Karabulut, Mehmet Görkem
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Karabulut, Mehmet Gorkem
Karabulut, M. G.
Karabulut, M. G.
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03.10. Department of Mechanical Engineering
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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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9INDUSTRY, INNOVATION AND INFRASTRUCTURE
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| Journal | Count |
|---|---|
| 16th International Conference on New Actuators, ACTUATOR 2018 | 1 |
| GMM-Fachberichte | 1 |
| Mechanism and Machine Science: Select Proceedings of Asian MMS 2018 | 1 |
| Proceedings of Trc-IFToMM Symposium on Theory of Machines and Mechanisms | 1 |
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Conference Object Haptik Cihaz için İyileştirilmiş Performansa Sahip Robot Tasarımı(Özyeğin Üniversitesi, 2019) Görgülü, İbrahimcan; Karabulut, Mehmet Görkem; Sekendiz, Veysel; Kiper, Gökhan; Dede, Mehmet İsmet CanBu bildiri daha önce tasarlanmış bir kinestetik haptik cihazın tasarımının iyileştirilmesi için yapılan çalışmayı içermektedir. Bahsi geçen iyileştirme cihazın empedans aralığının genişletilmesine yöneliktir. Bu başarım kıstasında iyileştirme için yapılan mekanizma eniyileme, pasif dengeleme, konstrüksiyonel tasarımda iyileştirme ve eyleyici sistem tasarımı çalışmaları yürütülmüş ve bu bildiride sunulmuştur.Conference Object Citation - Scopus: 5Design and Experimental Validation of an Mr-Fluid Based Brake for Use in Haptics(VDE Publishing House, 2018) Karabulut, Mehmet Görkem; Dede, Mehmet İsmet CanIn this work, the design of an MR-fluid based brake system is given which is aimed to be used in kinaesthetic haptic devices. The brake design proposes a solution to the stiction problem which is common among the MR brake based haptic devices. This problem occurs when the brake is activated to constrain the motion of the handle in one direction and the user wants to move the handle in the other direction. The development process, which consists of 3D designing, Finite Element Analysis (FEA) simulation and mathematical modelling, aims to achieve the optimal design with high performance to volume ratio. The prototype design is constructed, and its performance is evaluated via experimental tests. A polynomial equation is calculated to fit the experimental current-torque data, which captures the hysteresis behaviour of the system. According to the test results, the applicable torque range of the prototype is from a minimum of 0.15 Nm to a maximum of 3.84 Nm and the bandwidth is calculated to be 63 rad/s.Conference Object A Study on Selecting the Method of Constructing the Information To Be Exchanged in Unlimited-Workspace Bilateral Teleoperation(Makina Teorisi Derneği, 2015) Karabulut, Mehmet Görkem; Dede, Mehmet İsmet Can; Taner, BarışIn this paper, a study on selecting the mapping method for information exchange in unlimitedworkspace teleoperation is presented. In spite the fact that in most of the bilateral teleoperation systems, the master system sends motion demands and receives interaction force from the slave system, the information to be exchanged through the communication line between master and slave is selected to be force in both directions in this study. This approach is expected to ease the navigation of the user when a limited-workspace master system is used to control an unlimited-workspace slave system. As the unlimited-workspace slave system, a virtual flying scalpel is used and human skin is modeled to represent the environment around the slave system. Two methods of constructing force information, or in other words, information mapping between the two systems, are developed and evaluated via user studies. However, one of them comes out to provide acceptable results in the selected unlimited-workspace teleoperation task. Experimental results for the method that provides acceptable results are presented.Conference Object Training and Modelling the Non-Linear Behavior of an Mr Brake by Using Rnn and Lstm(VDE Publishing House, 2021) Karabulut, Mehmet Görkem; Küçükoğlu, Sefa Furkan; Dede, Mehmet İsmet CanA magneto-rheological (MR) fluid-based semi-active actuation system, or in other words, an MR-fluid based brake system, was designed for displaying larger amount of resistive forces without jeopardizing the dynamic performance of a haptic interface. The working principle of the MR brake device depends on the viscous fluid called MR fluid that changes its viscosity when exposed to the magnetic field. Thus, generated resistive torque can be controlled via regulating the magnetic field by modifying the electrical current that passes along a coil which provides this magnetic field.Dynamic system modeling is required in order to develop a high-performance control. In this study, modeling methods of an MR-fluid based brake is investigated in terms of its friction and hysteresis characteristics.There are numerous works in the literature in which two well-known learning sequence methods, Recurrent Neural Network (RNN) and Long Short-Term Memory (LSTM), are used for non-linear dynamic system modeling. In the scope of this study, the performance of RNN and LSTM are compared with the Bouc-Wen model which is commonly used in MR-fluid based system modeling. The effect of learning rate and the number of epoch being the important hyper-parameters, for RNN and LSTM models are investigated.In accordance with these information, both methods can be used for the control purposes of a MR-fluid based brake system. © VDE VERLAG GMBH · Berlin · Offenbach.Master Thesis Development of Mr-Fluid Based Semi-Active Dampers To Be Used in Haptic Devices(Izmir Institute of Technology, 2017) Karabulut, Mehmet Görkem; Dede, Mehmet İsmet CanIn this thesis, development of a novel Magneto-Rheological (MR) fluid based brake system is described which is designated to be used in kinesthetic haptic devices. The new design of MR-brake system consists of two identical directional brakes and with this feature, it presents a solution to the stiction problem that occurs when the MR-brake is activated which constrains the rotational motion in both direction. This constraint of the motion results in developing a feeling that the user is stuck in the virtual wall. By using two independently controlled brakes in a system, the rotational brake direction is controlled and thus the motion of the handle is constrained in one direction while the user is free to move the handle in the reverse direction. MR-brake is developed from a conceptual design to the final design by applying a design optimization method. This method incorporates the use of Finite Element Analysis (FEA) and mathematical model of the system. Using this method, it is possible to predict the performance of the design to check if it meets the requirements that are specified by considering the future use of the device. After manufacturing a prototype, its performance is experimentally validated in a test rig which is also constructed in the scope of this thesis study. Experimental study includes two sections as characterization and frequency response test. As a result, the prototype is characterized with constructing the torquecurrent relation, which clearly shows the expected hysteresis in operation. The control model of the system is mathematically modeled with %95 accuracy ratio using the obtained experimental results. Experimental results show that the maximum brake torque of the system is 3.84 Nm and the minimum torque value is 0.15 Nm. The frequency response of the system is experimentally investigated and using this result, the system’s transfer function is estimated and its bode diagram is drawn. According to this result, the bandwidth of the system is calculated to be 63 rad/s.Conference Object Manipulator Design for a Haptic System With Improved Performance(Springer, 2021) Sekendiz, Veysel; Görgülü, İbrahimcan; Karabulut, Mehmet Görkem; Kiper, Gökhan; Dede, Mehmet İsmet CanThis paper presents the work carried out to improve the design of an existing kinesthetic haptic device. The proposed improvement is designated for enhancing this device’s impedance width which is a common metric in performance evaluation of haptic devices. In this study, kinematic design optimization, static balancing, constructional design enhancement and actuation system design studies are presented.