Master Degree / Yüksek Lisans Tezleri

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Access type: Open accessAuthor: search.filters.author.Keçeci, Emin Faruk

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Now showing 1 - 7 of 7
  • Master Thesis
    Design and Manufacturing of a Fireproof Fire Rescue Robot
    (Izmir Institute of Technology, 2008) Tok, Özge; Keçeci, Emin Faruk
    The aim of this thesis is to design and manufacture fireproof fire rescue robot for extinguishing fire. The robot is designed and manufactured to go in the middle of fire, extinguish it and send images from incident area by using a camera to increase knowledge about fire behavior. This robot makes it possible to extinguish fire without spreading in the shortest time. This will reduce the risk of injury and number of casualties for firefighters as well as for the possible victims. The robot can also decrease the monetary losses which increase considerably as fire duration increases.For designing the fireproof fire rescue robot three dimensional solid modeling computer program was used. The semi-autonomous robot is powered by two DC electric actuators. It goes on the ground with tracking system which is manufactured by using sprockets and chains. To prevent possible damages that may be incurred by heat, the robot was covered with a ceramic fiber paper that has very low thermal conductivity.In addition to mechanical design of the fireproof fire rescue robot, two electronic circuits are mounted in order to control actuators and solenoid valve of the extinguisher.Furthermore, in order to control actions of the robot remotely by the operator, two remote controls are used at different frequencies.As a result of this thesis; a fireproof fire rescue robot is designed and manufactured to be used in fire incidents. Also some ideas were expressed to improve the fireproof fire rescue robot by gained experience throughout the thesis.
  • Master Thesis
    Mechatronic Design of a Completely Mechanical Quick Changeable Joint for Multi-Purpose Explosive Ordnance Disposal Robots
    (Izmir Institute of Technology, 2006) Kor, Mehmet Bahattin; Keçeci, Emin Faruk
    The EOD robot is a mobile robot used in replace of a human in explosive ordnance disposal operations of searching, detecting and handling of explosive materials. Nowadays the EOD robot.s tool capabilities and overall performances are at lower levels because they are only able to use one kind of tool (gripper) for the whole bomb disposing process. The aim of this study is to design a completely mechanical quick changeable joint which will be used in the EOD robot to automatically change the tools. By changing the grippers automatically, the robot firstly does not require to be called back for tool change and secondly can achieve different operations on the explosive material. In the locking mechanism of quick changeable joint, hydraulic and pneumatic systems are not preferred because of their weight and volume on a mobile robot. Electromagnetic locking systems are also not considered because of possible electromagnetic interaction between the arm and explosive ordnance. The reason of designing a completely mechanical joint is to eliminate the use of another actuator for controlling the locking mechanism. An EOD robot with a quick changeable joint will be able to use different tools and accomplish complex tasks by using these different tools. Usage of this quick changeable joint in different robotic applications such as tool holding in CNC machines, lifting and pulling applications will also make an increment in the robot.s processing capacity and efficiency. This project consists of designing a completely mechanical quick changeable joint. In order to understand the best design, four different joints are designed, the critical parts are analyzed for strength and prototypes of the joints are manufactured. To test the life cycles of the joints a pneumatic test machine is designed and manufactured. After the tests, the joints are evaluated for design parameters are the best design for different purposes are determined.
  • Master Thesis
    Design of a Rescue Robot for Search and Mapping Operation
    (Izmir Institute of Technology, 2006) Gümüş Akdemir, Derya; Keçeci, Emin Faruk
    The aim of this thesis is to design a mobile robot for rescue operations after an earthquake. The robot is designed to locate injured victims and life triangle in debris, to create a map of the disaster area and to collect the necessary information needed by digging and support robots in order to the database center. This robot enables us to rescue the victim in the shortest time with minimum injury. This will let us risking the lives of the rescue teams much less as well as rescuing much more victim alive.Robot is designed with the longitudinal body design. Shock absorber system gives the damper effect against falls as well as adding advanced equilibrium properties while passing through a rough land. Driving mechanism is a tracked steering system.Front and back arm system is developed to provide high mobility while overtaking the obstacles.Secondly hovercraft type robot, which works with the cushion pressure principle, is designed as a rescue robot. It is thought that if the adequate height is supplied, the robot could manage to overcome obstacles.As a third design, ball robot, which could easily move uphill and has a capability to overrun obstacles, is studied.Jumping mechanism will be working by magnetic piston.In addition robot is equipped with the sensors so that it has capable of the navigation. In order to achieve feasible sensor systems, all electronic components are evaluated and the most effective sensors are chosen.
