Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Article Citation - WoS: 2Citation - Scopus: 3Model-Based Detection and Isolation of the Wheel Slippage and Actuator Faults of a Holonomic Mobile Robot(Emerald Group Publishing, 2022) Şahin, Osman Nuri; Şahin, Osman Nuri; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 01. Izmir Institute of Technology; 03. Faculty of EngineeringPurpose: Mobile robots may perform very critical tasks under difficult operating conditions. Faults encountered during their tasks may cause the task to be interrupted or failed completely. In the active fault tolerant control methods, it is very important not only to detect the faults that occur in the robot, but also to isolate these faults to develop a fault recovery strategy that is suitable for that specific type of fault. This study aims to develop a model-based fault detection and isolation method for wheel slippage and motor performance degradation that may occur in wheeled mobile robots. Design/methodology/approach: In the proposed method, wheel speeds can be estimated via the dynamic model of the mobile robot, which includes a friction model between the wheel and the ground. Four residual signals are obtained from the differences between the estimated states and the measured states of the mobile robot. Mobile robot’s faults are detected by using these signals. Also, two different residual signals are generated from the calculation of the traction forces with two different procedures. These six residual signals are then used to isolate possible wheel slippage and performance degradation in a motor. Findings: The proposed method for diagnosing wheel slip and performance degradation in motors are tested by moving the robot in various directions. According to the data obtained from the test results, a logic table is created to isolate these two faults from each other. Thanks to the created logic table, slippage in any wheel and performance degradation in any motor can be detected and isolated. Originality/value: Two different recovery strategies are needed to recover temporary wheel slippage and permanent motor faults. Therefore, it is important to isolate these two faults that create similar symptoms in robot’s general movement. Thanks to the method proposed in this study, it is not only possible to isolate the slipping wheel with respect to the non-slipping wheels or to isolate the faulty motor from the non-faulty ones, but also to isolate these two different fault types from each other.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 Can; Dede, Mehmet İsmet Can; Şahin, Osman Nuri; 03.10. Department of Mechanical Engineering; 01. Izmir Institute of Technology; 03. Faculty of EngineeringIn 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.Conference Object Citation - Scopus: 2Fault-Tolerance Experiments With a Kinematically Redundant Holonomic Mobile Robot(Springer Verlag, 2018) Şahin, Osman Nuri; Çelik, Onur; Dede, Mehmet İsmet Can; Şahin, Osman Nuri; 03.10. Department of Mechanical Engineering; 01. Izmir Institute of Technology; 03. Faculty of EngineeringIndoor locomotion with mobile robots has found applications in industrial part moving, factory floor investigation and cleaning tasks. Holonomic mobile robots have the advantage of moving in tight and winding passages without the need of steering. In this study, a four omni-directional wheeled mobile robot is considered. The mobile robot is kinematically redundant having four of these wheels and this is used in providing fault-tolerance due to a malfunction in one of the wheels. In this paper, the redundancy resolution for this mobile robot is explained providing a solution to a fault in one of the wheels during operation. A top level controller to compensate for the orientation errors is introduced. Finally experimental set-up is presented along with the result of the fault-tolerance experiments.Article Citation - WoS: 11Citation - Scopus: 11Design and Development of an Educational Desktop Robot R3d(John Wiley and Sons Inc., 2017) Şahin, Osman Nuri; Uzunoğlu, Emre; Tatlıcıoğlu, Enver; Dede, Mehmet İsmet Can; Şahin, Osman Nuri; Uzunoğlu, Emre; Dede, Mehmet İsmet Can; 03.05. Department of Electrical and Electronics Engineering; 03.10. Department of Mechanical Engineering; 01. Izmir Institute of Technology; 03. Faculty of EngineeringRobotic desktop devices have been used for academic purposes for a variety of investigation and development studies. Desktop devices for academic/educational purposes have been highly anticipated especially in the fields of haptics, teleoperation systems, and control studies. This paper's motivation is to present the steps of designing, manufacturing, and implementing of Educational Desktop Robot R3D to be used for haptics, teleoperation, and redundancy control studies. The design, manufacturing details, kinematic, and dynamic model of the robot are described in the manuscript. Additionally, a case study is carried out for end effector control in task space is given and the results are shared.