Active Vibration Isolation using Tilt Horizontal Coupling Immune Inertial Double Link Sensor for Low Frequency Applications
Abstract
Addressing the challenge of horizontal tilt coupling is crucial for using inertial sensors in precise applications, such as seismology and seismic isolation, including gravitational wave detection. Researchers have proposed various design solutions, with the Double Link (DL) sensor standing out for its sim- plicity, precision, and effectiveness. This paper explores the use of the DL sensor in an active vibration isolation system. We evaluated different control algorithms, including Proportional- Integral-Derivative (PID), Linear Quadratic Regulator (LQR), Linear Quadratic Gaussian (LQG), and H-infinity. Simulations conducted in the Simscape environment showed that the H-infinity controller performed best, achieving a significant reduction in vibration. While the current study is based on simulations, future work will focus on experimental validation to confirm the system’s practical applicability and robustness in real-world scenarios. Our results demonstrate the potential of the DL sensor and LQG controller to enhance vibration isolation in low-frequency applications. Additionally, we conducted a detailed literature review on various methods used in similar applications. This review highlights alternative approaches, such as other sensor designs and control strategies, and discusses their advantages and limitations.
Keywords
Full Text:
PDFReferences
V. G. Nair and C. Collette, “Double link sensor for mitigating tilt- horizontal coupling,” Journal of Instrumentation, vol. 17, 2022, doi: 10.1088/1748-0221/17/04/ P04012.
N. V. Bondada, A., “Dynamics of multiple pendulum system under a translating and tilting pivot.,” Arch Appl Mech, vol. 93, 2023, doi: 10.1007/s00419-023-02473-6.
F. Matichard and M. Evans, “Review: Tilt-free low-noise seismometry,” Bull. Seismol. Soc. Am., vol. 105, 2015, doi: 10.1785/0120140200.
C. Collette et al., “Review: Inertial sensors for low frequency seismic vibration measurement,” Bull.Seismol. Soc. Am., vol. 102, 2012, doi: 10.1785/0120110223.
F. Matichard et al., “Modeling and experiment of the suspended seismometer concept for attenuating the contribution of tilt motion in horizontal measurements,” Rev. Sci. Instrum., vol. 87, 2016, doi: 10.1063/1.4953110.
N. Rijnveld, R. van den Braber, P. R. Fraanje, and T. C. van den Dool, “Low- frequency vibration isolation in six degrees of freedom: The hummingbird,” in Proceedings of the euspen International Conference– Delft- June 2010, 2010, doi: 10.1109/IMCCC.2015.75.
W. Hua. Low frequency vibration isolation and align- ment system for advanced ligo. Ph.D. Thesis, Stanford University, Stanford, U.S.A, 2005.
C. Mow-Lowry and D. Martynov, “A 6d interferometric inertial isolation system,” Class. Quant. Grav, vol. 36, 2019, doi: 10.1088/1361-6382/ab4e01.
C. Speake and D. Newell, “The design and application of a novel high-frequency tiltmeter,” Rev. Sci. Instrum, vol. 61, 1990, doi: 10.1063/1.1141160.
J. Winterflood, Z. B. Zhou, L. Ju, and D. G. Blair, D. G, “Tilt suppression for ultra-low residual motion vibration isolation in gravitational wave detection,” Phys. Lett A, vol. 277, 2000, doi: 10.1016/S0375-9601(00)00689-7.
Y. Cheng, J. Winterflood, L. Ju, and D. Blair, “Tilt sensor and servo control system for gravitational wave detection,” Class. Quant. Grav., vol. 19, 2002, doi: 10.1088/ 0264-9381/19/7/367.
A. Sunderland et al., “High performance rotational vibration isolator,” Rev. Sci. Instrum., vol. 84, no. 10, 2013, doi: 10.1063/1. 4825342.
F. Matichard et al., “Modeling and experiment of the suspended seismometer concept for attenuating the contribution of tilt motion in horizontal measurements,” Rev. Sci. Instrum., vol. 87, 2016, doi: 10.1063/1.4953110.
A. Marrocchesi, “A prototype for a tilt-free seismometer, ligoconsortium, technical note,” LIGO-T1500485v1 2015/10/17, vol. 87, 2015.
