Master Degree / Yüksek Lisans Tezleri
Permanent URI for this collectionhttps://hdl.handle.net/11147/3008
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Master Thesis Design of a Six Degree-Of Haptic Hybrid Platform Manipultor(Izmir Institute of Technology, 2010) Bilgincan, Tunç; Dede, Mehmet İsmet CanThe word Haptic, based on an ancient Greek word called haptios, means related with touch. As an area of robotics, haptics technology provides the sense of touch for robotic applications that involve interaction with human operator and the environment. The sense of touch accompanied with the visual feedback is enough to gather most of the information about a certain environment. It increases the precision of teleoperation and sensation levels of the virtual reality (VR) applications by exerting physical properties of the environment such as forces, motions, textures. Currently, haptic devices find use in many VR and teleoperation applications. The objective of this thesis is to design a novel Six Degree-of-Freedom (DOF) haptic desktop device with a new structure that has the potential to increase the precision in the haptics technology. First, previously developed haptic devices and manipulator structures are reviewed. Following this, the conceptual designs are formed and a hybrid structured haptic device is designed manufactured and tested. Developed haptic device.s control algorithm and VR application is developed in Matlab© Simulink. Integration of the mechanism with mechanical, electromechanical and electronic components and the initial tests of the system are executed and the results are presented. According to the results, performance of the developed device is discussed and future works are addressed.Master Thesis Utilization of Timed Automata as a Verification Tool for Real-Time Security Protocols(Izmir Institute of Technology, 2010) Külahçıoğlu, Burcu; Aytaç, İsmail SıtkıTimed Automata is an extension to the automata-theoretic approach to the modeling of real time systems that introduces time into the classical automata. Since it has been first proposed by Alur and Dill in the early nineties, it has become an important research area and been widely studied in both the context of formal languages and modeling and verification of real time systems. Timed automata use dense time modeling, allowing efficient model checking of time-sensitive systems whose correct functioning depend on the timing properties. One of these application areas is the verification of security protocols. This thesis aims to study the timed automata model and utilize it as a verification tool for security protocols. As a case study, the Neuman-Stubblebine Repeated Authentication Protocol is modeled and verified employing the time-sensitive properties in the model. The flaws of the protocol are analyzed and it is commented on the benefits and challenges of the model.