Sürdürülebilir Yeşil Kampüs Koleksiyonu / Sustainable Green Campus Collection

Permanent URI for this collectionhttps://hdl.handle.net/11147/7755

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Department: search.filters.department.İzmir Institute of Technology. Mechanical EngineeringPublisher: search.filters.publisher.Institute of Electrical and Electronics Engineers Inc.

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  • 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; Dede, Mehmet İsmet Can; Kant, Yalkın; Bilgincan, Tunç; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    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.
  • 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; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    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.