WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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

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Now showing 1 - 10 of 12
  • Conference Object
    Tıbbi Uygulamalar için Özgün Yapılı Haptik Cihaz Tasarımı
    (Institute of Electrical and Electronics Engineers Inc., 2009) Selvi, Özgün; Bilgincan, Tunç; Kant, Yalkın; Dede, Mehmet İsmet Can
    Robotik sistemler hassasiyet gerektiren işlerde gün geçtilçe günlük hayatımızın bir parçası olmaya başladı. Bu işler genellikle herhangi bir operatör tarafından yapılamayacak kadar hassasiyet gerektiren işler olduğundan dolayı robotik teknolojiye ihtiyaç vardır. Bir robotik alanı olan Haptik teknolojisi, operatör ile çevrenin etkileşimini kuvvet geri beslemesi ile sağlayarak uygulamanın hassasiyet seviyesini arttırmaktadır. Bugünkü haliyle haptik teknoloji tıbbi operasyonlarda yardımcı sistem olarak ve birçok uzaktan kumandalı operasyonlarında (teleoperasyon) kullanılmaktadır. Aynı zamanda haptik teknoloji askeri ve tıbbi eğitim amaçlı sanal gerçeklik programlarında kullanılmaktadır. Bu çalışmanın amacı sistemin hassasiyetini arttırabilecek yapısal olarak yeni bir haptik cihaz tasarlamaktır. Bu kapsamda, önceden gerçekleştirilmiş robot tasarımları araştırıldı ve kavramsal tasarımlar gelistirildi. Sonuç olarak seçilen tasarım sanal ortam da oluşturuldu ve simülasyonu yapıldı, ve ilk prototipi imal edildi
  • Conference Object
    Citation - Scopus: 1
    Structural Compliance Effects on the Accuracy and Safety of a R-Cube Haptic Device
    (Springer Verlag, 2019) Carbone, Giuseppe; Acinapura, Antonio; Mundo, Domenico; Görgülü, İbrahimcan; Dede, Mehmet İsmet Can
    This paper addresses the contribution of structural compliance on stiffness and safety of a R-CUBE Haptic Device. Structural compliance is determined in several poses via FEM analysis and addressed by referring to local and global indices of performance. Results are also compared with evidences from experimental tests. Comparison of numerical and experimental data allows to identify and separate the contributions to the overall compliance that are due to the structural stiffness, and other contributions such as joint clearance, pose and loading conditions.
  • Conference Object
    Citation - WoS: 17
    Citation - Scopus: 23
    The Arrows Project: Robotic Technologies for Underwater Archaeology
    (IOP Publishing Ltd., 2018) Allotta, Benedetto; Costanzi, Riccardo; Ridolfi, Alessandro; Salvetti, Ovidio; Reggiannini, Marco; Kruusmaa, Maarja; Salumäe, Taavi; Lane, David Mike; Frost, Gordon; Tsiogkas, Nikolaos; Cocco, Michele; Gualdesi, Lavinio; Lacava, Giovanni; Roig, Daniel; Gündoğdu, Hilal Tolasa; Dede, Mehmet İsmet Can; Baines, Steven; Tusa, Sebastiano; Latti, Priit; Scaradozzi, David
    The paper summarizes the main results achieved during the three-year European FP7 ARROWS project (ARchaeological RObot systems for the Worlds Seas). ARROWS concluded at the end of August 2015 and proposed to adapt and develop low-cost Autonomous Underwater Vehicle (AUV) technologies to reduce the operational cost of typical underwater archaeological campaigns. The methodology used by ARROWS researchers identified archaeologists requirements for all the phases of a campaign. These were based on guidelines issued by the project Archaeology Advisory Group (AAG), which comprised of many European archaeologists belonging to the consortium. One of the main goals of the ARROWS project was the development of a heterogeneous team of cooperating AUVs; these comprised of prototypes developed in the project and commercially available vehicles. Three different AUVs have been built and tested at sea: MARTA, characterized by flexible hardware modularity for easy adaption of payload and propulsion systems, U-CAT, a turtle inspired bio-mimetic robot devoted to shipwreck penetration and A-Size AUV, a small light weight vehicle which is easily deployable by a single person. The project also included the development of a cleaning tool for well-known artefacts and maintenance operations. Results from the official final demonstrations of the project, held in Sicily and in Estonia during Summer 2015, are presented in the paper as an experimental proof of the validity of the developed robotic tools.
