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.Conference Object Citation - Scopus: 1From Human-Centred To Humanity-Ecosystem Centred Design. How Can We Dialogue With Ai?(Cambridge University Press, 2024) Oğrak,Z.; Altıparmakoğulları,Y.With the swift entry of artificial intelligence (AI) into everyday life, human-product interactions are becoming increasingly complex. We suggest an ecosystem-minded, humanity-centered design approach to better understand this complexity. Simultaneously with the development of interaction types, discussions and developments on theories of mental models are crucial to understanding and improving the nature of these interactions. In this paper, we address the gap in mental model theories and extend Norman's conceptual model at three dialogue levels: dialogue in language, mind, and use. © 2024 Proceedings of the Design Society. All rights reserved.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: 4Design of a Novel Hybrid Cable-Constrained Parallel Leg Mechanism for Biped Walking Machines(Cambridge University Press, 2023) Demirel, M.; Kiper, G.; Carbone, G.; Ceccarelli, M.In this paper, a novel cable-constrained parallel mechanism is presented as a lightweight, low-cost leg mechanism design for walking machines to be used on flat surfaces. The proposed leg mechanism has three translational degrees of freedom. It is based on two specific hybrid kinematic topologies being herewith proposed. The paper reports the kinematic analysis formulation and a position performance evaluation to confirm the main characteristics of the proposed solutions. A 3D CAD model and simulations are carried out to demonstrate the feasibility of the proposed design for performing a human-like gait trajectory. A prototype has been built, and preliminarily tests have been conducted to confirm the motion capabilities of the proposed mechanism design. Then a second, enhanced prototype has been designed and built. An experimental validation is carried out for tracking a planar walking trajectory with the built prototypes by using a real-time PCI controller. Results are presented to validate the operation characteristics of the proposed mechanism and to prove its feasibility for legged walking machines. © The Author(s), 2023.Article Citation - WoS: 7Citation - Scopus: 6Nonlinear 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 HakanThe 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 Enabling Personalization of a Robotic Surgery Procedure Via a Surgery Training Simulator(Cambridge University Press, 2022) Dede, Mehmet İsmet Can; Büyüköztekin, Tarık; Hanalıoğlu, Şahin; Işıkay, İlkay; Berker, MustafaAlthough robotic or robot-assisted surgery has been increasingly used by many surgical disciplines, its application in cranial or skull base surgery is still in its infancy. Master-slave teleoperation setting of these robotic systems enables these surgical procedures to be replicated in a virtual reality environment for surgeon training purposes. A variety of teleoperation modes were previously determined with respect to the motion capability of the surgeon's hand that wears the ring as the surgeon handles a surgical tool inside the surgical workspace. In this surgery training simulator developed for a robot-assisted endoscopic skull base surgery, a new strategy is developed to identify the preferred motion axes of the surgeon. This simulator is designed specifically for tuning the teleoperation system for each surgeon via the identification. This tuning capability brings flexibility to adjust the system operation with respect to the motion characteristics of the surgeon.Article Citation - WoS: 7Citation - Scopus: 7Gravity Compensation of a 2r1t Mechanism With Remote Center of Motion for Minimally Invasive Transnasal Surgery Applications [article](Cambridge University Press, 2023) Aldanmaz, Ataol Behram; Ayit, Orhan; Kiper, Gökhan; Dede, Mehmet İsmet CanThis work addresses the gravity balancing of a 2R1T (2 rotations – 1 translation) mechanism with remote center of motion. A previously developed balancing solution is modified and applied to a prototype and test results are presented. The mechanism is an endoscope holder for minimally invasive transnasal pituitary gland surgery. In this surgery, the endoscope is inserted through a nostril of the patient through a natural path to the pituitary gland. During the surgery, it is vital for the manipulator to be statically balanced so that in case of a motor failure, the patient is protected against any harmful motion of the endoscope. Additionally, static balancing takes the gravitational load from the actuators and hence facilitates the control of the mechanism. The mechanism is a 2URRR-URR type parallel manipulator with three legs. The payload mass is distributed to the legs on the sides. By using counter-masses for two links of each leg, the center of mass of each leg is lumped on the proximal link which simplifies the problem to balancing of a two degree-of-freedom inverted pendulum. The two proximal links with the lumped mass are statically balanced via springs. Dynamic simulations indicate that when the mechanism is statically balanced, generated actuator torques are reduced by 93.5%. Finally, the balancing solution is implemented on the prototype of the manipulator. The tests indicate that the manipulator is statically balanced within its task space when the actuators are disconnected. When the actuators are connected, the torque requirements decrease by about 37.8% with balancing.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.