Mechanical Engineering / Makina Mühendisliği

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

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Now showing 1 - 10 of 44
  • Book Part
    Citation - WoS: 1
    Citation - Scopus: 1
    A Historical Review of Polyhedral Linkages
    (Springer, 2024) Kiper, Gökhan
    Polyhedral linkages are linkages that resemble polyhedral shapes at different configurations. This paper summarizes the necessary geometrical fundamentals of polyhedral geometry and presents a historical and critical review of the polyhedral linkage designs available in the literature. Basic definitions of polyhedral geometry and operations are needed to comprehend and design polyhedral linkages. First, early works on polyhedral linkages are presented, where flexible polyhedra with rigid faces and flexible edges are issued. The final part is reserved to conformal polyhedral linkages, which go through shape transformations while plane, dihedral and solid angles are preserved. Conformal polyhedral linkages are examined in four categories: 1) Jitterbug-like linkages with screwing polygonal links connected to each other with dihedral angle preserving links, 2) polyhedral linkages with planar kinematic chains in radial motion planes, 3) polyhedral linkages with planar kinematic chains on faces, that are connected to each other with dihedral angle preserving links, and 4) other conformal polyhedral linkages. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.
  • Conference Object
    Citation - WoS: 1
    Citation - Scopus: 1
    Modeling a Magneto-Rheological Fluid-Based Brake Via a Neural Network Method
    (Springer international Publishing Ag, 2022) Kucukoglu, Sefa Furkan; Dede, Mehmet Ismet Can; Ceccarelli, Marco
    Identifying 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 - Scopus: 1
    Kinematic Representation of a Biomimetic Squid Soft Robot's Arms in a Simulation Environment
    (Springer international Publishing Ag, 2022) Emet, Hazal; Dede, M. I. Can
    Biomimetic robot systems have received attention from researchers and in accordance the implementation of soft robotic arms has been studied. Kinematic and dynamic modeling of robots with infinite degrees of freedom is challenging and a number of methods have been proposed. In this work, a procedure is proposed to represent soft robot arm motion in a simulation environment. A biomimetic squid robot is used as a case study. This robot's soft arms are modeled by using the Piecewise Constant Curvature approach. This model is visualized by discretizing the soft arms into a finite number of rigid-body manipulators in MatLab using its 3D animation toolbox.
  • Article
    Citation - WoS: 2
    Citation - Scopus: 6
    Towards Integration of the Finite Element Modeling Technique Into Biomedical Engineering Education
    (World Scientific Publishing, 2022) Mihçin, Şenay; Çıklaçandır, Samet
    Biomedical engineering (BME) is a multidisciplinary field, resulting in a heavy course load from different fields. We hypothesize that the engineering curriculum be tailored according to the requirements of the BME profession. In this study, we focus on the teaching of the finite element modeling (FEM) technique by redesigning the course to address the needs of the BME profession by some custom-made changes to meet the unmet needs. After the completion of the course, evaluation methods of the students were analyzed and detailed over a survey providing feedback from the students. The surveys were related to the teaching the theory of FEM, the laboratory sessions, and the project sessions. The survey results were evaluated using statistical methods. The Pearson correlation coefficient showed a linear agreement between theoretical and practical sessions indicating efficient blending of skills because of the custom-made changes. The survey analysis showed that the students were in favour of the changes, allowing them to be more resourceful and confident with their skills. The positive results indicate a positive attitude among the students towards their profession. As the course design addresses the needs of the profession allowing students to fit in better, the students might follow their own profession after graduation. A wider follow-up study might be planned next to compare the results between who received tailor-designed courses and those who did not.
  • Conference Object
    A sustainable association case study: IFToMM member organization Turkey
    (Springer, 2022) Kiper, Gökhan; Söylemez, Eres
    As a member of IFToMM founded in 2011, Turkish Machine Theory Association’s (MakTeD) structure has put special emphasis on sustainability of the association and initiated several activities for improving the quality of education and research in mechanism and machine science area, hence supporting the SDG4 Quality Education of the UN. This paper presents the activities and methodologies of MakTeD. The paper starts with a brief history of mechanism and machine science in Turkey. In 10 years MakTeD organized 4 symposiums, 1 conference, 4 summer/winter schools, 8 workshops and hosted an IFToMM Executive Council meeting. Each chapter of the biyearly held National Symposium on Theory of Machines is held by a different university and especially newly established and the universities in relatively smaller cities are prioritized in order to promote those universities and to contribute to development of these universities. Especially the summer/winter schools and workshops have a widespread impact on mechanism and machine science education and research at the universities and institutions. MakTeD also contributes to the community with published books and support programs for young researchers.