  • Master Thesis
    Wearable exoskeleton robot design
    (Izmir Institute of Technology, 2007) Gün, Volkan; Keçeci, Emin Faruk
    In this thesis study it is intended to design a wearable exoskeleton robot which will replace paralytic or disable people.s legs and provide to walk. The wearable exoskeleton robot will be an intelligent system that fulfill the gait necessities, climb the slopes up and down, and remove the disadvantages of the wheelchairs and mobility aid vehicles. Robot will be a wearable device like a trouser and it will work to carry out daily duties for users. Robot will increase user.s maneuver capabilities and support users. legs and aid walking action for users thanks to 3-one degree of freedom (DOF) joints which are designed for each leg and are powered by DC electric actuators. Design of the wearable exoskeleton robot includes, modeling and designing of the robot using a parametric solid modeling computer program (Solidworks), selection of the most suitable material for the design characters and robot manufacturing processes, strength analysis of the critical part of the robot, mathematical modeling of the system, design and manufacturing of the test machine and finding the most suitable walking combination by investigating degree of freedoms of each joints on the legs. In addition to mechanical design of the wearable exoskeleton robot, an electronic circuit is designed and manufactured in order to control each joint movement order and time in walking action. Moreover, in order to control the robot by the users, a keypad unit is manufactured on the robot and necessity functions are described in the program. As a result of this thesis; a wearable exoskeleton robot is manufactured to be used as a walking assistant.
  • Master Thesis
    Autonomous Solid Waste Separation System Design
    (Izmir Institute of Technology, 2006) Pekdur, Ömer; Keçeci, Emin Faruk
    This study presents the design of a municipal solid waste separation facility that uses physical properties to separate solid wastes into their types. This facility will be autonomous and automatic. There will not be any human personnel nor any sensors to separate solid waste in this facility. Only physical properties like size and density are used to remove materials so this facility will be more robust and efficient than current facilities. All recyclable materials will be taken from a waste stream that contains minimal useless waste. The capacity of the facility will be calculated and the facility will be designed for the city of zmir. The design of a municipal solid waste separation facility includes examining and recent separation facilities in the world and in zmir, seeing problems at their source in zmir and taking suitable separation machines with suitable capacity by examining systems to make a process flow chart.
  • Master Thesis
    Design and Prototyping of a Mechatronic System as a Drag Reduction Device for Busses
    (Izmir Institute of Technology, 2006) Kavadar, Gökhan; Keçeci, Emin Faruk; Keçeci, Emin Faruk; Keçeci, Emin Faruk
    In this thesis study it is intended to design a mechatronic device which will act as a drag reducer for busses. The drag reduction device will be a self operating system, which will be attached onto the front side of the bus. Since the device will operate at the front of the vehicle, it will reduce the front drag force. The mechatronic drag reduction device will have two states; these are the open and close states. Therefore, the device will operate only when it is necessary to operate. That is, normally when the drag force experienced by the vehicle is not at important levels, then the device will stay closed. In the closed position the device will occupy the least space so that it does not cause any difficulties for the driver. However, when the drag force increases, then the device opens and builds itself on the front of the vehicle. The basic idea behind this device is to produce an extra volume of mass at the front of the bus, which will change the incoming airflow, so that the least resistance is experienced by the bus. By reducing the drag force a corresponding amount of fuel saving could be achieved. The mechatronic device design is made by parametric solid modeling software SolidWorks. The shape of the mechatronic device and the mechanism design will all be made in computer environment. The fluid flow analyses will be also made by using an Engineering fluid dynamics software program called Cosmos FloWorks. The most efficient shape for the mechatronic drag reduction device will be designed by the computer software. In the scope of this project a small low-speed wind tunnel will be constructed. Besides the virtual analyses made with computer software, real flow tests will be carried out by using a 1:50 scale model bus, attached with a model of the mechatronic drag reduction device. In the wind tunnel tests, the relative reduction in drag forces will be investigated.
  • Master Thesis
    Mechatronic Design of an Explosive Ordnance Disposal Robot
    (Izmir Institute of Technology, 2005) Tavsel, Onur; Keçeci, Emin Faruk
    This study concerns with the design of an Explosive Ordnance Disposal (EOD) Robot which is controlled in task space and with the combined sensor system the robot is capable of autonomous navigation. The robot is composed of 4 different gripping apparatus attached to a 4 degree of freedom manipulator arm which is controlled in task space and a mobile platform which provides the mobility of the EOD robot in the operation field. Since the manipulator arm of the robot is controlled in task space apart from the control system of current EOD robots, the explosive ordnance disposal task which requires high precision and dexterity can be accomplished much faster and more accurate.In addition to improvements in the control system, a combined sensory system named VS-GPS is designed for autonomous navigation of the EOD robot by combining vision system, sonar system and GPS to operate in outdoor fields. In order to achieve the most feasible sensor system, all combinations of most common five conventional sensor systems are evaluated, and VS-GPS is found to be the most effective combined sensor system design.Design of the EOD robot and sensor system includes the solid modeling of the robot using a computer program, Solidworks, strength analysis, mathematical modeling of manipulator arm and evaluation of conventional sensor systems for an optimum combination of sensor systems especially for autonomous outdoor navigation of the robot.