İki Linkli Robot Manipülatörün Modellenmesi ve Bozucu Etki Altında Yörünge Kontrolü

İLGEN, Sinan | DURDU, Akif | GÜLBAHÇE, Erdi | ÇAKAN, Abdullah

Bu çalışmada, iki linkli düzlemsel bir robot manipülatörün bozucu etki altında yörünge kontrolü yapılmıştır. ADAMS yazılımı vasıtasıyla manipülatörün sanal bir prototipi oluşturulmuştur. Ayrıca, sistem için gerekli olan kontrolcü tasarımı MATLAB/Simulink ortamında gerçekleştirilmiştir. Sistemin simülasyonu ise MATLAB ve ADAMS yazılımlarının eş zamanlı olarak çalıştırılması ile gerçekleştirilmiştir. Robot manipülatör iki giriş ve dört çıkışa sahiptir. Girişler, her iki eklemin tahriki için gerekli olan motor torkları, çıkışlar ise her iki eklemin açıları ve uç elemanın konumunun x-y bileşenleri ...Daha fazlası

Optimal Tuning of the SMC Parameters for a Two Two-Link Manipulator Co-Simulation Control

İLGEN, Sinan | DURDU, Akif | GÜLBAHÇE, Erdi | ÇAKAN, Abdullah

—This paper presents the trajectory tracking control of a two-link planar robot manipulator using MSC Adams and MATLAB co-simulation which enables the innovative virtual prototyping of the systems without any mathematical expressions. Firstly, the tracking control performance of the planar manipulator is investigated using the Sliding Mode Control (SMC) controller and the Proportional Integral Derivative (PID) controller in terms of the performance analysis. As a result, the SMC demonstrates effective control performances compared to the PID controller according to the required trajectory, set ...Daha fazlası

Modelling and Control of a Single-Wheel Inverted Pendulum by Using Adams and Matlab

İLGEN, Sinan | OFLAZ, Emre | GÜLBAHÇE, Erdi | ÇAKAN, Abdullah

This research is aimed at developing a multi-body simulation model and balancing control of a single-wheeled inverted pendulum. A virtual prototype of the system has been built by using Adams software and it is simulated in both Matlab and Adams software together. The Adams model has two inputs (disturbance and control) and two outputs (pendulum angle and wheel position). Proportional-integral-derivative (PID) controller is designed and applied for balancing control and simulation of pendulum angle. The modelling and control results show that the Proportional-integral-derivative (PID) controll ...Daha fazlası

Sliding Mode Control of a Two-link Robot Manipulator Using Adams & Matlab Software

İLGEN, Sinan | DURDU, Akif | GÜLBAHÇE, Erdi | ÇAKAN, Abdullah

This paper presents the design of a sliding mode controller (SMC) for trajectory tracking problem for a two-link planar robot manipulator. A virtual prototype of the manipulator has been built by using Adams software. Also, the controller works is achieved in Matlab/Simulink software. The system is simulated in both Matlab and Adams software together which is called co-simulation. The manipulator system has two inputs (torques of actuators) and four outputs (angle of 1st joint, angle of 2nd joint and x-y components of end effector position). The sliding mode controller (SMC) is designed with t ...Daha fazlası

Advanced-Collision-Map-Based On-line Collision and Deadloack Avoidance between Two Robot Manipulators with PTP Commands

AFAGHANI, Ahmad Yasser

This research aims to build an on-line system for avoiding collisions and deadlocks between two robot manipulators which are controlled using point-to-point (PTP) commands. Both robots are sharing the same workspace and have no prior knowledge of the commands which will be sent after starting the system. We have proposed a collision map concept for detecting the collisions between the end-effectors of the robots [1]. In this work, an advanced collision map method has been created for detecting the collisions between the whole body of the robots and representing them as collision areas on the m ...Daha fazlası

Unsupervised Satellite Change Detection Using Particle Swarm Optimisation in Spherical Coordinates

