Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

Permanent URI for this collectionhttps://hdl.handle.net/11147/7148

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Department: search.filters.department.İzmir Institute of Technology. Mechanical EngineeringSubject: search.filters.subject.Robots

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Now showing 1 - 4 of 4
  • Article
    Citation - WoS: 7
    Citation - Scopus: 6
    Nonlinear Model Identification and Statistical Verification Using Experimental Data With a Case Study of the Ur5 Manipulator Joint Parameters
    (Cambridge University Press, 2022) Abedinifar, Masoud; Ertuğrul, Şeniz; Argüz, Serdar Hakan; 01. Izmir Institute of Technology
    The identification of nonlinear terms existing in the dynamic model of real-world mechanical systems such as robotic manipulators is a challenging modeling problem. The main aim of this research is not only to identify the unknown parameters of the nonlinear terms but also to verify their existence in the model. Generally, if the structure of the model is provided, the parameters of the nonlinear terms can be identified using different numerical approaches or evolutionary algorithms. However, finding a non-zero coefficient does not guarantee the existence of the nonlinear term or vice versa. Therefore, in this study, a meticulous investigation and statistical verification are carried out to ensure the reliability of the identification process. First, the simulation data are generated using the white-box model of a direct current motor that includes some of the nonlinear terms. Second, the particle swarm optimization (PSO) algorithm is applied to identify the unknown parameters of the model among many possible configurations. Then, to evaluate the results of the algorithm, statistical hypothesis and confidence interval tests are implemented. Finally, the reliability of the PSO algorithm is investigated using experimental data acquired from the UR5 manipulator. To compare the results of the PSO algorithm, the nonlinear least squares errors (NLSE) estimation algorithm is applied to identify the unknown parameters of the nonlinear models. The result shows that the PSO algorithm has higher identification accuracy than the NLSE estimation algorithm, and the model with identified parameters using the PSO algorithm accurately calculates the output torques of the joints of the manipulator.
  • Article
    Citation - WoS: 6
    Citation - Scopus: 8
    Flexible and Expandable Robot for Tissue Therapies - Modeling and Design
    (IEEE, 2021) Atwya, Mohamed; Kavak, Can; Alisse, Elodie; Liu, YanQiang; Damian, Dana D.; 01. Izmir Institute of Technology
    Objective: Implantable technologies should be mechanically compliant with the tissue in order to maximize tissue quality and reduce inflammation during tissue reconstruction. We introduce the development of a flexible and expandable implantable robotic (FEIR) device for the regenerative elongation of tubular tissue by applying controlled and precise tension to the target tissue while minimizing the forces produced on the surrounding tissue. Methods: We introduce a theoretical framework based on iterative beam theory static analysis for the design of an expandable robot with a flexible rack. The model takes into account the geometry and mechanics of the rack to determine a trade-off between its stiffness and capability to deliver the required tissue tension force. We empirically validate this theory on the benchtop and with biological tissue. Results: We show that FEIR can apply the required therapeutical forces on the tissue while reducing the amount of force it applies to the surrounding tissues as well as reducing self-damage. Conclusion: The study demonstrates a method to develop robots that can change size and shape to fit their dynamic environment while maintaining the precision and delicacy necessary to manipulate tissue by traction. Significance: The method is relevant to designers of implantable technologies. The robot is a precursor medical device for the treatment of Long-Gap Esophageal Atresia and Short Bowel Syndrome.
  • Article
    Citation - WoS: 11
    Citation - Scopus: 11
    Design 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 Engineering
    Robotic 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.
  • Conference Object
    Citation - WoS: 4
    Citation - Scopus: 4
    A distributed behavioral model for landmine detection robots
    (International Association of Engineers, 2007) Bayram, Çağdaş; Sevil, Hakkı Erhan; Özdemir, Serhan; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    This paper presents a distributed navigation, detection and swarming model for a group of minimalist identical robotic agents. Decision making process of agents is weight based in contrast to widely used precedence based rules. The group is indirectly controlled by an alpha agent that has more sophisticated systems. Computer simulations of the proposed behavioral model generated promising results.