Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Article Enhancing trajectory-tracking accuracy of high-acceleration parallel robots by predicting compliant displacements(Cambridge University Press, 2025) Paksoy, Erkan; Dede, Mehmet Ismet Can; Kiper, GokhanFor precision-required robot operations, the robot's positioning accuracy, repeatability, and stiffness characteristics should be considered. If the mechanism has the desired repeatability performance, a kinematic calibration process can enhance the positioning accuracy. However, for robot operations where high accelerations are needed, the compliance characteristics of the mechanism affect the trajectory-tracking accuracy adversely. In this paper, a novel approach is proposed to enhance the trajectory-tracking accuracy of a robot operating at high accelerations by predicting the compliant displacements when there is no physical contact of the robot with its environment. Also, this case study compares the trajectory-tracking characteristics of an over-constrained and a normal-constrained 2degrees-of-freedom (DoF) planar parallel mechanism during high-acceleration operations up to 5 g accelerations. In addition, the influence of the end-effector's center of mass (CoM) position along the normal of the plane is investigated in terms of its effects on the proposed trajectory-enhancing algorithm.Article Citation - Scopus: 4Comparative Proteomic Analysis of Leishmania Parasites Isolated From Visceral and Cutaneous Leishmaniasis Patients(Cambridge University Press, 2022) Dinç, M.; Yalçln, T.; Çavuş, I.; Özbilgin, A.Leishmaniasis is an infectious disease in which different clinical manifestations are classified into three primary forms: visceral, cutaneous and mucocutaneous. These disease forms are associated with parasite species of the protozoan genus Leishmania. For instance, Leishmania infantum and Leishmania tropica are typically linked with visceral (VL) and cutaneous (CL) leishmaniasis, respectively; however, these two species can also cause other form to a lesser extent. What is more alarming is this characteristic, which threatens current medical diagnosis and treatment, is started to be acquired by other species. Our purpose was to address this issue; therefore, gel-based and gel-free proteomic analyses were carried out on the species L. infantum to determine the proteins differentiating between the parasites caused VL and CL. In addition, L. tropica parasites representing the typical cases for CL were included. According to our results, electrophoresis gels of parasites caused to VL were distinguishable regarding the repetitive down-regulation on some specific locations. In addition, a distinct spot of an antioxidant enzyme, superoxide dismutase, was shown up only on the gels of CL samples regardless of the species. In the gel-free approach, 37 proteins that were verified with a second database search using a different search engine, were recognized from the comparison between VL and CL samples. Among them, 31 proteins for the CL group and six proteins for the VL group were determined differentially abundant. Two proteins from the gel-based analysis, pyruvate kinase and succinyl-coA:3-ketoacid-coenzyme A transferase analysis were encountered in the protein list of the CL group. Copyright © The Author(s), 2021. Published by Cambridge University Press.Article Citation - WoS: 5Citation - Scopus: 4Comparative Proteomic Analysis of Leishmania Parasites Isolated From Visceral and Cutaneous Leishmaniasis Patients(Cambridge University Press, 2021) Dinç, Melike; Yalçın, Talat; Çavuş, İbrahim; Özbilgin, AhmetLeishmaniasis is an infectious disease in which different clinical manifestations are classified into three main forms as visceral, cutaneous, and mucocutaneous. These disease forms are associated with parasite species of protozoan genus, Leishmania. For instance, Leishmania infantum and Leishmania tropica are typically linked with visceral (VL) and cutaneous (CL) leishmaniasis respectively, however these two species can also cause other form to a lesser extent. What is more alarming is this characteristic, which threatens classic diagnoses and therapies, is started to be acquired by other species. To address this issue, gel-based and gel-free proteomic analyses were carried out on the species, Leishmania infantum to determine the proteins differentiating between the parasites caused visceral and cutaneous leishmaniasis. In addition, Leishmania tropica parasites representing the typical cases for cutaneous leishmaniasis were included. Electrophoresis gels of parasites caused to visceral leishmaniasis were distinguishable from the others in terms of repetitive down-regulation on some specific locations. In addition, a distinct spot of an antioxidant enzyme, superoxide dismutase was shown up only on the gels of cutaneous leishmaniasis samples regardless of the species. In the gel-free approach, 37 proteins which were verified with a second database search using a different search engine, were