Mechanical Engineering / Makina Mühendisliği

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

Browse

Filters

2018 - 201912020 - 20211

Settings

Publisher: search.filters.publisher.VDE Publishing House

Search Results

Now showing 1 - 2 of 2
  • Conference Object
    Training and Modelling the Non-Linear Behavior of an Mr Brake by Using Rnn and Lstm
    (VDE Publishing House, 2021) Karabulut, Mehmet Görkem; Karabulut, Mehmet Görkem; Küçükoğlu, Sefa Furkan; Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; Küçükoğlu, Sefa Furkan; 03.10. Department of Mechanical Engineering; 01. Izmir Institute of Technology; 03. Faculty of Engineering
    A magneto-rheological (MR) fluid-based semi-active actuation system, or in other words, an MR-fluid based brake system, was designed for displaying larger amount of resistive forces without jeopardizing the dynamic performance of a haptic interface. The working principle of the MR brake device depends on the viscous fluid called MR fluid that changes its viscosity when exposed to the magnetic field. Thus, generated resistive torque can be controlled via regulating the magnetic field by modifying the electrical current that passes along a coil which provides this magnetic field.Dynamic system modeling is required in order to develop a high-performance control. In this study, modeling methods of an MR-fluid based brake is investigated in terms of its friction and hysteresis characteristics.There are numerous works in the literature in which two well-known learning sequence methods, Recurrent Neural Network (RNN) and Long Short-Term Memory (LSTM), are used for non-linear dynamic system modeling. In the scope of this study, the performance of RNN and LSTM are compared with the Bouc-Wen model which is commonly used in MR-fluid based system modeling. The effect of learning rate and the number of epoch being the important hyper-parameters, for RNN and LSTM models are investigated.In accordance with these information, both methods can be used for the control purposes of a MR-fluid based brake system. © VDE VERLAG GMBH · Berlin · Offenbach.
  • Conference Object
    Citation - Scopus: 5
    Design and Experimental Validation of an Mr-Fluid Based Brake for Use in Haptics
    (VDE Publishing House, 2018) Karabulut, Mehmet Görkem; Dede, Mehmet İsmet Can; Karabulut, Mehmet Görkem; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    In this work, the design of an MR-fluid based brake system is given which is aimed to be used in kinaesthetic haptic devices. The brake design proposes a solution to the stiction problem which is common among the MR brake based haptic devices. This problem occurs when the brake is activated to constrain the motion of the handle in one direction and the user wants to move the handle in the other direction. The development process, which consists of 3D designing, Finite Element Analysis (FEA) simulation and mathematical modelling, aims to achieve the optimal design with high performance to volume ratio. The prototype design is constructed, and its performance is evaluated via experimental tests. A polynomial equation is calculated to fit the experimental current-torque data, which captures the hysteresis behaviour of the system. According to the test results, the applicable torque range of the prototype is from a minimum of 0.15 Nm to a maximum of 3.84 Nm and the bandwidth is calculated to be 63 rad/s.