L.-H. Wu, Y. Huang, R.-Y. Qi, Z. Lv, and B. Sun, “A new low-frequency active vibration isolation system,” in 2015 Fifth International Conference on Instrumentation and Measurement, Computer, Communication and Control (IMCCC), pp. 322–325, 2015. doi:10.1109/IMCCC.2015. 75.
L. Chen et al., “Theoretical and experimental study on vibration sensitivity of cubic cavity for space applications,” Optics Laser Technology, vol. 158, p. 108915, 2023, doi: 10.1016/j.optlastec.2022.108915.
M. U. Demir and C. Yilmaz, “Analysis and design of an adjustable stiffness three-axis horizontal vibration isolator using elastic columns and a string in tension,” Journal of Sound and Vibration, vol. 523, p. 116736, 2022, doi: 10.1016/j.jsv.2021.116736.
L. Liu et al., “Modeling and suppression of atomic co- magnetometer’s response to micro-vibration,” Sensors and Actuators A: Physical, vol. 359, p. 114503, 2023, doi: 10.1016/j.sna.2023.114503.
B. Ding, G. Zhao, J. Watchi, A. Sider, and C. Collette, “An interferometric inertial sensor for low-frequency seismic isolation,” Sensors and Actuators A: Physical, vol. 335, p. 113398, 2022, doi: 10.1016/j.sna.2022.113398.
J. Chen, L. Wang, J. Lin, and Y. Tang, “A pendulum actuator for environmental vibration isolation based on magnetostrictive composite material,” Sensors and Actuators Reports, vol. 4, p. 100134, 2022, doi: 10.1016/j.snr.2022. 100134.
A. S. Ubhi, J. Bryant, D. Hoyland, and D. Martynov, “Cryogenic optical shadow sensors for gravitational wave detectors,” Cryogenics, vol. 126, p. 103547, 2022, doi: 10.1016/j. cryogenics.2022.103547.
J. Winterflood, Z. B. Zhou, L. Ju, and D. G. Blair, “Tilt suppression for ultra-low residual motion vibration isolation in gravitational wave detection,” Physics Letters A, vol. 277, no. 3, pp. 143–155, 2000, doi: 10.1016/S0375-9601(00)00689-7.
S. K. Sharma, R. C. Sharma, and J. Lee, “Modelling and simulation of mr damper characterization and uncertainty assessment in marine engine vibration isolation with flpid control,” International Journal of Modelling and Simulation, pp. 1-11, 2024, doi: 10.1080/02286203.2024.2327465.
D. Luo, Y. Su, B. Zhang, H. Peng and X. Zhou, "Design and simulation of active ultra-low frequency vertical vibration isolator for atom interferometry," 2020 Chinese Automation Congress (CAC), pp. 7640-7643, 2020, doi: 10.1109/CAC51589. 2020.9327348.
Z. Zhang, Z. Yuan and X. Li, "A New Active Negative Stiffness Control Strategy for Improving Low-Frequency Vibration Isolation Performance," 2023 3rd International Conference on Electrical Engineering and Control Science (IC2ECS), pp. 801-805, 2023, doi: 10.1109/IC2ECS60824.2023. 10493674.
T. Huynh, D. -H. Lee, and Y. -B. Kim, "A Study on Robust Noninteracting Control System Design with Disturbance Feedforward for 6-DoF Active Vibration Isolation Platform," 2022 International Symposium on Semiconductor Manufacturing (ISSM), pp. 1-6, 2022, doi: 10.1109/ISSM55802.2022.10026944.
W. Shi, K. Liu, and W. Zhao, "Active Vibration Isolation of a Maglev Inertially Stabilized Platform Based on an Improved Linear Extended State Observer," in IEEE Access, vol. 9, pp. 743-751, 2021, doi: 10.1109/ACCESS.2020.3046886.
S. Zhang et al., “Adjustable indentation and vibration isolation performances of nacre-like metamaterial,” International Journal of Smart and Nano Materials, vol. 14, no. 3, pp. 303-320, 2023. doi: 10. 1080/19475411.2023.2221668.
D. Li, F. Liu, J. Deng, Z. Tang, and Y. Wang, "Nonlinear Damping Curve Control of Semi-Active Suspension Based on Improved Particle Swarm Optimization," in IEEE Access, vol. 10, pp. 90958-90970, 2022, doi: 10.1109/ACCESS.2022.3201867.