  • Book Part
    Citation - WoS: 1
    Citation - Scopus: 2
    Experimental Evaluation of Actuation and Sensing Capabilities of a Haptic Device
    (Springer, 2019) Mobedi, Emir; Görgülü, İbrahimcan; Dede, Mehmet İsmet Can
    Haptic devices are used to increase the telepresence level by providing the sense of touch to the human operator. Simultaneously, they capture the targeted motion of the human operator to generate a motion demand for the teleoperated slave system. Considering a scenario where the slave system’s end-effector is handled by the human operator at the master side, which is attached to the haptic device, an ideal haptic interaction involves the feeling of only the end-effector dynamics and the accurate sensation of the end-effector pose. The performance of a haptic device is based on these two functionalities. In this paper, the experimental evaluation of the actuation and sensing capabilities of a haptic device, HIPHAD v1.0 kinesthetic haptic device, is presented.
  • Book Part
    Citation - WoS: 3
    Citation - Scopus: 5
    Design of a Teleoperation Scheme With a Wearable Master for Minimally Invasive Surgery
    (Springer, 2019) Ateş, Gizem; Majani, Ronny; Dede, Mehmet İsmet Can
    Minimally invasive surgery is increasingly being preferred over conventional surgery, however many problems still persist in longer surgeries such as pituitary surgeries, where surgeons are still required to hold an endoscope in their hand for prolonged periods of time. Many modern approaches have recently been proposed in literature to reduce the surgeon’s effort. In this paper we extended upon these previous attempts and presented a promising solution; a real time teleoperation scheme with 3 different modes of operation, composed of a wearable ring system that captures and transmits voluntary hand motions over a wireless connection to a slave system. Accordingly, this slave system processes the received data to generate velocity demands for the robot endoscope controller. Finally, the feasibility of the proposed modes of operation are demonstrated and compared by measuring their learning curve and effort by running a set of training simulations on human subjects.
  • Book Part
    Citation - WoS: 1
    Citation - Scopus: 2
    Viscoelastic Modeling of Human Nasal Tissues With a Mobile Measurement Device
    (Springer, 2019) Işıtman, Oğulcan; Ayit, Orhan; Vardarlı, Eren; Hanalioğlu, Şahin; Işıkay, İlkay; Berker, Mustafa; Dede, Mehmet İsmet Can
    Modeling the dynamic of tool-tissue interaction for the robotic minimally invasive surgeries is one of the main issues for designing appropriate robot controllers. A mobile measurement device is produced in order to model some nasal tissues of a human. This mobile device is a hand-held one which measures the applied moments and relative angular displacements about a fixed pivot point. The ex-vivo measurements are realized by surgeons on a relatively fresh human cadaver head. The tip of the nose and the nasal concha are the two tissues that are investigated. In this study, five different viscoelastic models are considered; Elastic, Kelvin- Voight, Kelvin-Boltzmann, Maxwell and Hunt-Crossley. The results are evaluated and cross-validated on each data set. Hunt-Crossley and Kelvin-Boltzmann models provided the minimum root-mean-square (RMS) error among the other models.
