Keçeci, Emin Faruk
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Kececi, Emin Faruk
Kececi, Emin
Kececi, E. Faruk
Keçeci, E.F.
Kececi, E. F.
Kececi, E.
Kececi, Emin
Kececi, E. Faruk
Keçeci, E.F.
Kececi, E. F.
Kececi, E.
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Main Affiliation
03.10. Department of Mechanical Engineering
Status
Former Staff
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Sustainable Development Goals
1NO POVERTY
0
Research Products
2ZERO HUNGER
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3GOOD HEALTH AND WELL-BEING
0
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4QUALITY EDUCATION
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5GENDER EQUALITY
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6CLEAN WATER AND SANITATION
1
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7AFFORDABLE AND CLEAN ENERGY
2
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8DECENT WORK AND ECONOMIC GROWTH
1
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9INDUSTRY, INNOVATION AND INFRASTRUCTURE
9
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10REDUCED INEQUALITIES
0
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11SUSTAINABLE CITIES AND COMMUNITIES
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12RESPONSIBLE CONSUMPTION AND PRODUCTION
2
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13CLIMATE ACTION
2
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14LIFE BELOW WATER
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15LIFE ON LAND
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16PEACE, JUSTICE AND STRONG INSTITUTIONS
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17PARTNERSHIPS FOR THE GOALS
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Documents
20
Citations
85
h-index
5
This researcher does not have a WoS ID.
Scholarly Output
14
Articles
4
Views / Downloads
23873/12820
Supervised MSc Theses
7
Supervised PhD Theses
0
WoS Citation Count
36
Scopus Citation Count
62
Patents
0
Projects
0
WoS Citations per Publication
2.57
Scopus Citations per Publication
4.43
Open Access Source
13
Supervised Theses
7
| Journal | Count |
|---|---|
| Robotica | 3 |
| IFAC Proceedings Volumes | 2 |
| Mechatronics | 1 |
| Photonics Spectra | 1 |
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14 results
Scholarly Output Search Results
Now showing 1 - 10 of 14
Master Thesis Design and Prototyping of a Mechatronic System as a Drag Reduction Device for Busses(Izmir Institute of Technology, 2006) Kavadar, Gökhan; Keçeci, Emin Faruk; Keçeci, Emin Faruk; Keçeci, Emin FarukIn this thesis study it is intended to design a mechatronic device which will act as a drag reducer for busses. The drag reduction device will be a self operating system, which will be attached onto the front side of the bus. Since the device will operate at the front of the vehicle, it will reduce the front drag force. The mechatronic drag reduction device will have two states; these are the open and close states. Therefore, the device will operate only when it is necessary to operate. That is, normally when the drag force experienced by the vehicle is not at important levels, then the device will stay closed. In the closed position the device will occupy the least space so that it does not cause any difficulties for the driver. However, when the drag force increases, then the device opens and builds itself on the front of the vehicle. The basic idea behind this device is to produce an extra volume of mass at the front of the bus, which will change the incoming airflow, so that the least resistance is experienced by the bus. By reducing the drag force a corresponding amount of fuel saving could be achieved. The mechatronic device design is made by parametric solid modeling software SolidWorks. The shape of the mechatronic device and the mechanism design will all be made in computer environment. The fluid flow analyses will be also made by using an Engineering fluid dynamics software program called Cosmos FloWorks. The most efficient shape for the mechatronic drag reduction device will be designed by the computer software. In the scope of this project a small low-speed wind tunnel will be constructed. Besides the virtual analyses made with computer software, real flow tests will be carried out by using a 1:50 scale model bus, attached with a model of the mechatronic drag reduction device. In the wind tunnel tests, the relative reduction in drag forces will be investigated.Conference Object Citation - Scopus: 2Adaptive Actuator Failure Compensation for Concurrently Actuated Manipulators(Elsevier, 2003) Keçeci, Emin Faruk; Tang, Xidong; Tao, GangThis paper presents an adaptive actuator failure compensation method, which compensates for uncertainties due to unknown actuator failures and system dynamics, for a class of redundant manipulators where some joints concurrently actuated. Physical realization of concurrently actuated manipulators and their advantageous of use have been understood before, but adaptive failure compensation is still an open issue. In this research, failure formulation, controller structure and adaptive update rules for handling uncertainties from both the system dynamics and the failures are studied. The system stability is shown by a modified Lyapunov. Simulation