Mechanical Engineering / Makina Mühendisliği

Permanent URI for this collectionhttps://hdl.handle.net/11147/4129

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End date: 2009Publisher: search.filters.publisher.Institute of Electrical and Electronics Engineers Inc.

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  • Conference Object
    Tıbbi Uygulamalar için Özgün Yapılı Haptik Cihaz Tasarımı
    (Institute of Electrical and Electronics Engineers Inc., 2009) Selvi, Özgün; Bilgincan, Tunç; Kant, Yalkın; Dede, Mehmet İsmet Can
    Robotik sistemler hassasiyet gerektiren işlerde gün geçtilçe günlük hayatımızın bir parçası olmaya başladı. Bu işler genellikle herhangi bir operatör tarafından yapılamayacak kadar hassasiyet gerektiren işler olduğundan dolayı robotik teknolojiye ihtiyaç vardır. Bir robotik alanı olan Haptik teknolojisi, operatör ile çevrenin etkileşimini kuvvet geri beslemesi ile sağlayarak uygulamanın hassasiyet seviyesini arttırmaktadır. Bugünkü haliyle haptik teknoloji tıbbi operasyonlarda yardımcı sistem olarak ve birçok uzaktan kumandalı operasyonlarında (teleoperasyon) kullanılmaktadır. Aynı zamanda haptik teknoloji askeri ve tıbbi eğitim amaçlı sanal gerçeklik programlarında kullanılmaktadır. Bu çalışmanın amacı sistemin hassasiyetini arttırabilecek yapısal olarak yeni bir haptik cihaz tasarlamaktır. Bu kapsamda, önceden gerçekleştirilmiş robot tasarımları araştırıldı ve kavramsal tasarımlar gelistirildi. Sonuç olarak seçilen tasarım sanal ortam da oluşturuldu ve simülasyonu yapıldı, ve ilk prototipi imal edildi
  • Conference Object
    Citation - WoS: 5
    Citation - Scopus: 6
    Multiobjective Genetic Algorithm Optimization of the Composite Laminates as a Satellite Structure Material for Coefficient of Thermal Expansion and Elastic Modulus
    (Institute of Electrical and Electronics Engineers Inc., 2009) Aydın, Levent; Artem, Hatice Seçil
    This study considers multi-objective optimal design of the fiber reinforced symmetric-balanced laminated composites using genetic algorithms. MATLAB Genetic Algorithm and Direct Search Toolbox is used to obtain Pareto-optimal design for three different model problems. The objectives of the problems are to maximize the Young's moduli and minimize the coefficient of thermal expansion (CTE) simultaneously for 8 and 16 layered carbon/epoxy composites. Simplified micromechanics equations and classical lamination theory are used in order to obtain the fitness functions of the problems. Stress and strain distributions are presented through the thickness of the laminates for the optimized problems under mechanical and thermal loadings.
  • Conference Object
    Citation - WoS: 9
    Citation - Scopus: 13
    Design of a Haptic Device for Teleoperation and Virtual Reality Systems
    (Institute of Electrical and Electronics Engineers Inc., 2009) Dede, Mehmet İsmet Can; Selvi, Özgün; Bilgincan, Tunç; Kant, Yalkın
    Haptics technology has increased the precision and telepresence of the teleoperation and precision of the in-house robotic applications by force and surface information feedback. Force feedback is achieved through sending back the pressure and force information via a haptic device as the information is created or measured at the point of interest. In order to configure such a system, design, analysis and production processes of a haptic device, which is suitable for that specific application, becomes important. Today, haptic devices find use in assistive surgical robotics and most of the teleoperation systems. These devices are also extensively utilized in simulators to train medical and military personnel. The objective of this work is to design a haptic device with a new structure that has the potential to increase the precision of the robotic operation. Thus, literature is reviewed and possible robot manipulator designs are investigated to increase the precision in haptics applications. As a result of the investigations, conceptual designs are developed. Ultimately, final design is selected and produced after it is investigated in computer-aided- design (CAD) environment and its kinematic and structural analyses are carried out.
  • Conference Object
    Control of Teleoperation Systems Operating Under Communication Line Failures
    (Institute of Electrical and Electronics Engineers Inc., 2008) Dede, Mehmet İsmet Can; Tosunoğlu, Sabri
    Abstract While the robots gradually become a part of our daily lives, they already play vital roles in many critical operations. Some of these critical tasks include surgeries, battlefield operations, and tasks that take place in hazardous environments or distant locations such as space missions. In most of these tasks, remotely controlled robots are used instead of autonomous robots. This special area of robotics is called teleoperation. Teleoperation systems must be reliable when used in critical tasks; hence, all of the subsystems must be dependable even under a subsystem or communication line failure. Teleoperation controllers are designed to compensate for instabilities due to communication time delays. Modifications to the existing controllers are proposed to configure a controller that is reliable under communication line failures. Experimental studies are then conducted on limited-and unlimited-workspace teleoperation systems to verify the efficiency of the controllers proposed for each system.