distinguished from the comparison between VL and CL samples. Among them, 31 proteins for the CL group and 6 proteins for the VL group were determined differentially abundant. Two proteins from the gel-based analysis namely pyruvate kinase and succinly-coA:3-ketoacid-coenzyme A transferase analysis were encountered in the protein list of the CL group.Article Citation - WoS: 4Citation - Scopus: 5Toward Safe and High-Performance Human-Robot Collaboration Via Implementation of Redundancy and Understanding the Effects of Admittance Term Parameters(Cambridge University Press, 2022) Kanık, Mert; Ayit, Orhan; Dede, Mehmet İsmet Can; Tatlıcıoğlu, EnverSummary Today, demandsin industrial manufacturing mandate humans to work with large-scale industrial robots, and this collaboration may result in dangerous conditions for humans. To deal with this situation, this work proposes a novel approach for redundant large-scale industrial robots. In the proposed approach, an admittance controller is designed to regulate the interaction between the end effector of the robot and the human. Additionally, an obstacle avoidance algorithm is implemented in the null space of the robot to prevent any possible unexpected collision between the human and the links of the robot. After safety performance of this approach is verified via simulations and experimental studies, the effect of the parameters of the admittance controller on the performance of collaboration in terms of both accuracy and total human effort is investigated. This investigation is carried out via 8 experiments by the participation of 10 test subjects in which the effect of different admittance controller parameters such as mass and damper are compared. As a result of this investigation, tuning insights for such parameters are revealed.Article Citation - WoS: 6Citation - Scopus: 6Investigation of Longitudinal Friction Characteristics of an Omnidirectional Wheel Via Lugre Model(Cambridge University Press, 2021) Şahin, Osman Nuri; Dede, Mehmet İsmet CanIn recent years, omnidirectional wheels have found more applications in the design of automated guided vehicles (AGV). In this work, LuGre friction model is used for an omnidirectional wheel. A test setup that includes a single omnidirectional wheel is designed and constructed to identify the model parameters. With the help of the constructed test setup, the longitudinal friction characteristic of the omnidirectional wheel is obtained, and the model is verified via validation tests. In addition, for the first time, the effect of lateral frictional force on longitudinal motion is examined for an omnidirectional wheel through experiments.Article Citation - WoS: 1Citation - Scopus: 1Enumeration and Instantaneous Mobility Analysis of a Class of 3-Upu Parallel Manipulators With Equilateral Triangular Platforms(Cambridge University Press, 2022) Boztaş, Sercan; Kiper, GökhanIn this study, several joint axis orientations on equilateral platforms and the limbs of 3-UPU parallel manipulators (PMs) are examined. The generated joint layouts for the platforms were matched with each other to generate and enumerate manipulator architectures based on certain assumptions. The structures of thus obtained manipulators are examined and limb types were determined. These limb types were analyzed using screw theory. The instantaneous mobility of the manipulators and the motion characteristics of the moving platforms are tabulated. The finite mobility analysis of one of the manipulators is performed using a software package as an example. Among several different 3-UPU PM architectures, 118 novel 3-UPU PMs with non-parasitic 3-degrees-of-freedom are significantly important. The classified 3-UPU PMs with determined motion characteristics can be used by researchers as a design alternative for their specific design task. © The Author(s) 2021. Published by Cambridge University Press.Article Citation - WoS: 9Citation - Scopus: 10A Multi-Priority Controller for Industrial Macro-Micro Manipulation(Cambridge University Press, 2021) Uzunoğlu, Emre; Tatlıcıoğlu, Enver; Dede, Mehmet İsmet CanIn this study, a control algorithm is proposed and evaluated for a special type of kinematically redundant manipulator. This manipulator is comprised of two mechanisms, macro and micro mechanisms, with distinct acceleration and work space characteristics. A control algorithm is devised to minimize the task completion duration and the overall actuator effort with respect to the conventional manipulator. A general framework multi-priority controller for macro-micro manipulators is introduced by utilizing virtual dynamics, which is introduced in null-space projection to achieve secondary tasks. The proposed controller is evaluated on a simulation model based on a previously constructed macro-micro manipulator for planar laser cutting. Task completion duration and the total actuator effort are investigated and the results are compared. Copyright © The Author(s), 2020. Published by Cambridge University Press.