results show the effectiveness of the proposed adaptive failure compensation control design.Article Citation - WoS: 9Citation - Scopus: 16Design and Prototype of Mobile Robots for Rescue Operations(Cambridge University Press, 2009) Keçeci, Emin FarukThis study concerns the design and prototype of four different mobile robot platforms for rescue robot operations after an earthquake. At first, a test field is constructed to represent a mildly damaged earthquake zone. The test field consists of eight different sections: sand, gravel, ditch, water, bridge, incline, decline, and turn. The mechanical structure, electronics, software, communication, and possible sensory systems are explained. After the robots are manufactured, they are physically tested for their performance in the test field for 18 different parameters. The test results show the effective body structure. Challenges of the rescue robot design are explained and future expectations are given.Article Citation - WoS: 17Citation - Scopus: 25Adaptive Vehicle Skid Control(Elsevier Ltd., 2006) Keçeci, Emin Faruk; Tao, GangIn this paper, adaptive vehicle skid control, for stability and tracking of a vehicle during slippage of its wheels without braking, is addressed. Two adaptive control algorithms are developed: one for the case when no road condition information is available, and one for the case when certain information is known only about the instant type of road surface on which the vehicle is moving. The vehicle control system with an adaptive control law keeps the speed of the vehicle as desired by applying more power to the drive wheels where the additional driving force at the non-skidding wheel will compensate for the loss of the driving force at the skidding wheel, and also arranges the direction of the vehicle motion by changing the steering angle of the two front steering wheels. Stability analysis proves that the vehicle position and velocity errors are both bounded. With additional road surface information available, the adaptive control system guarantees that the vehicle position error and velocity error converge to zero asymptotically even if the road surface parameters are unknown.Master Thesis Autonomous Solid Waste Separation System Design(Izmir Institute of Technology, 2006) Pekdur, Ömer; Keçeci, Emin FarukThis study presents the design of a municipal solid waste separation facility that uses physical properties to separate solid wastes into their types. This facility will be autonomous and automatic. There will not be any human personnel nor any sensors to separate solid waste in this facility. Only physical properties like size and density are used to remove materials so this facility will be more robust and efficient than current facilities. All recyclable materials will be taken from a waste stream that contains minimal useless waste. The capacity of the facility will be calculated and the facility will be designed for the city of zmir. The design of a municipal solid waste separation facility includes examining and recent separation facilities in the world and in zmir, seeing problems at their source in zmir and taking suitable separation machines with suitable capacity by examining systems to make a process flow chart.Master Thesis Mechatronic Design of a Completely Mechanical Quick Changeable Joint for Multi-Purpose Explosive Ordnance Disposal Robots(Izmir Institute of Technology, 2006) Kor, Mehmet Bahattin; Keçeci, Emin FarukThe EOD robot is a mobile robot used in replace of a human in explosive ordnance disposal operations of searching, detecting and handling of explosive materials. Nowadays the EOD robot.s tool capabilities and overall performances are at lower levels because they are only able to use one kind of tool (gripper) for the whole bomb disposing process. The aim of this study is to design a completely mechanical quick changeable joint which will be used in the EOD robot to automatically change the tools. By changing the grippers automatically, the robot firstly does not require to be called back for tool change and secondly can achieve different operations on the explosive material. In the locking mechanism of quick changeable joint, hydraulic and pneumatic systems are not preferred because of their weight and volume on a mobile robot. Electromagnetic locking systems are also not considered because of possible electromagnetic interaction between the arm and explosive ordnance. The reason of designing a completely mechanical joint is to eliminate the use of another actuator for controlling the locking mechanism. An EOD robot with a quick changeable joint will be able to use different tools and accomplish complex tasks by using these different tools. Usage of this quick changeable joint in different robotic applications such as tool holding in CNC machines, lifting and pulling applications will also make an increment in the robot.s processing capacity and efficiency. This project consists of designing a completely mechanical quick changeable joint. In order to understand the best design, four different joints are designed, the critical parts are analyzed for strength and prototypes of the joints are manufactured. To test the life cycles of the joints a pneumatic test machine is designed and manufactured. After the tests, the joints are evaluated