WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

Permanent URI for this collectionhttps://hdl.handle.net/11147/7150

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Author: search.filters.author.Dede, Mehmet İsmet CanScopus Q: search.filters.scopusQuartile.Q4

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Now showing 1 - 5 of 5
  • 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 Can
    Digital 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.
  • Conference Object
    Citation - WoS: 3
    Citation - Scopus: 4
    Unilateral Teleoperation Design for a Robotic Endoscopic Pituitary Surgery System
    (Springer, 2018) Dede, Mehmet İsmet Can; Maaroof, Omar Waleed Najm; Ateş, Gizem; Berker, Mustafa; Işıkay, İlkay; Hanalioğlu, Şahin
    The aim of this study is to develop a teleoperation system which will be used to support the endoscopic pituitary surgery procedures. The proposed system aims to enable the surgeon to operate with three different operation tools (one of them is the endoscope) simultaneously. By this way, it is expected that the productivity of the surgical operation will be improved and the duration of the operation will be shortened. In the proposed system, a main control unit that can be attached to any of the surgical tools that are used in the operation (other than the endoscope) will be developed to capture the motion of the surgeon’s hand motion as demanded by the surgeon, to process the captured motion and to send it to the robot that handles the endoscope. In this way, the endoscope will be directed simultaneously by the surgeon throughout the operation while he/she is using the other surgical tools with his/her two hands. In this paper, the study to determine the type and processing of information that is sent from the surgeon’s side to the endoscope robot is presented.
  • Conference Object
    Citation - WoS: 3
    Citation - Scopus: 5
    Image Processing Based Stiffness Mapping of a Haptic Device
    (Springer, 2017) Taner, Barış; Dede, Mehmet İsmet Can
    The widely accepted performance criteria of haptic devices, which are transparency and z-width, are affected by the stiffness characteristics of the haptic device’s mechanism. In addition indirect measurement of the handle pose of a haptic device is also affected by the stiffness characteristic. In this study, image processing techniques are used in the experimental setup to develop a stiffness map of a haptic device. The experimentally developed stiffness map is presented and the results are discussed by addressing future works.
  • Book Part
    Citation - WoS: 3
    Citation - Scopus: 5
    Physical Human-Robot Interaction: Increasing Safety by Robot Arm’s Posture Optimization
    (Springer, 2016) Maaroof, Omar Waleed Najm; Dede, Mehmet İsmet Can
    To have robot manipulators working alongside with humans is a necessity in service robots. Obviously, in these robotics applications, human safety has precedence over precision and repeatability, which are the most important qualification of the conventional industrial manipulators. The safety measures can be taken either in the hardware or in the software or in both. This work by using a redundant manipulator aims at providing a safety measure through controlling the self-motion of the manipulator. The self-motion of the manipulator is controlled to change the posture of the manipulator to minimize or maximize the forces it can exert along a given direction. In this way, by knowing the location of the human or a delicate piece that it should not harm, manipulator’s posture is optimized to exert the minimum amount of forces during an unexpected collision. The control algorithm for this objective is described in this paper and it is evaluated through simulation tests on a redundant lightweight robot manipulator.
  • Conference Object
    Citation - WoS: 9
    Citation - Scopus: 13
    Design of a Haptic Device for Teleoperation and Virtual Reality Systems
    (Institute of Electrical and Electronics Engineers Inc., 2009) Dede, Mehmet İsmet Can; Selvi, Özgün; Bilgincan, Tunç; Kant, Yalkın
    Haptics technology has increased the precision and telepresence of the teleoperation and precision of the in-house robotic applications by force and surface information feedback. Force feedback is achieved through sending back the pressure and force information via a haptic device as the information is created or measured at the point of interest. In order to configure such a system, design, analysis and production processes of a haptic device, which is suitable for that specific application, becomes important. Today, haptic devices find use in assistive surgical robotics and most of the teleoperation systems. These devices are also extensively utilized in simulators to train medical and military personnel. The objective of this work is to design a haptic device with a new structure that has the potential to increase the precision of the robotic operation. Thus, literature is reviewed and possible robot manipulator designs are investigated to increase the precision in haptics applications. As a result of the investigations, conceptual designs are developed. Ultimately, final design is selected and produced after it is investigated in computer-aided- design (CAD) environment and its kinematic and structural analyses are carried out.