Master Degree / Yüksek Lisans Tezleri

Permanent URI for this collectionhttps://hdl.handle.net/11147/3008

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Subject: search.filters.subject.Mobile robots

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Now showing 1 - 7 of 7
  • Master Thesis
    The Effect of Human-Robot Interaction on Design and Use Process of Home Robots
    (Izmir Institute of Technology, 2022) Yapıcı, Nur Beril; Tuğlular, Tuğkan; Başoğlu, Ahmet Nuri
    This thesis aims to develop a method that will enable the user to get maximum efficiency in using robots by establishing an accurate and effective interaction with the user of domestic service robots. Domestic home robots run in environments that vary significantly according to user preferences, unlike industrial robots that work in manufacturing areas under strict and customary rules, referring to the user and usage area. This situation introduces some challenges, especially for mobile domestic service robots such as robotic vacuum cleaners, to reach maximum efficiency. Hence, in this study, the customization of domestic service robots has been taken as the center according to users’ needs, preferences, and environmental factors. The Hybrid Model approach, composed of integrating the Dynamic Eco-Strategy Explorer Model and the Built-to-Order Model, has emerged and been designed to establish a well-structured relationship with the user in order to provide customization from the product purchase stage. The model consists of two interconnected main sections, with six steps in the first and four in the second. In addition, as another critical point, the Hybrid Model suggests that domestic robots be designed as modular and integrated components. At the same time, in this study, a digital web prototype for forming a robot vacuum cleaner named RoboCUD was designed in order to observe and analyze the effects of the Hybrid Model on the user. For analysis, data were collected using survey questions based on variables collected from a detailed literature review and interviews with existing users. On top of that, the customization part depends on the prototype website experience of the participants. An experimental survey study was conducted to learn about the possible effects of the model and people’s approaches to the use of robot vacuums. At the end of the study, the data were reported by applying different analysis methods.
  • Master Thesis
    Augmented Reality-Based Model-Mediated Teleoperation: a Mobile Telerobot Case Study
    (Izmir Institute of Technology, 2019) Kirişci, Nihat Çağhan; Dede, Mehmet İsmet Can
    Teleoperation is defined as operating a robot in a remote environment. Teleoperation utilizes the strength and dexterity of robots and the interpretation and problem solving skills of humans. In a teleoperation system, the robot to be controlled is referred as the slave. The master is a device that the human operator interacts with to send commands to the slave or receive feedback from the slave environment such as haptic or audio. However, teleoperation of a robot in an unknown environment solely based on haptic and visual feedback is a demanding task. The effects of time delay in communication channels makes completing this task even more challenging. Model-Mediated Teleoperation (MMT) aims to solve this problem by creating a virtual model of the slave robot and the environment. This virtual model receives commands from the master and returns haptic feedback just as the real slave robot is interacting with the environment, effectively with no delay. However, without actually knowing where the position of the virtual robot corresponds in the real environment, it is still challenging to carry out the task. In this project, a novel augmented reality based method is proposed to render the virtual robot into the real life live video feed. Integration of the non-delayed robot into the real environment intends to solve this problem by enhancing the perception of the user.
  • Master Thesis
    Redundant Mobile Robort Control
    (Izmir Institute of Technology, 2016) Çelik, Onur; Dede, Mehmet İsmet Can
    Indoor mobile robots are one of the widely researched and developing technologies in robotic field since they can be used in the service robotics and industrial application domains. Moreover, a sub-category of mobile robots, omnidirectional mobile robots, allow performing tasks in narrow indoor spaces by providing better motion capabilities. Additionally, redundancy in mobile robots is started to be used for various advantages including fault tolerance and increased payloads. The objective of this thesis is to improve the design of the omnidirectional mobile robot that was previously constructed in IRL (IzTech Robotics Lab) and develop a redundancy resolution algorithm in order to control the redundant omnidirectional mobile robot to tolerate faults in the actuation system. Initially, the mechanical structure of the mobile robot is improved by the addition of a suspension system for each wheel assembly. A new onboard controller hardware is used and a new top-level controller is employed to be used along the redundancy resolution algorithm. Additionally, previously developed obstacle avoidance algorithm is improved by employing a new configuration of sensors and including a virtual damper to compensate for variable velocity level while approaching to an obstacle. The fault tolerance algorithm is developed in this thesis by integrating a pseudo inverse of the Jacobian matrix that is subjected to a virtual weighted matrix so that the motion of the mobile robot will sustain its motion even though there is an efficiency drop in one of the actuators. Top-level control algorithm along with the fault tolerance and the obstacle avoidance algorithms is experimentally tested and test results indicate that the mobile robot can achieve the primary task in the case of one of the actuator’s efficiency drops down to 70% or in the case of multiple obstacles on the path of the robot.