  • Conference Object
    Digital Twin of a Servo Driver of a Servo Motor as a First Step Towards a Digital Twin of a Robot Mechanism
    (Springer, 2022) Küçükoğlu, Sefa Furkan; Carbone, Giuseppe; Dede, Mehmet İsmet Can
    Digital Twin (DT) offers us to acquire actual system’s critical information and hence, it may be possible to develop and produce more suitable systems in terms of low energy consumption and effectiveness. In this way, responsible consumption and production systems can be designed and the system’s parameters can be tuned via DT. In this study, the model of a servomotor system that is used for industrial purposes is experimentally obtained. This study consists of two steps. In the first step, within the embedded control of the system, position and velocity control loops are deactivated. Then through the servo driver, currents with sinusoidal waveforms at various frequencies are applied to the servomotor. The resultant angular velocity of the motor is monitored and recorded. The amplitude of the current is kept constant during this study. The frequency of the current, however, is increased logarithmically. By using these data, a first-order transfer function (TF) is identified for the motor model. In the second step, all control loops are activated. Consequently, the total servomotor system could be represented in a digital environment. Furthermore, the static friction issue is overcome by using a Coulomb friction model with stiction effect. Finally, several experiments are conducted and then results are compared with the digital model of the servomotor system. The results clearly show that digital model can fairly represent the physical system.
  • Article
    Citation - WoS: 28
    Citation - Scopus: 30
    Bone Marrow Stem Cells Adapt To Low-Magnitude Vibrations by Altering Their Cytoskeleton During Quiescence and Osteogenesis
    (TUBITAK, 2015) Demiray, Levent; Özçivici, Engin
    Application of mechanical vibrations is anabolic to bone tissue, not only by guiding mature bone cells to increased formation, but also by increasing the osteogenic commitment of progenitor cells. However, the sensitivity and adaptive response of bone marrow stem cells to this loading regimen has not yet been identified. In this study, we subjected mouse bone marrow stem cell line D1-ORL-UVA to daily mechanical vibrations (0.15 g, 90 Hz, 15 min/day) for 7 days, both during quiescence and osteogenic commitment, to identify corresponding ultrastructural adaptations on cellular and molecular levels. During quiescence, mechanical vibrations significantly increased total actin content and actin fiber thickness, as measured by phalloidin staining and fluorescent microscopy. Cellular height also increased, as measured by atomic force microscopy, along with the expression of focal adhesion kinase (PTK2) mRNA levels. During osteogenesis, mechanical vibrations increased the total actin content, actin fiber thickness, and cytoplasmic membrane roughness, with significant increase in Runx2 mRNA levels. These results show that bone marrow stem cells demonstrate similar cytoskeletal adaptations to low-magnitude high-frequency mechanical loads both during quiescence and osteogenesis, potentially becoming more sensitive to additional loads by increased structural stiffness.
  • Book Part
    Citation - WoS: 1
    Citation - Scopus: 1
    Calibration Study of a Continuously Variable Transmission System Designed for Phri
    (Springer, 2020) Mobedi, Emir; Dede, Mehmet Ismet Can
    Variable stiffness actuators (VSAs) have been used in many applications of physical human-robot interfaces (pHRI). A commonly employed design is the spring-based VSA allowing the user to regulate the output force mechanically. The main design criteria of these actuation systems are the adjustment of output force independent from the output motion, and shock absorbing. In our recent work, we implemented certain modifications on the two-cone friction drive continuously variable transmission system (CVT) so that the CVT can be employed in pHRI systems. Subsequently, the optimized prototype is developed. In this study, we introduce the prototype of this new CVT systems, and its force calibration tests. The results indicate that the manufactured CVT is capable of displaying the desired output force throughout its transmission ratio range within a tolerance.
  • Conference Object
    Citation - WoS: 1
    Citation - Scopus: 2
    A New Correction Coefficient Formula for the Simplified Dynamic Model of a Surgical Robot
    (Springer international Publishing Ag, 2021) Ayit, Orhan; Dede, Mehmet Ismet Can
    Execution 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.
  • Article
    Fireproofing the Firefighting Robot
    (Laurin Publishing Co. Inc., 2009) Keçeci, Emin Faruk
    Researchers at the Institute of Technology in Izmir, Turkey, have successfully developed a mechanical firefighter robot that will work inside the flames. The robot uses both passive and active cooling systems that, for a limited time, keep the inner temperature at a safe level for the electronic components inside the device, to survive the flame. The body of the robot is made of aluminum and comprises two shells attached to each other with rods. The robot is controlled with a remote unit by an operator, who can observe the fire via a CCD camera. Control and cooling subsystems will allow the robot to work in these rough conditions. The control system allows the robot to use the navigation system as well as the sensory and cooling systems. The robot will be controlled with radiofrequency communications and is able to break doors and climb stairs to work in upper-level fires.