X. Liang and J. Yuan, “An absolute-zero-stiffness vibration isolator for continuously varying mass: theoretical design and numerical simulation,” Mechanics of Advanced Materials and Structures, vol. 31, no. 20, pp. 5075-5089, 2024, doi: 10.1080/15376494. 2023.2211408.
W. Gong, A. Li, J. Ma, P. Wu, and F. Qin, "An Ultralow-Frequency Vertical Isolation System Based on Composite Feedforward and Feedback Control," in IEEE Sensors Journal, vol. 23, no. 23, pp. 29109-29118, 2023, doi: 10.1109/JSEN.2023. 3321920.
S. Wen, J. Jing, D. Cui, Z. Wu, W. Liu, and F. Li, “Vibration isolation of a double-layered Stewart platform with local oscillators,” Mechanics of Advanced Materials and Structures, vol. 29, no. 27, pp. 6685-6693, 2023, doi: 10.1080/15376494.2021. 1983896.
X. Yang et al., "Dynamics and Isotropic Control of Parallel Mechanisms for Vibration Isolation," in IEEE/ASME Transactions on Mechatronics, vol. 25, no. 4, pp. 2027-2034, 2020, doi: 10.1109/TMECH.2020.2996641.
H. Zhang, W. Xiao, and F. Zhang, “Dynamic analysis and experimental investigation of particle damping for the vibration reduction and isolation of floating raft using the two-phase flow theory of gas-particle,” Ships and Offshore Structures, pp. 1-15, 2024, doi: 10.1080/17445302.2024.2312731.
Z. Zhu et al., "A Compliant Self-Stabilization Nano positioning Device with Modified Active–Passive Hybrid Vibration Isolation Strategy," in IEEE/ASME Transactions on Mechatronics, vol. 28, no. 6, pp. 3305-3316, 2023, doi: 10.1109/TMECH.2023.3265329.
J. Tang, Y. Yang, C. Dou, Y. Li, and D. Cao, “Micro-vibration control of spaceborne payload with smart parallel struts,” Mechanics of Advanced Materials and Structures, pp. 1-15, 2024, doi: 10.1080/15376494.2024.2329798.
B. Yan, X. Wang, H. Ma, W. Lu, and Q. Li, "Hybrid Time-Delayed Feedforward and Feedback Control of Lever-Type Quasi-Zero-Stiffness Vibration Isolators," in IEEE Transactions on Industrial Electronics, vol. 71, no. 3, pp. 2810-2819, 2024, doi: 10.1109/TIE.2023.3269481.
J. Yao, K. Wu, M. Guo, G. Wang, and L. Wang, "An Ultralow-Frequency Active Vertical Vibration Isolator With Geometric Antispring Structure for Absolute Gravimetry," in IEEE Transactions on Instrumentation and Measurement, vol. 69, no. 6, pp. 2670-2677, 2020, doi: 10.1109/TIM.2019. 2927545.
J. Liu, X. Zhang, C. Wang, and R. Yan, "Active Vibration Control Technology in China," in IEEE Instrumentation & Measurement Magazine, vol. 25, no. 2, pp. 36-44, April 2022, doi: 10.1109/ MIM.2022.9756383.
S. Yang and M. Jia, “Numerical analysis for isolation of vibrations by pile rows in transversely isotropic saturated media due to moving loads,” Mechanics of Advanced Materials and Structures, pp. 1-18, 2023, doi: 10.1080/15376494. 2023.2215761.
J. Ding et al., "The Design of a Sub-Hz Magnetic-Suspended Geophone," in IEEE/ASME Transactions on Mechatronics, vol. 27, no. 6, pp. 5824-5834, 2022, doi: 10.1109/ TMECH.2022.3189406.
L. Y. Lu, G. L. Lin, K. W. Pong, and C. L. Liu, “Experimental verification and performance evaluation of an inertia-type bidirectional isolation system,” Mechanics Based Design of Structures and Machines, vol. 52, no. 7, pp. 4503-4526, 2024, doi: 10.1080/15397734.2023.2229420.
X. Xie, P. He, D. Wu, and Z. Zhang, “Ultra-low frequency active vibration isolation in high precision equipment with electromagnetic suspension: Analysis and experiment,” Precision Engineering, vol. 84, pp. 91-101, 2023, doi: 10.1016/ j.precisioneng.2023.07.004.