  • 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
    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
    Unlimited-Wokspace Teleoperation
    (Izmir Institute of Technology, 2012) Şahin, Osman Nuri; Dede, Mehmet İsmet Can
    Teleoperation is, in its brief description, operating a vehicle or a manipulator from a distance. Teleoperation is used to reduce mission cost, protect humans from accidents that can be occurred during the mission, and perform complex missions for tasks that take place in areas which are difficult to reach or dangerous for humans. Teleoperation is divided into two main categories as unilateral and bilateral teleoperation according to information flow. This flow can be configured to be in either one direction (only from master to slave) or two directions (from master to slave and from slave to master). In unlimited-workspace teleoperation, one of the types of bilateral teleoperation, mobile robots are controlled by the operator and environmental information is transferred from the mobile robot to the operator. Teleoperated vehicles can be used in a variety of missions in air, on ground and in water. Therefore, different constructional types of robots can be designed for the different types of missions. This thesis aims to design and develop an unlimited-workspace teleoperation which includes an omnidirectional mobile robot as the slave system to be used in further researches. Initially, an omnidirectional mobile robot was manufactured and robot-operator interaction and efficient data transfer was provided with the established communication line. Wheel velocities were measured in real-time by Hall-effect sensors mounted on robot chassis to be integrated in controllers. A dynamic obstacle detection system, which is suitable for omnidirectional mobility, was developed and two obstacle avoidance algorithms (semi-autonomous and force reflecting) were created and tested. Distance information between the robot and the obstacles was collected by an array of sensors mounted on the robot. In the semi-autonomous teleoperation scenario, distance information is used to avoid obstacles autonomously and in the force-reflecting teleoperation scenario obstacles are informed to the user by sending back the artificially created forces acting on the slave robot. The test results indicate that obstacle avoidance performance of the developed vehicle with two algorithms is acceptable in all test scenarios. In addition, two control models were developed (kinematic and dynamic control) for the local controller of the slave robot. Also, kinematic controller was supported by gyroscope.
  • Master Thesis
    Design of a Mars Rover Suspension Mechanism
    (Izmir Institute of Technology, 2004) Barlas, Fırat; Alizade, Rasim
    It is obvious that rovers are important vehicles of today.s solar system exploration. Most of the rover designs have been developed for Mars and Moon surface in order to understand the geological history of the soil and rocks. Exploration operations need high speed and long distance traversal in a short mission period due to environmental effects, climate and communication restrictions. Several mechanisms have been suggested in recent years for suspensions of rovers on rough terrain. Although their different mechanisms have found a widespread usage in mobile robotics, their low operation speed is still a challenging problem. In this research, a new suspension mechanism has been designed and its kinematic analysis results were discussed. Standard rocker-bogie suspension mechanism, which has been developed in the late 1990.s, has excellent weight distribution for different positions on rough terrain. New design, mostly similar to rocker-bogie suspension system, has a natural advantage with linear bogie motion which protects the whole system from getting rollover during high speed operations. This improvement increases the reliability of structure on field operations and also enables the higher speed exploration with same obstacle height capacity as rocker-bogie. In this thesis study, new bogie mechanism consisted of double-lambda mechanisms, which has been firstly presented by Pafnuty Lvovich Chebyshev in 1869, is solved by analytically to define the positions and singular configurations. A new structural synthesis formula also has been introduced for such suspension mechanisms with lower and higher kinematic pairs. By using structural synthesis methods, a suspension mechanism has been designed with double-lambda mechanism. Equivalent force and moment functions were also derived with equation of motion method. The results are confirmed with the computer analysis made by Visual Nastran 4D®. For this purpose, a computer model has been constructed and assembled with the same design parameters of NASA Mars Exploration Rovers (MER1 and MER2).