UŞAKLI, Ali Bülent | YAVARIABDI, Amir | KUSETOĞULLARI, Hüseyin

This paper proposes a new unsupervised satellite change de- tection method, which is invariant to shadow and shading e ects. To achieve this, rstly, the RGB satellite images are transformed into spher- ical colour space to remove illumination artifacts. Then, a new unsuper- vised change detection is used. The resultant optimal binary change mask is obtained by minimisation a mean square error based cost function us- ing Binary Particle Swarm Optimisation (BPSO). The proposed method is compared with three other satellite change detection methods and the results demonstrate that our method provi ...Daha fazlası

The Bees Algorithm Approach to Determining SMC Controller Parameters for the Position Control of a SCARA Robot Manipulator

İlgen, Sinan | Durdu, Akif | Gülbahçe, Erdi | Çakan, Abdullah | Kalyoncu, Mete

Experimental Investigation on the Effects of Core/Facing Interface Performance on the Low-Velocity Impact Behavior of Honeycomb Sandwich Panels

MERAM, Ahmet

This paper gives an important contribution by investigating the effectiveness of core/facing interface performance of aluminum honeycomb sandwich panels under low-velocity impact energy. Low-velocity drop tests were conducted on five different panels under 50, 75, and 100 J impact energies (loads). The following procedure is followed to evaluate the impact response of panels: the force–time histories are acquired; the numerical integration method is applied, and force–displacement histories are obtained; and then the damage mechanism and theoretical energy balance modeling are used to analyze ...Daha fazlası

Accuracy Comparison of CNN Networks on GTSRB Dataset

AY, Gökberk | DURDU, Akif | NESİMİOĞLU, Barış Samim

In this era, interpreting and processing the data of traffic signs has crucial importance for improving autonomous car technology. In this respect, the relationship between the recognition of traffic signs and industrial applications is highly relevant. Although real-world systems have reached that related market and several academic studies on this topic have been published, regular objective comparisons of different algorithmic approaches are missing due to the lack of freely available benchmark datasets. From this point of view, we compare the AlexNET, DarkNET-53, and EfficientNET-b0 convol ...Daha fazlası

Designing Modular Bite Force Measurement System for Stomatognathic Considerations

KAYA, Doğan Ilgaz | GÜLBAHÇE, Erdi | OFLAZ, Emre | AKTI, Ahmet

The stomatognathic system is a very complex structure that includes the temporomandibular joint, masticatory muscles, teeth, gingiva, tongue, and pharynx. In this structure, maximum bite force measurement has been an important field of study in the diagnosis and treatment of diseases caused by disorders related to chewing habits. Objectives: Since existing measurement systems are expensive and impractical, researchers are in search of better systems. In this study, a modular and low-cost system has been developed to measure the bite forces accurately. Materials and Methods: The sensor data rea ...Daha fazlası

Felçli Hastalar için EOG Tabanlı İletişim

UŞAKLI, Ali Bülent

Bu çalışmada etkin ve kolay iletişim kanalı olarak elektrookülogram (EOG) sinyallerinin kullanılması önerilmekte ve bu konuda özgün tasarım olarak geliştirilen sistemler tanıtılmıştır. Geliştirilen sistemlerden alınan sinyallerin sınıflandırma başarımı ve motor tepke ile karşılaştırılması yapılmıştır.

Investigation on the manufacturing variants influential on the strength of 3D printed products

MERAM, Ahmet

This paper investigates the manufacturing variants influential on the strength of 3D printed products. In contrast to the traditional manufacturing methods which produce the final product via removing materials from parts, in 3D printing technology the products are provided with adding layer by layer directly from a digital file. 3D printing technology due to overcoming the many difficulties and limitations of conventional fabrication approaches is a rapidly progressing technology which takes attention in many industries such as aerospace, automotive, medical and building industries. This pape ...Daha fazlası