Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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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.Conference Object Citation - WoS: 1Citation - Scopus: 1Modeling a Magneto-Rheological Fluid-Based Brake Via a Neural Network Method(Springer international Publishing Ag, 2022) Kucukoglu, Sefa Furkan; Dede, Mehmet Ismet Can; Ceccarelli, MarcoIdentifying 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: 1Kinematic Representation of a Biomimetic Squid Soft Robot's Arms in a Simulation Environment(Springer international Publishing Ag, 2022) Emet, Hazal; Dede, M. I. CanBiomimetic 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.Conference Object Digital Twin of a Servo Driver of a Servo Motor as a First Step Towards a Digital Twin of a Robot Mechanism(Springer, 2022) Küçükoğlu, Sefa Furkan; Carbone, Giuseppe; Dede, Mehmet İsmet CanDigital Twin (DT) offers us to acquire actual system’s critical information and hence, it may be possible to develop and produce more suitable systems in terms of low energy consumption and effectiveness. In this way, responsible consumption and production systems can be designed and the system’s parameters can be tuned via DT. In this study, the model of a servomotor system that is used for industrial purposes is experimentally obtained. This study consists of two steps. In the first step, within the embedded control of the system, position and velocity control loops are deactivated. Then through the servo driver, currents with sinusoidal waveforms at various frequencies are applied to the servomotor. The resultant angular velocity of the motor is monitored and recorded. The amplitude of the current is kept constant during this study. The frequency of the current, however, is increased logarithmically. By using these data, a first-order transfer function (TF) is identified for the motor model. In the second step, all control loops are activated. Consequently, the total servomotor system could be represented in a digital environment. Furthermore, the static friction issue is overcome by using a Coulomb friction model with stiction effect. Finally, several experiments are conducted and then results are compared with the digital model of the servomotor system. The results clearly show that digital model can fairly represent the physical system.Book Part An Experimental Setup and Procedure for Stiffness Evaluation of Robot Manipulators(Springer, 2021) Görgülü, İbrahimcan; Paksoy, Erkan; Carbone, Giuseppe; Dede, Mehmet İsmet CanIn this paper, an experimental test setup for stiffness evaluation of a spatial parallel mechanism is introduced. The parallel mechanism used in this study is R-CUBE mechanism. In the test setup, a highly rigid gantry-type manipulator’s end-effector is coupled with the R-CUBE’s mobile platform. As the gantry manipulator is actuated the resultant reaction forces/moments are measured via a force\torque sensor. Subsequently, compliant displacements of R-CUBE are measured by using a coordinate measuring machine. The obtained results are presented and discussed in this paper. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.Book Part Citation - WoS: 1Citation - Scopus: 1Calibration Study of a Continuously Variable Transmission System Designed for Phri(Springer, 2020) Mobedi, Emir; Dede, Mehmet Ismet CanVariable stiffness actuators (VSAs) have been used in many applications of physical human-robot interfaces (pHRI). A commonly employed design is the spring-based VSA allowing the user to regulate the output force mechanically. The main design criteria of these actuation systems are the adjustment of output force independent from the output motion, and shock absorbing. In our recent work, we implemented certain modifications on the two-cone friction drive continuously variable transmission system (CVT) so that the CVT can be employed in pHRI systems. Subsequently, the optimized prototype is developed. In this study, we introduce the prototype of this new CVT systems, and its force calibration tests. The results indicate that the manufactured CVT is capable of displaying the desired output force throughout its transmission ratio range within a tolerance.Conference Object Citation - WoS: 1Citation - Scopus: 2A New Correction Coefficient Formula for the Simplified Dynamic Model of a Surgical Robot(Springer international Publishing Ag, 2021) Ayit, Orhan; Dede, Mehmet Ismet CanExecution of model-based control algorithms such as computed torque technique requires the knowledge of the dynamic model of the robotic system. In our work, the active part of the surgical robot, NeuRoboScope, has a parallel kinematics architecture and the dynamic model is relatively complicated to run in a microprocessor with limited computing capabilities. For this reason, we formulated a simplified dynamic model to run in the selected microprocessor. In this work, a new formula for calculating the correction coefficients is described to minimize the errors in the whole orientation range of the robot's base platform. This new formula is examined in terms of execution time and the result is reported in this paper.Book Part Citation - Scopus: 2Computation Time Efficient Stiffness Analysis of the Modified R-Cube Mechanism(Springer, 2019) Görgülü, İbrahimcan; Dede, Mehmet İsmet CanParallel manipulators are known to be more stiff than the serial manipulators. However, modeling the stiffness for parallel manipulators are difficult compared to serial manipulators due to the constrained structure and passive joints. In addition, computation of the stiffness model for parallel manipulators are exhausting since it requires an iterative solution algorithm due requirement of force-position convergence of all serial chains connecting to the same mobile platform. Direct solutions are faster however, they lack in accuracy. In this study, direct solution is preferred for real-time application and analytic stiffness model of the modified R-CUBE mechanism is obtained by using Virtual Joint Method (VJM). The finite element (FE) model is constructed and simulated to validate the analytical model. Then, a combination of external wrenches $$\pm 5$$ N in various directions are applied on the mobile platform in both FE and VJM in some critical poses. Finally, the computed numerical results are listed and compared along with their computation times. © Springer Nature Switzerland AG 2019Conference Object Citation - Scopus: 4Static Force Balancing of a 2r1t Parallel Manipulator With Remote Center of Motion(Springer Verlag, 2019) Yaşır, Abdullah; Kiper, Gökhan; Dede, Mehmet İsmet Can; Van der Wijk, VolkertAssistive robots in surgical applications should be gravity balanced due to safety considerations. This study presents a gravity balancing solution for a 3-degree-of-freedom parallel manipulator to be used as an endoscope navigation robot for transnasal minimal invasive surgery applications. The manipulator has a rather simple structure that allows individual balancing of the three legs in their respec-tive planes of motion. First, sole counter-mass balancing is investigated, but it is seen that the extra mass amount is too much. Sole spring balancing is not consid-ered as an option due to constructional complexity. A hybrid solution as a combi-nation of counter-mass and spring balancing is devised. In the proposed solution, the masses on the distal links of a leg are balanced with counter-masses so that all masses are lumped to the link connected to the base of the manipulator. Hence the problem is simplified into the balancing of a pendulum. The necessary formula-tions are derived and numerical calculations demonstrate that the hybrid balancing yields a feasible solution.