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: 15Citation - Scopus: 17A Novel Search and Survey Technique for Unmanned Aerial Systems in Detecting and Estimating the Area for Wildfires(Elsevier B.V., 2021) Sarkar, M.; Yan, X.; Erol, B.A.; Raptis, I.; Homaifar, A.In recent years Unmanned Aerial Vehicles (UAVs) have progressively been utilized for wildfire management, and are especially in prevalent in forest fire monitoring missions. To ensure the fast detection and accurate area estimation of forest fires, a two-step search and survey algorithm for multi-UAV system is proposed to address these fire scenarios. Initially, a grid-based partition method is applied to divide the area-of-interest into several search areas. Then, an archetype search pattern is used to provide timely UAV exploration within those sub-areas. Once the fire zones are detected, a novel survey strategy is employed for UAVs to discover the boundary points of the fire zones, so that the area of the fire zones can be estimated using the sampled boundary points. In addition, the effect of wind is accounted for improving fire zone boundary estimates. The proposed search-and-survey procedure is validated on multiple simulated scenarios using the U.S. Air Force's mission-realistic Aerospace Multi-Agent Simulation Environment (AMASE) software. Simulation results showcase that the proposed search pattern can effectively discover the seeded fire zones within 40 min of the mission. This is relatively faster than the other two well-known search patterns. Moreover, the proposed survey technique provides a coverage estimate with at least 85% accuracy for the area of interest within 90 min of the mission. © 2021 Elsevier B.V.Article Fireproofing the Firefighting Robot(Laurin Publishing Co. Inc., 2009) Keçeci, Emin FarukResearchers at the Institute of Technology in Izmir, Turkey, have successfully developed a mechanical firefighter robot that will work inside the flames. The robot uses both passive and active cooling systems that, for a limited time, keep the inner temperature at a safe level for the electronic components inside the device, to survive the flame. The body of the robot is made of aluminum and comprises two shells attached to each other with rods. The robot is controlled with a remote unit by an operator, who can observe the fire via a CCD camera. Control and cooling subsystems will allow the robot to work in these rough conditions. The control system allows the robot to use the navigation system as well as the sensory and cooling systems. The robot will be controlled with radiofrequency communications and is able to break doors and climb stairs to work in upper-level fires.Conference Object Low-Power and Low-Cost Stiffness-Variable Oesophageal Tissue Phantom(Springer Verlag, 2017) Thorn, Alexander; Afacan, Dorukhan; Ingham, Emily; Kavak, Can; Miyashita, Shuhei; Damian, Dana D.Biological tissues are complex structures with changing mechanical properties depending on physiological or pathological factors. Thus they are extendible under normal conditions or stiff if they are subject to an inflammatory reaction. We design and fabricate a low-power and low-cost stiffness-variable tissue phantom (SVTP) that can extend up to 250% and contract up to 5.4% at 5 V (1.4 W), mimicking properties of biological tissues. We investigated the mechanical characteristics of SVTP in simulation and experiment. We also demonstrate its potential by building an oesophagus phantom for testing appropriate force controls in a robotic implant that is meant to manipulate biological oesophageal tissues with changing stiffness in vivo. The entire platform permits efficient testing of robotic implants in the context of anomalies such as long gap esophageal atresia, and could potentially serve as a replacement for live animal tissues.Conference Object Citation - WoS: 17Citation - Scopus: 23The Arrows Project: Robotic Technologies for Underwater Archaeology(IOP Publishing Ltd., 2018) Allotta, Benedetto; Costanzi, Riccardo; Ridolfi, Alessandro; Salvetti, Ovidio; Reggiannini, Marco; Kruusmaa, Maarja; Salumäe, Taavi; Lane, David Mike; Frost, Gordon; Tsiogkas, Nikolaos; Cocco, Michele; Gualdesi, Lavinio; Lacava, Giovanni; Roig, Daniel; Gündoğdu, Hilal Tolasa; Dede, Mehmet İsmet Can; Baines, Steven; Tusa, Sebastiano; Latti, Priit; Scaradozzi, DavidThe paper summarizes the main results achieved during the three-year European FP7 ARROWS project (ARchaeological RObot systems for the Worlds Seas). ARROWS concluded at the end of August 2015 and proposed to adapt and develop low-cost Autonomous Underwater Vehicle (AUV) technologies to reduce the operational cost of typical underwater archaeological campaigns. The methodology used by ARROWS researchers identified archaeologists requirements for all the phases of a campaign. These were based on guidelines issued by the project Archaeology Advisory Group (AAG), which comprised of many European archaeologists belonging to the consortium. One of the main goals of the ARROWS project was the development of a heterogeneous team of cooperating AUVs; these comprised of prototypes developed in the project and commercially available vehicles. Three different AUVs have been built and tested at sea: MARTA, characterized by flexible hardware modularity for easy adaption of payload and propulsion systems, U-CAT, a turtle inspired bio-mimetic robot devoted to shipwreck penetration and A-Size AUV, a small light weight vehicle which is easily deployable by a single person. The project also included the development of a cleaning tool for well-known artefacts and maintenance operations. Results from the official final demonstrations of the project, held in Sicily and in Estonia during Summer 2015, are presented in the paper as an experimental proof of the validity of the developed robotic tools.Book Part Citation - Scopus: 6Swarm and Entropic Modeling for Landmine Detection Robots(Springer Verlag, 2008) Bayram, Çağdaş; Sevil, Hakkı Erhan; Özdemir, SerhanEven at the dawn of the 21st century, landmines still pose a global threat. Buried just inches below the surface, combatants and noncombatants alike are all at risk of stepping on a mine. Their very nature is such that these furtive weapons do not discriminate, making it an urgent task to tackle the problem. According to the U.S.State Department [1], based on an estimate reported just a few years ago, there are well over 100 million anti-personnel mines around the world. The existence of these passive weapons causes a disruption in the development of already impoverished regions, as well as maiming or killing countless innocent passers-by. Since the ratification of the anti-personnel mine total ban treaty in 1997, their detection, removal, and elimination have become a top priority. Nevertheless, at the current rate, given the manpower and the man-hours that could be dedicated to the removal of these sleeping arms, it would take centuries. The concerns regarding the speed of removal and safety of the disposers eventually bring us to the discussion of the proposed method. Nature already provided good solutions to manage groups of less able beings: fish schools, ant swarms, animal packs, bird flocks, and so on.With the growing desire of humans to create intelligent systems, these biosystems are being thoroughly inspected [3-10] and implemented [11-14] in various studies. In this study a robotic agent is referred to as a drone, the group of robotic agents is referred to as a swarm, and the agent with mapping abilities is referred to as the alpha drone.