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Emet, Hazal
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01. Izmir Institute of Technology
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External
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Sustainable Development Goals
1NO POVERTY
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2ZERO HUNGER
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3GOOD HEALTH AND WELL-BEING
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4QUALITY EDUCATION
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5GENDER EQUALITY
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6CLEAN WATER AND SANITATION
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7AFFORDABLE AND CLEAN ENERGY
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8DECENT WORK AND ECONOMIC GROWTH
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9INDUSTRY, INNOVATION AND INFRASTRUCTURE
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10REDUCED INEQUALITIES
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11SUSTAINABLE CITIES AND COMMUNITIES
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12RESPONSIBLE CONSUMPTION AND PRODUCTION
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13CLIMATE ACTION
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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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Scholarly Output
3
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1
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2414/1013
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1
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WoS Citation Count
9
Scopus Citation Count
11
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0
WoS Citations per Publication
3.00
Scopus Citations per Publication
3.67
Open Access Source
1
Supervised Theses
1
| Journal | Count |
|---|---|
| 4th International Conference of International-Federation-for-the-Promotion-of-Mechanism-and-Machine-Science ITALY (IFToMM ITALY) -- SEP 07-09, 2022 -- Univ Napoli, Naples, ITALY | 1 |
| Robotica | 1 |
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Conference Object Citation - Scopus: 1Kinematic Representation of a Biomimetic Squid Soft Robot's Arms in a Simulation Environment(Springer international Publishing Ag, 2022) Emet, Hazal; Dede, M. I. Can; Emet, Hazal; Dede, Mehmet İsmet Can; 01. Izmir Institute of Technology; 03.10. Department of Mechanical Engineering; 03. Faculty of EngineeringBiomimetic robot systems have received attention from researchers and in accordance the implementation of soft robotic arms has been studied. Kinematic and dynamic modeling of robots with infinite degrees of freedom is challenging and a number of methods have been proposed. In this work, a procedure is proposed to represent soft robot arm motion in a simulation environment. A biomimetic squid robot is used as a case study. This robot's soft arms are modeled by using the Piecewise Constant Curvature approach. This model is visualized by discretizing the soft arms into a finite number of rigid-body manipulators in MatLab using its 3D animation toolbox.Article Citation - WoS: 9Citation - Scopus: 10The Design and Kinematic Representation of a Soft Robot in a Simulation Environment(Cambridge Univ Press, 2024) Emet, Hazal; Gur, Berke; Emet, Hazal; Dede, Mehmet İsmet Can; 01. Izmir Institute of Technology; 03.10. Department of Mechanical Engineering; 03. Faculty of EngineeringThe increase of human presence in the subsea and seabed environments necessitates the development of more capable and highly dexterous, innovative underwater manipulators. Biomimetic soft-robot arms represent a promising candidate for such manipulation systems. However, the well-known modeling techniques and control theories of traditional rigid robots do not apply to soft robots. The challenges of kinematic and dynamic modeling of soft robots with infinite degrees of freedom require the development of dedicated modeling methods. A novel procedure for representing soft-robotic arms and their motion in a rigid-body simulation environment is proposed in this paper. The proposed procedure relies on the piecewise constant curvature approach to simplify the very complex model of hyper-redundant soft-robotic arms, making it suitable for real-time applications. The proposed method is implemented and verified to be used in model-mediated teleoperation of the soft arms of a biomimetic robotic squid designed for underwater manipulation as a case study.Master Thesis Teleoperation of a Biomimetic Squid Robot's Arms Via Multiple Haptic Interfaces(01. Izmir Institute of Technology, 2022) Emet, Hazal; Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; 01. Izmir Institute of Technology; 03.10. Department of Mechanical Engineering; 03. Faculty of EngineeringBiomimetic robot systems have captured the attention of researchers for the past two decades. Along with biomimetic systems, the implementation of soft robotic arms has emerged and studied. Teleoperation of such biomimetic soft robots, i.e., a biomimetic squid robot, is still an open area of research. This study aims to initiate the development of a teleoperation system, which has multi-master multi-slave with dissimilar master-slave kinematics, to be adapted for the operation of an underwater biomimetic squid robot. The communication between the slave robot, which is the biomimetic squid robot’s soft arms, and the master system on the ground is estimated to have limited bandwidth. To overcome this problem, the model-mediation technique is selected to be adapted. The abstract information received from the slave side is used for regenerating the slave environment on the master side. The human operator uses two haptic devices to manipulate the four soft arms of this biomimetic robot via interacting with this regenerated model on the master side. The models of the biomimetic robot’s soft arms are developed by using the constant-curvature approach. While this study is limited in the sense that the slave side regeneration is previously completed on an ideally received signal even before the teleoperation is initiated, the teleoperation of 4 soft arms with two haptic devices is investigated. 4 different control strategies are formulated and evaluated on test subjects. The performances of the test subjects are evaluated based on their task completion duration, accuracy, and feedback received from their questionnaire answers. The primary investigation conducted is for the ergonomic use of teleoperation systems. Another evaluation is carried out to understand the influence of haptic feedback in telepresence. The evaluation results clearly indicate that the haptic feedback has improved the telepresence. The position-to-position mapping produced shorter task completion durations with worse accuracy relative to the position-to-velocity mapping.