Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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Conference Object Citation - WoS: 1Citation - Scopus: 1Modeling a Magneto-Rheological Fluid-Based Brake Via a Neural Network Method(Springer international Publishing Ag, 2022) Kucukoglu, Sefa Furkan; Dede, Mehmet Ismet Can; Dede, Mehmet İsmet Can; Küçükoğlu, Sefa Furkan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyIdentifying the model of a magneto-rheological (MR) fluid-based brake is extremely important for designing and controlling a haptic device with hybrid actuation. Therefore, in this study, an Elman Recurrent Neural Network (ERNN) is designed to understand and model a characterization of an MR fluid-based rotational brake. Three important factors that affect the MR brake's performance are chosen as inputs: current, speed, and the first derivative of the input current. The proposed network is trained, and the performance of the network is tested with three different experimental scenarios. Then, the effect of these inputs on the system is investigated. According to the results, it can be said that the designed ERNN is a good candidate for modelling an MR brake.Conference Object Citation - WoS: 1Citation - Scopus: 2A New Correction Coefficient Formula for the Simplified Dynamic Model of a Surgical Robot(Springer international Publishing Ag, 2021) Ayit, Orhan; Dede, Mehmet Ismet Can; Dede, Mehmet İsmet Can; Ayit, Orhan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of TechnologyExecution of model-based control algorithms such as computed torque technique requires the knowledge of the dynamic model of the robotic system. In our work, the active part of the surgical robot, NeuRoboScope, has a parallel kinematics architecture and the dynamic model is relatively complicated to run in a microprocessor with limited computing capabilities. For this reason, we formulated a simplified dynamic model to run in the selected microprocessor. In this work, a new formula for calculating the correction coefficients is described to minimize the errors in the whole orientation range of the robot's base platform. This new formula is examined in terms of execution time and the result is reported in this paper.