for design parameters are the best design for different purposes are determined.Article Fireproofing the Firefighting Robot(Laurin Publishing Co. Inc., 2009) Keçeci, Emin FarukResearchers at the Institute of Technology in Izmir, Turkey, have successfully developed a mechanical firefighter robot that will work inside the flames. The robot uses both passive and active cooling systems that, for a limited time, keep the inner temperature at a safe level for the electronic components inside the device, to survive the flame. The body of the robot is made of aluminum and comprises two shells attached to each other with rods. The robot is controlled with a remote unit by an operator, who can observe the fire via a CCD camera. Control and cooling subsystems will allow the robot to work in these rough conditions. The control system allows the robot to use the navigation system as well as the sensory and cooling systems. The robot will be controlled with radiofrequency communications and is able to break doors and climb stairs to work in upper-level fires.Conference Object Citation - WoS: 7Citation - Scopus: 12Adaptive Actuator Failure Compensation for Redundant Manipulators(Cambridge University Press, 2009) Keçeci, Emin Faruk; Tang, Xidong; Tao, GangThis paper presents an adaptive actuator failure compensation method, which compensates for uncertainties due to unknown actuator failures for redundant manipulator systems. The method is first developed for manipulators whose joints are concurrently actuated. While physical realization of concurrently actuated manipulators and the advantages of their use have been understood before, in this paper failure modeling, controller structure, and adaptive update rules for handling uncertainties from the actuator failures are studied. The adaptive actuator failure compensation method is then expanded for a cooperating multiple manipulator system with uncertain actuator failures. Dynamic equations of such a multiple manipulator system in the task space are derived and the adaptive actuator failure compensation problem is formulated in the task space, for which a compensation controller structure is proposed with stable adaptive parameter update laws. The adaptive control scheme is able to compensate for the uncertainties of system parameters and actuator failures in a more general sense. For both cases, closed-loop system stability and asymptotic tracking are proved, despite uncertain system failures.Article Citation - WoS: 3Citation - Scopus: 7Completely Mechanical Quick Changeable Joints for Multipurpose Explosive Ordnance Disposal Robots(Cambridge University Press, 2009) Keçeci, Emin FarukThis paper is an investigation of completely mechanical quick changeable joints for multipurpose explosive ordnance disposal (EOD) robots. With the assistance of a quick changeable joint, an ordinary EOD robot becomes a multipurpose robot with an end effector which can be switched during the task. This exchangeable end effector permits the robot to perform more complex duties. Making the joint completely mechanical increases its capacity and decreases its complexity of control and risk of failure. In this paper, the design, manufacturing, and testing stages are explained for four quick changeable joints each possessing different physical working principles. The test results reveal the best design for a multipurpose EOD robot and give ideas for other uses of quick changeable joints. Employing the quick changeable joints in other mobile robot applications can increase a robot's capacity and efficiency.Master Thesis Wearable exoskeleton robot design(Izmir Institute of Technology, 2007) Gün, Volkan; Keçeci, Emin FarukIn this thesis study it is intended to design a wearable exoskeleton robot which will replace paralytic or disable people.s legs and provide to walk. The wearable exoskeleton robot will be an intelligent system that fulfill the gait necessities, climb the slopes up and down, and remove the disadvantages of the wheelchairs and mobility aid vehicles. Robot will be a wearable device like a trouser and it will work to carry out daily duties for users. Robot will increase user.s maneuver capabilities and support users. legs and aid walking action for users thanks to 3-one degree of freedom (DOF) joints which are designed for each leg and are powered by DC electric actuators. Design of the wearable exoskeleton robot includes, modeling and designing of the robot using a parametric solid modeling computer program (Solidworks), selection of the most suitable material for the design characters and robot manufacturing processes, strength analysis of the critical part of the robot, mathematical modeling of the system, design and manufacturing of the test machine and finding the most suitable walking combination by investigating degree of freedoms of each joints on the legs. In addition to mechanical design of the wearable exoskeleton robot, an electronic circuit is designed and manufactured in order to control each joint movement order and time in walking action. Moreover, in order to control the robot by the users, a keypad unit is manufactured on the robot and necessity functions are described in the program. As a result of this thesis; a wearable exoskeleton robot is manufactured to be used as a walking assistant.