Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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

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Start date: 2020Institution Author: search.filters.institutionAuthor.Dede, Mehmet İsmet Can

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  • Article
    A Hybrid Actuation System for Enhancing the Performance Metrics Related to Kinesthetic-Type Haptic Devices
    (IEEE-Inst Electrical Electronics Engineers Inc, 2025) Kucukoglu, Sefa Furkan; Can Dede, Mehmet ismet
    High torque to volume ratio, fast response, and high dynamic range are some of the desired performance metrics for kinesthetic-type haptic device actuation systems. In this article, we present a hybrid actuation system consisting of an active actuator and a magnetorheological fluid-based brake (MRF brake). MRF brake's tradeoffs, namely, off-state torque and slow response (compared to an electric motor), are investigated and resolved by this hybrid actuation system. First, the transient behavior of the MRF brake is investigated and an mathematical model is proposed to mimic its transient response behavior. It is found that the performance of the proposed model performs better than the conventionally used first-order transfer function. Second, hybrid actuation system is constructed. The active actuator is used for compensating for the speed of the response and the off-state torque based on the proposed mathematical model of the MRF brake. It is measured that the off-state torque is largely eliminated from 0.178 to 0.008 N center dot m, the dynamic range is enlarged from 15 to 42.4 dB, and its time constant is improved from 69.6 to 4.4 ms when the hybrid actuation system is used instead of just an MRF brake.
  • Conference Object
    Redundancy resolution options for the twin-it-romans robotic hybrid manufacturing system
    (Springer Science and Business Media B.V., 2025) Gündüz, G.M.; Dede, Mehmet İsmet Can; Kiper, Gökhan; Schmitz, M.; Corves, B.
    The Twinnig Iztech in Robotics Manufacturing System (TWIN-IT-ROMANS) project funded by EU Horizon -Widera-2023-Access-02-01 aims to develop a hybrid manufacturing system that can perform additive and subtractive manufacturing processes and inline quality control using a robotic system. The system will incorporate a 6-degree-of-freedom robot arm and a positioner with 2-degree-of-freedom, which will operate synchronously. This manipulation system is to be designed for performing different manufacturing operations with different degrees-of-freedom requirements. In order to reveal alternative trajectory planning scenarios for this system, this paper presents an initial review of redundancy resolution approaches for kinematically redundant robotic manipulators. First, the four main approaches for redundancy resolution techniques are introduced. Then main studies on energy minimization and stiffness maximization for kinematically redundant robotic manipulators are reviewed. Similar or new approaches are planned to be generated and implemented for the redundant system for hybrid manufacturing. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.
  • Conference Object
    Energy and Exergy Analysis of a Roof-Mounted Photovoltaic System in Gebze-Turkey
    (Springer, 2024) Khalejan, Seyed Hamed Pour Rahmati; Cankurt, Tolga; Dede, Mehmet İsmet Can
    This study investigates the electrical and thermal exergy, power conversion efficiency and exergy efficiency of a roof-mounted photovoltaic (PV) system considering environmental parameters such as solar irradiation, ambient temperature and wind speed over a year. The values of solar exergy and solar potential are obtained by taking into account the solar insolation. Experimental and theoretical results indicate that wind speed and surface temperature have significant effects on the thermal exergy and exergy efficiency of solar PV systems. The mean solar potential in the region was found to be 93%. In addition, the electrical exergy was varied from 9145 W to 40460 W and the thermal exergy of PV systems was varied from 1639 W to 6193 W. While the range of PV power conversion efficiency varies from 6.15% to 11.56% over a year, the range of exergy efficiency varies from 5.31% to 9.78%. © 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.
  • Article
    Citation - WoS: 9
    Citation - Scopus: 10
    The Design and Kinematic Representation of a Soft Robot in a Simulation Environment
    (Cambridge Univ Press, 2024) Emet, Hazal; Gur, Berke; Dede, Mehmet Ismet Can
    The increase of human presence in the subsea and seabed environments necessitates the development of more capable and highly dexterous, innovative underwater manipulators. Biomimetic soft-robot arms represent a promising candidate for such manipulation systems. However, the well-known modeling techniques and control theories of traditional rigid robots do not apply to soft robots. The challenges of kinematic and dynamic modeling of soft robots with infinite degrees of freedom require the development of dedicated modeling methods. A novel procedure for representing soft-robotic arms and their motion in a rigid-body simulation environment is proposed in this paper. The proposed procedure relies on the piecewise constant curvature approach to simplify the very complex model of hyper-redundant soft-robotic arms, making it suitable for real-time applications. The proposed method is implemented and verified to be used in model-mediated teleoperation of the soft arms of a biomimetic robotic squid designed for underwater manipulation as a case study.
