Sürdürülebilir Yeşil Kampüs Koleksiyonu / Sustainable Green Campus Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7755
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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 Citation - Scopus: 1Implementation of Partial Synchronization of Different Chaotic Systems by Field Programmable Gate Array(Institute of Electrical and Electronics Engineers Inc., 2009) Eroğlu, Can; Savacı, Ferit AcarIn this study, the synchronization of the master-slave systems has been achieved and implemented on Field Programmable Gate Array (FPGA). In this paper, the master system and the slave system have been chosen as Lorenz and Rossler systems, respectively. The feedback control rule has been derived by feedback linearization method. By feedback linearization, the coordinate transformation has been achieved then the control command for synchronization has been obtained. In order to implement designed synchronized system, Matlab Simulink design of the system has been translated to Xilinx System Generator design to generate Very-High-Speed Integrated Circuits Hardware Description Language (VHDL) code which is used to produce bitstream file. By Xilinx Integrated Software Environment (ISE) program, VHDL code is converted to bitstream file which has been embedded into FPGA by Field Upgradeable Systems Environment (FUSE). Finally, the designed synchronized system has been observed on the HP 54540C oscilloscope.Conference Object Citation - WoS: 7Citation - Scopus: 12Time Synchronization Algorithms Based on Timing-Sync Protocol in Wireless Sensor Networks(Institute of Electrical and Electronics Engineers Inc., 2008) Kulaklı, Ali Burak; Erciyeş, KayhanWireless Sensor Networks(WSN) are large scale networks of sensors running on wireless environment. For an application running on a WSN, gathered data by the sensors are time critical in most of the cases. However, almost all the nodes suffer from a problem named clock drift. This problem causes clock difference among nodes as time goes because the processors do not run exactly at the same speed. There are many proposed solutions to remedy this problem. TPSN (Timing-sync Protocol for Sensor Networks) is one of the effective protocols proposed to synchronize sensor networks. In this paper, we propose enhancements over TPSN to synchronize nodes in a wireless sensor network more effectively with a lower message complexity and higher precision.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.Conference Object Citation - WoS: 5Citation - Scopus: 6Set-Point Navigation of a Redundant Robot in Uncertain Environments Using Finite Range Sensors(Institute of Electrical and Electronics Engineers Inc., 2008) Kapadia, Apoorva; Tatlıcıoğlu, Enver; Dawson, Darren M.In this work, control of redundant robot manipulators in an uncertain environment is considered. The manipulator is equipped with finite range sensors to detect obstacles in its workspace. A navigation functionbased kinematic controller is proposed to ensure the regulation of the end-effector to a desired set-point while the entire manipulator simultaneously avoids the obstacle points detected by the sensors. A joint-space controller is then utilized to ensure asymptotic tracking of the desired jointspace trajectory.Conference Object Citation - WoS: 4Citation - Scopus: 6Robust Placement of Mobile Relational Operators for Large Scale Distributed Query Optimization(Institute of Electrical and Electronics Engineers Inc., 2007) Ergenç, Belgin; Morvan, Franck; Hameurlain, AbdelkaderThis paper presents a compile-time placement method of mobile relational operators MROs in a large scale environment. MROs are self adaptive to changing runtime conditions by deciding their execution place if they discover compile-time estimation errors. Proposed placement methods tend to have a main drawback with MROs running over a large scale environment: their focus is on finding optimal performance depending on single-point estimation at compile-time, instead of optimal performance over an estimation interval. We propose: (i) to determine the migration space of a MRO including the sites on which the MRO is allowed to migrate during its execution, and (ii) to find the robust site which will allow acceptable response time in an estimation interval. Performance study shows that, with a risk of loosing around 6% in response time, it is possible to gain up to 300% with the proposed robust placement.