  • Conference Object
    Citation - WoS: 1
    Citation - Scopus: 2
    Development of an R-Cube Based General Purpose Haptic Device System
    (American Society of Mechanical Engineers, 2010) Bilgincan, Tunç; Dede, Mehmet İsmet Can
    A novel 6-Degree-of-Freedom (DoF) hybrid haptic device is presented in this paper. Hybrid mechanism consists of parallel kinematic structure, R-CUBE and a 3-DoF orientation mechanism. In our previous study, the original configuration of the R-CUBE mechanism was investigated. In this work, the original design of R-CUBE is reconfigured as a haptic mechanism and the final mechanism is reoriented in order to equally distribute the gravitational effects to all grounded actuators. Rotational motions of the end-effector are monitored through the 3-DoF orientation mechanism placed on the moving platform of the parallel platform. The design of this haptic device is suitable to reflect forces in translational motions, thus point-type of contact is available for this system. The designed device is manufactured utilizing various types of manufacturing processes, such as wire erosion, laser cutting, milling and turning. Finally manufactured mechanism is integrated with electromechanical components and tested for manipulability.
  • Conference Object
    Citation - WoS: 2
    Citation - Scopus: 4
    An Innovative Cleaning Tool for Underwater Soft Cleaning Operations
    (Institute of Electrical and Electronics Engineers Inc., 2015) Gündoğdu, Hilal Tolasa; Dede, Mehmet İsmet Can; Taner, Barış; Ridolfi, Alessandro; Costanzi, Riccardo; Allotta, Benedetto
    This work takes place in the framework of the EU FP7 funded ARROWS project. In ARROWS project, low-cost autonomous underwater vehicle technologies are adapted and developed to significantly reduce the costs of underwater archaeological operations, covering the full extent of archaeological campaign. The project aims to deal with underwater mapping, diagnosis and cleaning tasks. This paper, specifically, describes the development of a cleaning tool (CT) to be used in cleaning underwater archaeological sites. This cleaning tool will be exploited not only during research missions, but also for the periodic monitoring, controlling and maintenance activity of well-known underwater archaeological sites (e.g. periodic cleaning operations). In this paper, the design criteria, working principles, the design and the performance tests of the developed CT are explained in details. The performance results are discussed in the final section.
  • Conference Object
    Citation - WoS: 4
    Citation - Scopus: 7
    General subtask controller for redundant robot manipulators
    (Institute of Electrical and Electronics Engineers Inc., 2012) Maaroof, Omar W.; Gezgin, Erkin; Dede, Mehmet İsmet Can
    This paper will utilize the property of self-motion for redundant robot manipulators by designing the general subtask controller that control the joint motion in the null-space of the Jacobian matrix. The general subtask controller is used for minimizing the total joint motion and for singularity avoidance in this study. Specifically, objective function for each subtask is formed and then the gradient of the objective function is used in the subtask controller to either minimize the joint motion or avoid singularities while tracking a given end-effector trajectory. A 7-DOF LWA4-Arm (SCHUNK) is modeled first in SolidWorks® and then converted to MATLAB® Simulink using SimMechanics CAD translator for the simulation tests of the controller. The kinematics and dynamics equations are derived to be used in the controllers and the simulation results are presented for the 7-DOF redundant robot manipulator operating in 3D space. © 2012 ICROS.
  • Conference Object
    Control of Teleoperation Systems Operating Under Communication Line Failures
    (Institute of Electrical and Electronics Engineers Inc., 2008) Dede, Mehmet İsmet Can; Tosunoğlu, Sabri
    Abstract While the robots gradually become a part of our daily lives, they already play vital roles in many critical operations. Some of these critical tasks include surgeries, battlefield operations, and tasks that take place in hazardous environments or distant locations such as space missions. In most of these tasks, remotely controlled robots are used instead of autonomous robots. This special area of robotics is called teleoperation. Teleoperation systems must be reliable when used in critical tasks; hence, all of the subsystems must be dependable even under a subsystem or communication line failure. Teleoperation controllers are designed to compensate for instabilities due to communication time delays. Modifications to the existing controllers are proposed to configure a controller that is reliable under communication line failures. Experimental studies are then conducted on limited-and unlimited-workspace teleoperation systems to verify the efficiency of the controllers proposed for each system.