H. Song, X. Shan, W. Hou, C. Wang, K. Sun, and T. Xie, “A novel piezoelectric-based active-passive vibration isolator for low-frequency vibration system and experimental analysis of vibration isolation performance,” Energy, vol. 278, p. 127870, 2023, doi: 10.1016/j.energy.2023.127870.
K. Yu, Y. Chen, C. Yu, P. Li, Z. Ren, J. Zhang, and X. Lu, “Origami-inspire quasi-zero stiffness structure for flexible low-frequency vibration isolation,” International Journal of Mechanical Sciences, vol. 276, p. 109377, 2024, doi: 10.1016/j.ijmecsci. 2024.109377.
L. Zhang, S. Zhang, J. Gao, J. Yi, H. Wen, Y. Chen, and X. Chen, “Design and implementation of a precision levelling composite stage with active passive vibration isolation,” Robotics and Computer–Integrated Manufacturing, vol. 89, p. 102744, 2024. doi: 10.1016/j.rcim.2024.102744.
H. Pu et al., “An active geophone based on a magnetic spring design for low-frequency vibration measurement,” Mechanical Systems and Signal Processing, vol. 217, p. 111521, 2024, doi: 10.1016/j.ymssp.2024.111521.
T. You, J. Zhou, D. J. Thompson, D. Gong, J. Chen, and Y. Sun, “Vibration reduction of a high-speed train floor using multiple dynamic vibration absorbers,” Vehicle System Dynamics, vol. 60, no. 9, pp. 2919-2940, 2022, doi: 10.1080/00423114.2021.1928248.
A. Xu, Z. Xu, H. Zhang, S. He, and L. Wang, “Novel coarse and fine stage parallel vibration isolation pointing platform for space optics payload,” Mechanical Systems and Signal Processing, vol. 213, p. 111359, 2024, doi: 10.1016/j.ymssp.2024. 111359.
A. Xu, Z. Xu, H. Zhang, L. Wang, and S. He, “An adaptive feed-forward active vibration isolation algorithm for input disturbance unbalanced MIMO systems,” Signal Processing, vol. 217, p. 109346, 2024, doi: 10.1016/j.sigpro.2023.109346.
P. Ling, L. Miao, B. Ye, J. You, W. Zhang, and B. Yan, “Ultra-low frequency vibration isolation of a novel click-beetle-inspired structure with large quasi-zero stiffness region,” Journal of Sound and Vibration, vol. 558, p. 117756, 2023, doi: 10.1016/j.jsv. 2023.117756.
X. Liu, K. Zhang, H. Shi, F. Hong, H. Liu, and Z. Deng, “Origami-inspired metamaterial with compression–twist coupling effect for low-frequency vibration isolation,” Mechanical Systems and Signal Processing, vol. 208, p. 111076, 2024, doi: 10.1016/j.ymssp.2023.111076.
R. Zhang, Y. Yang, C. Ma, J. Jiang, X. Liu, H. Yue, and Y. Lu, “A novel low-stiffness blade gear for micro-vibration isolation: Design, modeling, and verification,” Mechanical Systems and Signal Processing, vol. 211, p. 111223, 2024, doi: 10.1016/j.ymssp.2024.111223.
C. Liu, W. Zhang, K. Yu, T. Liu, and Y. Zheng, “Quasi-zero-stiffness vibration isolation: designs, improvements and applications,” Engineering Structures, vol. 301, p. 117282, 2024, doi: 10.1016/ j.engstruct.2023.117282.
A. Wang, S. Wang, H. Xia, G. Ma, L. Zhang, and W. Liu, “Adaptive neural control of microgravity active vibra- tion isolation system subject to output constraint and unexpected disturbance,” Acta Astronautica, vol. 213, pp. 168-176, 2023, doi: 10.1016/j.actaastro.2023.08.040.
H. Ma, K. Wang, H. Zhao, C. Zhao, J. Xue, C. Liang, and B. Yan, “Harnessing chiral buckling structure to design tunable local resonance metamaterial for low-frequency vibration isolation,” Journal of Sound and Vibration, vol. 565, p. 117905, 2023, doi: 10.1016/j.jsv.2023.117905.
B. Zhao, W. Shi, B. Wang, and J. Tan, “An adjustable anti-resonance frequency controller for a dual-stage actuation semi-active vibration isolation system,” Frontiers of Information Technology & Electronic Engineering, vol. 22, no. 10, pp. 1390-1401, 2022, doi: 10.1631/FITEE.2000373.
