Sürdürülebilir Yeşil Kampüs Koleksiyonu / Sustainable Green Campus Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7755
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Book Part Control Methods for a Teleoperated Endoscope Robot(Springer Verlag, 2019) Işıtman, Oğulcan; Dede, Mehmet İsmet CanIn this study, control of a endoscope robot for the pituitary gland surgery is presented. This co-worker robot has non-backdrivable actuation system with external brakes on the actuators. Since it is required to move in a constrained environment, which is the inside the nostrils in this case, modifications are required for the motion controller. In order to provide safe procedure, the maximum force and torque limits are defined for the real surgical case by using human cadaver head. By considering these limits and application specific requirements, a compliance controller is proposed and experimentally tested.Article Citation - WoS: 12Citation - Scopus: 12Geometrical Analysis of a Continuously Variable Transmission System Designed for Human-Robot Interfaces(Elsevier, 2019) Mobedi, Emir; Dede, Mehmet İsmet CanNew robotic systems are placed out of their constrained workspaces in order to work alongside humans. Consequently, these applications call for robots monitoring and regulating physical human-robot interaction. These robots’ mechanical compliance should be varied when they are in physical contact with the human or their changing environments. This compliance variation can be achieved in a variety of ways. However, one common idea is the variation of joint stiffness mechanically, electromechanically or by control. The solution presented in this paper is an electromechanical way of varying the joint stiffness. Among the electromechanical methods for varying the joint stiffness, continuously variable transmission (CVT) systems can be used in human-robot interfaces if a set of design criteria are met. These criteria include backdrivability, independent output position and stiffness variation, shock absorbing and low mass/inertia. In this paper, a novel two-cone CVT design with a double spherical transmission element is introduced by taking into account the abovementioned criteria. Additionally, design parameters are identified via carrying out a geometrical analysis of this new CVT system.Article Citation - WoS: 4Citation - Scopus: 4Extending Model-Mediation Method To Multi-Degree Teleoperation Systems Experiencing Time Delays in Communication(Cambridge University Press, 2017) Uzunoğlu, Emre; Dede, Mehmet İsmet CanSUMMARY In this study, a bilateral teleoperation control algorithm is developed in which the model-mediation method is integrated with an impedance controller. The model-mediation method is also extended to three-degrees-of-freedom teleoperation. The aim of this controller is to compensate for instability issues and excessive forcing applied to the slave environment stemming from time delays in communication. The proposed control method is experimentally tested with two haptic desktop devices. Test results indicate that stability and passivity of the bilateral teleoperation system is preserved under variable time delays in communication. It is also observed that safer interactions of the slave system with its environment can be achieved by utilizing an extended version of the model-mediation method with an impedance controller.Conference Object Citation - WoS: 9Citation - Scopus: 13Design 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, YalkınHaptics 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.Conference Object Control of Teleoperation Systems Operating Under Communication Line Failures(Institute of Electrical and Electronics Engineers Inc., 2008) Dede, Mehmet İsmet Can; Tosunoğlu, SabriAbstract 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.