine a safe landing station. Suppose the UAV cannot reach the desired destination station. In that case, it will find the nearest landing station to recharge its energy until the SoC (State of Charge) 90%, then the UAV will continue to perform the mission until the UAV reaches the destination station. In addition, the paper uses a marker-based landing method to improve landing accuracy. The sliding mode controller (SMC) is designed to consider external disturbance factors and consider a solution to reduce chattering.
Work Fatigue Detection of Search and Rescue Officers Based on Hjorth EEG Parameters Pamungkas, Yuri; Indriani, Ratri Dwi; Crisnapati, Padma Nyoman; Thwe, Yamin
Journal of Robotics and Control (JRC) Vol 5, No 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23511

Abstract

Work fatigue can cause a decrease in cognitive function, such as decreased thinking ability, concentration, and memory. A tired brain cannot work optimally, interfering with a person's ability to perform tasks that require complex thinking. In general, to evaluate work fatigue in a person, self-assessment activities using the Perceived Stress Scale (PSS) are the method most often used by researchers or practitioners. However, this method is prone to bias because sometimes people try to hide or exaggerate their tiredness at work. Therefore, we propose to evaluate people's work fatigue based on their EEG data in this study. A total of 25 participants from SAR officers recorded their EEG data in relaxed conditions (pre-SAR operations) and fatigue conditions (post-SAR operations). Recording was performed on the brain's left (fp1 t7) and right (fp2 t8) hemispheres. The EEG data is then processed by filtering, artifact removal using ICA method, signal decomposition into several frequency bands, and Hjorth feature extraction (activity, mobility, and complexity). The main advantage of Hjorth parameters compared to other EEG features is its ability to provide rich information about the complexity and mobility of the EEG signal in a relatively simple and fast way. Based on the results of activity feature extraction, feature values will tend to increase during the post-SAR operation conditions compared to the pre-operation SAR conditions. In addition, the results of the classification of pre-and post-operative SAR conditions using Bagged Tree algorithm (10-fold cross validation) show that the highest accuracy can be obtained is 94.8%.
A Model of Proactive-Reactive Job Shop Scheduling to Tackle Uncertain Events with Greedy Randomized Adaptive Search Procedure Nisar, Muhammad Usman; Ma'ruf, Anas; Cakravastia, Andi; Halim, Abdul Hakim
Journal of Robotics and Control (JRC) Vol 5, No 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.22208

Abstract

Despite substantial research on job shop scheduling (JSS), there is a gap owing to the lack of a unified framework that considers exact, heuristic, and metaheuristic methods for JSS. This study addressed this gap by presenting a comprehensive approach. The study offered following contributions in this regard: analyzed the exact optimization method for benchmarking, investigated a greedy algorithm (G_r A) for faster solutions, and implemented a novel Greedy Randomized Adaptive Search Procedure (GRASP) to achieve high-quality solutions with computational effectiveness. Additionally, this study considered serious dynamic events (SDE) such as new job arrivals (NJA), rush order (RO), machine failures (MF), and scheduled machine maintenance (SMM), as scheduling disruptions and proposed a proactive-reactive rescheduling strategy, with right-shift (RF) and regeneration (Reg) methods using a hybrid (periodic and event-driven) policy to tackle them. Results showed that the exact methods are optimal but computationally intensive, G_r A are faster but suboptimal, and GRASP strike a balance, delivering high-quality solutions with only a 3.43% gap from exact methods while maintaining computational efficiency. Additionally, RF method effectively handled MF, while Reg efficiently integrated NJA, RO, and SMM. Overall, this study offered a comprehensive approach to JSS, enhancing applicability in manufacturing environments.
Overvoltage and Oscillation Analysis for a Full-Bridge Isolated DC-DC Converter Avdeev, Boris A.; Vyngra, Aleksei V.; Zhilenkov, Anton A.; Chernyi, Sergei G.; Degtyarev, Andrey; Kustov, Aleksandr; Zinchenko, Anton
Journal of Robotics and Control (JRC) Vol 5, No 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23120

Abstract

The paper deals with determining and eliminating overvoltage’s and ripples from the output of a high-frequency inverter bridge in a full-bridge DC converter. These oscillations can cause overvoltage on the elements of the power converter, which in turn can lead to false triggering of semiconductor keys or their failure. Schematic diagrams of the bridge are given; the principle of its operation is described. A simplified equivalent circuit replaces the classic bridge. A qualitative analysis of transient processes in the resulting scheme is made. The voltage at the output of the bridge is found using the operator method. The findings have been compared with the simulation model executed in MATLAB/Simulink. The presented method is less labor-intensive than simulation modeling and allows for faster and easier verification of the permissible overvoltage level and oscillation frequency, which is especially important in devices containing a large number of nonlinear elements. It is shown how the parameters of the bridge affect the performance of the transient, in particular the overshoot and oscillation frequency. The attained dependencies are shown in graphical form. The ways of improving the quality of the transition process are given. The findings have been verified on an experimental setup. The obtained theoretical results are consistent with the results of the experiment with the data of other researchers.
Comparative Analysis of CryptoGAN: Evaluating Quality Metrics and Security in GAN-based Image Encryption Bhat, Ranjith; Nanjundegowda, Raghu
Journal of Robotics and Control (JRC) Vol 5, No 5 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i5.23096

