Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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Conference Object Citation - WoS: 4Citation - Scopus: 7General subtask controller for redundant robot manipulators(Institute of Electrical and Electronics Engineers Inc., 2012) Maaroof, Omar W.; Gezgin, Erkin; Dede, Mehmet İsmet CanThis paper will utilize the property of self-motion for redundant robot manipulators by designing the general subtask controller that control the joint motion in the null-space of the Jacobian matrix. The general subtask controller is used for minimizing the total joint motion and for singularity avoidance in this study. Specifically, objective function for each subtask is formed and then the gradient of the objective function is used in the subtask controller to either minimize the joint motion or avoid singularities while tracking a given end-effector trajectory. A 7-DOF LWA4-Arm (SCHUNK) is modeled first in SolidWorks® and then converted to MATLAB® Simulink using SimMechanics CAD translator for the simulation tests of the controller. The kinematics and dynamics equations are derived to be used in the controllers and the simulation results are presented for the 7-DOF redundant robot manipulator operating in 3D space. © 2012 ICROS.Conference Object Neuroboscope Sisteminin Model Tabanlı Sınaması(Otomatik Kontrol Türk Milli Komitesi, 2016) Uzun, Bengisu; Ayav, Tolga; Dede, Mehmet İsmet Can; Berker, Mustafa; Işıkay, İlkay; Hanalioğlu, Şahin; Özdemirel, Barbaros; Kiper, Gökhan; Tatlıcıoğlu, Enver; Maaroof, Omar W.; Işıtman, Oğulcan; Ateş, Gizem; Yaşır, AbdullahNeuRoboScope projesinde, endoskopik hipofiz cerrahisinde kullanılan optik-kamera sisteminin, cerrahın kullandığı cerrahi aletleri takip ederek yönlendirilmesini amaçlayan emniyet kritik bir sistemin tasarlanması amaçlanmıştır. Bu bildiri, sistem gereksinimleri üzerinden tüm sistemin modellenmesini ve oluşturulan bu modelin sınanmasını ele almaktadır. Böylece, tasarım evresinden önce tasarımın dayanağı olan sistem gereksinimlerinin doğrulanması hedeflenmiştir. Sistem bir zamanlı otomat ağı olarak modellenmiş ve UPPAAL model sınama aracı kullanılarak, sistemin başta emniyet kritik olmak üzere diğer önemli özellikleri sınanmıştır.Conference Object Citation - WoS: 1Citation - Scopus: 1Alternating Error Effects on Decomposition Method in Function Generation Synthesis(Springer Verlag, 2017) Maaroof, Omar W.; Dede, Mehmet Ismet Can; Kiper, GokhanIn approximate function generation synthesis methods, error between the desired function's output and designed mechanism's output oscillate about zero error while crossing the zero error margin at precision points. The common goal of these methods is to minimize the error within the selected working region of the mechanism. For mechanisms like Bennett overconstrained six-revolute jointed linkages that have relatively large number of construction parameters, it is a difficult task to solve for them at once. Decomposition method enables to divide such linkages into two loops and independently solve for each loop with less construction parameters. Although some approximation methods are proven to produce smaller errors than others for a single-loop synthesis, in this work, it is shown that smaller errors are not guaranteed for a certain method when used along with decomposition method. Numerical examples indicate that in decomposition method, more attention should be given to the alternation of the error of each decomposed mechanism, rather than the approximation method used.