Sürdürülebilir Yeşil Kampüs Koleksiyonu / Sustainable Green Campus Collection

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

Browse

Filters

2015 - 20194

Settings

Start date: 2010Institution Author: search.filters.institutionAuthor.Dede, Mehmet İsmet Can

Search Results

Now showing 1 - 4 of 4
  • Book Part
    Control Methods for a Teleoperated Endoscope Robot
    (Springer Verlag, 2019) Işıtman, Oğulcan; Dede, Mehmet İsmet Can
    In 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: 12
    Citation - Scopus: 12
    Geometrical Analysis of a Continuously Variable Transmission System Designed for Human-Robot Interfaces
    (Elsevier, 2019) Mobedi, Emir; Dede, Mehmet İsmet Can
    New 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: 4
    Citation - Scopus: 4
    Extending Model-Mediation Method To Multi-Degree Teleoperation Systems Experiencing Time Delays in Communication
    (Cambridge University Press, 2017) Uzunoğlu, Emre; Dede, Mehmet İsmet Can
    SUMMARY 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 - Scopus: 69
    The Arrows Project: Adapting and Developing Robotics Technologies for Underwater Archaeology
    (IFAC Secretariat, 2015) Allotta, B.; Costanzi, R.; Ridolfi, A.; Colombo, C.; Bellavia, F.; Fanfani, M.; Daviddi, W.
    ARchaeological RObot systems for the World's Seas (ARROWS) EU Project proposes to adapt and develop low-cost Autonomous Underwater Vehicle (AUV) technologies to significantly reduce the cost of archaeological operations, covering the full extent of archaeological campaign. ARROWS methodology is to identify the archaeologists requirements in all phases of the campaign and to propose related technological solutions. Starting from the necessities identified by archaeological project partners in collaboration with the Archaeology Advisory Group, a board composed of European archaeologists from outside ARROWS, the aim is the development of a heterogeneous team of cooperating AUVs capable of comply with a complete archaeological autonomous mission. Three new different AUVs have been designed in the framework of the project according to the archaeologists' indications: MARTA, characterized by a strong hardware modularity for ease of payload and propulsion systems configuration change; U-C AT, a turtle inspired bio-mimetic robot devoted to shipwreck penetration and A-Size AUV, a vehicle of small dimensions and weight easily deployable even by a single person. These three vehicles will cooperate within the project with AUVs already owned by ARROWS partners exploiting a distributed high-level control software based on the World Model Service (WMS), a storage system for the environment knowledge, updated in real-time through online payload data process, in the form of an ontology. The project includes also the development of a cleaning tool for well-known artifacts maintenance operations. The paper presents the current stage of the project that will lead to overall system final demonstrations, during Summer 2015, in two different scenarios, Sicily (Italy) and Baltic Sea (Estonia). © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.