Abstract

Balancing security with image quality is a critical challenge in image encryption, particularly for applications like medical imaging that require high visual fidelity. Traditional encryption methods often fail to preserve image integrity and are vulnerable to advanced attacks. This paper introduces CryptoGAN, a novel GAN-based model designed for image encryption. CryptoGAN employs an architecture to effectively encrypt a dataset of 2000 butterfly images with a resolution of 256x256 pixels, integrating Generative Adversarial Networks (GANs) with symmetric key encryption. Using a U-Net Generator and a PatchGAN Discriminator, CryptoGAN optimizes for key metrics including Structural Similarity Index (SSIM), entropy, and correlation measures. CryptoGAN's performance is comprehensively compared against state-of-the-art models such as Cycle GAN-based Image Steganography, EncryptGAN, and DeepEDN. Our evaluation, based on metrics like SSIM, entropy, and PSNR, demonstrates CryptoGAN's superior ability to enhance encryption robustness while maintaining high image quality. Extensive experimental results confirm that CryptoGAN effectively balances security and visual fidelity, making it a promising solution for secure image transmission and storage. This study is supported by a literature survey and detailed analysis of the model architecture, underscoring CryptoGAN's significant contributions to the field of image encryption.
Performance Optimization of a DFIG-based Variable Speed Wind Turbines by IVC-ANFIS Controller Ouhssain, Said; Chojaa, Hamid; Aljarhizi, Yahya; Al Ibrahmi, Elmehdi; Hadoune, Aziz; Maarif, Alfian; Suwarno, Iswanto; Mossa, Mahmoud A.
Journal of Robotics and Control (JRC) Vol 5, No 5 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i5.22118

Abstract

An improved indirect vector control (IVC) method for a wind energy conversion system (WECS) is presented in this research. Field-oriented control or indirect vector control as it is sometimes called is a very important element of contemporary WECS that employs DFIGs. This control strategy is pivotal for achieving high performance and efficiency of DFIG-based wind turbines because it offers direct control on the torque and power ratings of the generator. A doubly fed induction generator (DFIG) is used by the WECS to inject power to the grid. An adaptive network-based fuzzy inference system (ANFIS), which is proposed to replace traditional methods like linear PI controllers, is the basis for this IVC. In this paper we chose ANFIS controller over traditional linear Proportional-Integral (PI) controllers due to its ability to adapt and learn from the system, leading to improved performance. The rotor voltage is controlled by the proposed IVC in order to regulate the exchanged active and reactive power between the stator and the grid. In order to verify the proposed control in terms of performance and robustness, a comparative analysis between the proposed ANFIS and linear PI controllers for the WECS-DFIG system is performed by a simulation study in a MATLAB/Simulink environment. This analysis covers both the transient and steady states of operation. As a result, the proposed ANFIS controller shows improved efficiency and robustness compared to the linear PI controllers. This superiority stems from its ability to integrate the flexibility and effectiveness inherent in diverse artificial intelligence controllers, specifically the synergistic use of Neural Network (NN) and Fuzzy Logic (FL) algorithms. The ANFIS controller's adaptability to diverse operating conditions and its capability to learn and optimize its performance play pivotal roles in enhancing its control capabilities within the WECS-DFIG system.
A Low-Cost High Performance Electric Vehicle Design Based on Variable Structure Fuzzy PID Control Shamseldin, Mohamed A.; Araby, Medhat; El-khatib, S.
Journal of Robotics and Control (JRC) Vol 5, No 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.22071

Abstract

This paper introduces the design steps and implementation of Electric Vehicle (EV) based on variable structure fuzzy PID control. The role of fuzzy logic is making change in the membership function to tune the fuzzy action according to the error and change of error. The control implementation was executed using a low-cost Arduino mega 2560 and had been programed by MATLAB SIMULINK.  Also, a nonlinear model for the EV was built and validated by the actual performance of the EV experimental setup. The overall EV closed loop implemented on the MATLAB SIMULINK to select the proper control parameters. The proposed variable structure fuzzy PID control had been compared to the traditional PID control to ensure robustness and reliability. The results show that the proposed control technique can deal with the EV disturbances and continuous change in the operating points.
Assessment of FLC, PID, Nonlinear PID, and SMC Controllers for Level Stabilization in Mechatronic Systems Al-Samarraie, Shibly A.; Gorial, Ivan I.
Journal of Robotics and Control (JRC) Vol 5, No 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23639