Y. Liu, X. Wang, Y. Xue, E. Deng, Y. Wang, C. Song, and Q. Feng, “Dynamic analysis of quasi-zero stiffness vibration isolation system coupled with frequency adjustable dynamic vibration absorber,” Archive of Applied Mechanics, vol. 92, no. 12, pp. 3631-3647, 2022, doi: 10.1007/s00419-022-02253-8.
Z. Chai, X. Song, J. Zang, and Y. Zhang, “Nonlinear vibra- tion isolation of spacecraft system by a bionic variable- stiffness device enhanced by electromagnetic component,” Acta Mechanica Solida Sinica, vol. 36, no. 6, pp. 921-932, 2023, doi: 10.1007/ s10338-023-00431-x.
G. Jin, Z. Wang, and T. Yang, “Cascaded quasi- zero stiffness nonlinear low-frequency vibration isolator inspired by human spine,” Appl. Math. Mech., vol. 43, no. 6, pp. 813-824, 2022, doi: 10.1007/s10483-022-2852-5.
B. Yan, N. Yu, and C. Wu, “A state-of-the-art review on low-frequency nonlinear vibration isolation with electromagnetic mechanisms,” Applied Mathematics and Mechanics, vol. 43, no. 7, pp. 1045-1062, 2022, doi: 10.1007/s10483-022-2868-5.
S. Zhou, D. Zhang, B. Hou, and Z. Ren, “Vibra- tion isolation performance analysis of a bilateral supported bio-inspired anti-vibration control system,” Appl. Math. Mech., vol. 44, no. 5, pp. 759-772, 2023, doi: 10.1007/s10483-023-2988-6.
G. Sui et al., “A bio-inspired spider-like structure isolator for low-frequency vibration,” Applied Mathematics and Mechanics, vol. 44, no. 8, pp. 1263-1286, 2023, doi: 10.1007/s10483-023-3020-9.
K. Xu, M. Niu, Y. Zhang, and L. Chen, “An active high-static-low-dynamic-stiffness vibration isolator with adjustable buckling beams: theory and experiment,” Applied Mathematics and Mechanics, vol. 45, no. 3, pp. 425-440, 2024, doi: 10.1007/s10483-024-3087-6.
Z. Meng and M. Qiang, “Analysis of vibration isolation effect of double-layer WIB based on wave impedance ratio,” Geotechnical and Geological Engineering, vol. 41, no. 6, pp. 3699-3714, 2023, doi: 10.1007/ s10706-023-02482-w.
Y. Chai and X. Jing, “Low-frequency multi-direction vibration isolation via a new arrangement of the X-shaped linkage mechanism,” Nonlinear Dynamics, vol. 109, no. 4, pp. 2383-2421, 2022, doi: 10.1007/ s11071-022-07452-0.
X. Song, Z. Chai, Y. Zhang, J. Zang, and K. Xu, “Nonlinear vibration isolation via an innovative active bionic variable stiffness adapter (ABVSA),” Nonlinear Dynamics, vol. 109, no. 2, pp. 353-370, 2022, doi: 10.1007/ s11071-022-07495-3.
Y. Yu, F. Li, and G. Yao, “Vibration response and isolation of X-shaped two-stage vibration isolators: Analysis of multiple parameters,” Nonlinear Dynamics, vol. 111, no. 17, pp. 15891-15910, 2023, doi: 10.1007/s11071-023-08704-3.
H. Ou, X. Sun, Q. Wu, Z. Chen, Z. Chen, Q. Chen, and L. Hu, “A novel bio-inspired kangaroo leg structure for low-frequency vibration isolation,” Nonlinear Dynamics, vol. 112, no. 3, pp. 1797-1814, 2024, doi: 10.1007/s11071-023-09082-6.
S. Zhou, B. Hou, L. Zheng, P. Xu, T. Yu, and Z. Ren, “Nonlinear prop- erty and dynamic stability analysis of a novel bio-inspired vibration isolation–absorption structure,” Nonlinear Dyn., vol. 112, no. 2, pp. 887-902, 2024, doi: 10.1007/s11071-023-09084-4.
K. Yu, Y. Chen, C. Yu, J. Zhang, and X. Lu, “A compact nonlinear stiffness-modulated structure for low-frequency vibration isolation under heavy loads,” Nonlinear Dynamics, vol. 112, no. 8, pp. 5863-5893, 2024, doi: 10.1007/s11071-024-09334-z.