  • Conference Object
    Citation - WoS: 1
    Citation - Scopus: 1
    Modeling a Magneto-Rheological Fluid-Based Brake Via a Neural Network Method
    (Springer international Publishing Ag, 2022) Kucukoglu, Sefa Furkan; Dede, Mehmet Ismet Can; Ceccarelli, Marco
    Identifying the model of a magneto-rheological (MR) fluid-based brake is extremely important for designing and controlling a haptic device with hybrid actuation. Therefore, in this study, an Elman Recurrent Neural Network (ERNN) is designed to understand and model a characterization of an MR fluid-based rotational brake. Three important factors that affect the MR brake's performance are chosen as inputs: current, speed, and the first derivative of the input current. The proposed network is trained, and the performance of the network is tested with three different experimental scenarios. Then, the effect of these inputs on the system is investigated. According to the results, it can be said that the designed ERNN is a good candidate for modelling an MR brake.
  • Conference Object
    Citation - Scopus: 1
    Kinematic Representation of a Biomimetic Squid Soft Robot's Arms in a Simulation Environment
    (Springer international Publishing Ag, 2022) Emet, Hazal; Dede, M. I. Can
    Biomimetic robot systems have received attention from researchers and in accordance the implementation of soft robotic arms has been studied. Kinematic and dynamic modeling of robots with infinite degrees of freedom is challenging and a number of methods have been proposed. In this work, a procedure is proposed to represent soft robot arm motion in a simulation environment. A biomimetic squid robot is used as a case study. This robot's soft arms are modeled by using the Piecewise Constant Curvature approach. This model is visualized by discretizing the soft arms into a finite number of rigid-body manipulators in MatLab using its 3D animation toolbox.
  • 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, Mustafa
    Although 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: 2
    Citation - Scopus: 3
    Model-Based Detection and Isolation of the Wheel Slippage and Actuator Faults of a Holonomic Mobile Robot
    (Emerald Group Publishing, 2022) Şahin, Osman Nuri; Dede, Mehmet İsmet Can
    Purpose: 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: 10
    Citation - Scopus: 12
    A Robot Arm Design Optimization Method by Using a Kinematic Redundancy Resolution Technique
    (MDPI, 2022) Maaroof, Omar W.; Dede, Mehmet İsmet Can; Aydın, Levent
    Redundancy resolution techniques have been widely used for the control of kinematically redundant robots. In this work, one of the redundancy resolution techniques is employed in the mechanical design optimization of a robot arm. Although the robot arm is non-redundant, the proposed method modifies robot arm kinematics by adding virtual joints to make the robot arm kinematically redundant. In the proposed method, a suitable objective function is selected to optimize the robot arm’s kinematic parameters by enhancing one or more performance indices. Then the robot arm’s end-effector is fixed at critical positions while the redundancy resolution algorithm moves its joints including the virtual joints because of the self-motion of a redundant robot. Hence, the optimum values of the virtual joints are determined, and the design of the robot arm is modified accordingly. An advantage of this method is the visualization of the changes in the manipulator’s structure during the optimization process. In this work, as a case study, a passive robotic arm that is used in a surgical robot system is considered and the task is defined as the determination of the optimum base location and the first link’s length. The results indicate the effectiveness of the proposed method.
  • Conference Object
    Citation - Scopus: 2
    Experimental Compliance Matrix Derivation for Enhancing Trajectory Tracking of a 2-Dof High-Accelerated Over-Constrained Mechanism
    (Springer, 2022) Paksoy, Erkan; Dede, Mehmet İsmet Can; Kiper, Gökhan
    If the positioning accuracy of the end-effector of a robot has high priority, compliance characteristics of the elements of its mechanism should be considered. Due to the external loading on the robot, the dimensions of the elements change and this leads to positioning errors for the end-effector. In this paper, an experimental test setup and an experimental procedure are described to derive the compliance characteristics of a planar 2-degree-of-freedom mechanism.