Abstract

Liquid level measurement is a vital task in industries such as food processing, chemical manufacturing, and petroleum. The findings show that FLC and SMC offer superior performance in terms of rapid response, precision, and stability, particularly in handling nonlinear processes. By implementing these sophisticated controllers, industries put up benefit from increased work stability, low material waste, and improved energy efficiency. The study’s results directly contribute to improving industrial applications by optimizing production and minimizing costs. The primary feather objective of a liquid level control system of rules is to exert a predetermined changeable level using a storage tank, measurement system, controller, and pump. This paper compares quaternary controllers: Fuzzy logical system Controller (FLC), Proportional-Integral-Derivative (PID), Nonlinear PID, and Sliding Mode verify (SMC) applied to some I and connected tankful systems. The FLC is an intelligent controller that excels at managing non-linear and uncertain systems by interpreting influx and outflow rates and adjusting the system to maintain desired unstable levels. Its adaptability to undefined scenarios is a key innovation. The PID controller is used as a benchmark undefined to its simplicity simply struggles with non-linear systems and time-varying parameters. The Non-linear PID controller improves upon the traditional PID by using wrongdoing saturation functions, providing better control in non-linear systems. The SMC is a robust control method that ensures system stableness in the front of disturbances and uncertainties, making it highly effective for heavy-duty applications. Simulation results show that FLC and SMC cater a faster response and better accuracy in reaching desired unstable levels compared to traditional PID controllers. Both systems demo robust stableness and efficient control. As seen in the provided data, the FLC reaches a steady-state level in as little as 8.34 seconds in Run 1 and 1.088 seconds in Run 2 for the single-tank system. Similarly, the SMC stabilizes the system in approximately 23.17 seconds in the coupled tank system, reflecting its robust control capabilities.
Enhanced Dynamic Control of Quadcopter PMSMs Using an ILQR-PCC System for Improved Stability and Reduced Torque Ripples Saleh, Ziyaad H.; Mejbel, Basim Ghalib; Radhi, Ahmed Dheyaa; Hashim, Abdulghafor Mohammed; Taha, Taha A.; Gökşenli, Nurettin; Hussain, Abadal-Salam T.; Sekhar, Ravi
Journal of Robotics and Control (JRC) Vol 5, No 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23159

Abstract

Quadcopter technology has developed fast because it’s flexibility and capacity for high maneuvers. What makes PMSM suitable for Quadcopter is their high power to weight ratio, reliability and efficiency. These motors allow the operation of torque and speed control which are important for stability and maneuverability in the flight of the aircraft. Nevertheless, certain and smooth flight caused by regulation of PMSM speed and current is necessary for stable and maneuverable movement. This work presents a new control strategy connecting the ILQR control to govern the speed while the PCC profit the dynamic response and control torque ripples. A comparison is made on the performance of the ILQR-PCC system with nominal Proportional-Integral (PI) control and ILQR.  From the results it is evident that the ILQR-PCC system is far superior to both the PI ILQR controller in regards to the dynamic response, the disturbances rejection capacity as well as reducing the current signal distortions hence reducing the torque ripples. Its working was evidenced in a nonlinear LQR-controlled quadcopter to track the reference accurately and to have minimum distortion in current regulation. The presented work improves the control systems of quadcopters: it introduces a reliable method that improves stability and increases the performance of the quadcopter; therefore, this paper contributes to the existing knowledge.
Cooperative Formation and Obstacle Avoidance Control for Multi-UAV Based on Guidance Route and Artificial Potential Field Sahal, Mochammad; Maynad, Vincentius Charles; Bilfaqih, Yusuf
Journal of Robotics and Control (JRC) Vol 5, No 6 (2024)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v5i6.23577

Abstract

Research on cooperative control of multi-UAV systems has gained significant attention in the flight control field, with a particular focus on formation control and obstacle avoidance due to their complexity and importance. This paper introduces an approach to a group of quadcopter control by integrating fuzzy controller, guidance route, and Artificial Potential Field (APF) methods. The quadcopter dynamic model, featuring six degrees of freedom, is controlled using a fuzzy state feedback controller in its inner loop. From the outer loop, the formation-making is guided by an easy-to-use and versatile guidance route approach while obstacle avoidance is tackled using the optimal APF method. There are two avoidance strategies that can be compared and analyzed, called "total avoidance" and "minimal avoidance", both individually and as a "combined" strategy. Simulations in various environments with different obstacle sizes show that all control algorithms can accomplish the tasks effectively. Both strategies have their own strength in terms of path length and formation maintenance. A formation performance index, which is calculated based on the difference between the desired position and the actual position of each quadcopter, is used to quantify the effectiveness of the method. A smaller value means better formation maintenance. The total avoidance strategy achieved an average index of 0.8000 and the minimal avoidance strategy reached 1.2227. These metrics highlight the trade-offs of each strategy in maintaining optimal formation. These findings offer valuable insights for the development of more robust multi-UAV systems, with potential applications in autonomous delivery services, surveillance, and environmental monitoring.

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