T. Yang, Y. Zhang, and S. Zhou, “Multistage oscillators for ultra-low frequency vibration isolation and energy harvesting,” Science China Technological Sciences, vol. 65, no. 3, pp. 631-645, 2022, doi: 10.1007/s11431-021-1952-1.
X. Zhang, X. Liu, C. Sun, Q. Pan, and T. He, “Improvement of vibration isolation performance of multi-mode control seat suspension system through road recognition using wavelet-LSTM approach,” Journal of Mechanical Science and Technology, vol. 38, no. 1, pp. 121-136, 2024, doi: 10.1007/ s12206-023-1210-2.
C. Wei, “Low-frequency vibration isolation via new wide range zero-stiffness isolator with multiple negative stiff- ness mechanisms,” Journal of the Brazilian Society of Mechanical Sciences and Engineering, vol. 46, no. 3, p. 120, 2024, doi: 10. 1007/s40430-024-04710-7.
B. Wang, Z. Jiang, and P. D. Hu, “Study on 6-DOF active vibration-isolation system of the ultra-precision turning lathe based on GA-BP-PID control for dynamic loads,” Advances in Manufacturing, vol. 12, no. 1, pp. 33-60, 2024, doi: 10.1007/s40436-023-00463-z.
C. Wei, “Design and analysis of a novel vehicle-mounted active qzs vibration isolator,” Iranian Journal of Science and Technology, Transactions of Mechanical Engineering, vol. 47, no. 4, pp. 2121-2131, 2024, doi: 10.1007/s40997-023-00622-4.
W. Liu et al., “Flight test results for microgravity active vibration isolation system on-board Chinese Space Station,” npj Microgravity, vol. 10, no. 1, p. 19, 2024, doi: 10.1038/s41526-024-00359-7.
X. Yin, Y. Xu, X. Sheng, S. Wan, and Y. Wang, “Study on the Micro-vibration Suppression of a MnCu Spring Isolation Platform with Low Stiffness and High Damping,” International Journal of Aeronautical and Space Sciences, vol. 24, no. 3, pp. 753-765, 2023, doi: 10.1007/s42405-02.
X. Xing, Z. Chen, and Z. Feng, “A variable stiffness and damping control strategy for improving vibration isolation performances in low-frequency excitation,” Journal of Vibration Engineering & Technologies, vol. 11, no. 4, pp. 1595-1608, 2023, doi: 10.1007/s42417-022-00659-w.
J. Hu et al., “Research on an Active Vibration Isolation System with Hybrid Control Strategy for The Guidance System of TBM,” Journal of Vibration Engineering & Technologies, vol. 12, no. 1, pp. 773-782, 2024, doi: 10.1007/s42417-023-00874-z.
S. Wang, L. Yu, Q. Zhang, and R. Xiang, “Design and Analysis of a Novel Horizontal Large-Amplitude and Low-Frequency Vibration Isolator,” Journal of Vibration Engineering & Technologies, vol. 12, no. 4, pp. 6155-6167, 2024, doi: 10.1007/ s42417-023-01244-5.
G. F. Franklin, J. D. Powell, A. Emami-Naeini, and J. D. Powell. Feedback control of dynamic systems (vol. 4). Upper Saddle River: Prentice Hall, 2002.
D. E. Kirk. Optimal control theory: an introduction. Courier Corporation, 2004.
J. P. Hespanha. Linear Systems Theory: Second Edition. Princeton University Press, 2018.
J. C. D. Kemin Zhou and K. Glover. Robust and Optimal Control. Pearson, 1995.
DOI: https://doi.org/10.18196/jrc.v5i6.22595
Refbacks
- There are currently no refbacks.
Copyright (c) 2024 Vishnu G. Nair, Navya Thirumaleswar Hegde, Dileep M. V.
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
Journal of Robotics and Control (JRC)
P-ISSN: 2715-5056 || E-ISSN: 2715-5072
Organized by Peneliti Teknologi Teknik Indonesia
Published by Universitas Muhammadiyah Yogyakarta in collaboration with Peneliti Teknologi Teknik Indonesia, Indonesia and the Department of Electrical Engineering
Website: http://journal.umy.ac.id/index.php/jrc
Email: jrcofumy@gmail.com