Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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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 ismetHigh 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 CanThis 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: 9Citation - Scopus: 10The Design and Kinematic Representation of a Soft Robot in a Simulation Environment(Cambridge Univ Press, 2024) Emet, Hazal; Gur, Berke; Dede, Mehmet Ismet CanThe 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.