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Şahin, Osman Nuri
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Sahin, Osman Nuri
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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
2
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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
6
Articles
3
Views / Downloads
15599/2569
Supervised MSc Theses
1
Supervised PhD Theses
1
WoS Citation Count
19
Scopus Citation Count
22
Patents
0
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0
WoS Citations per Publication
3.17
Scopus Citations per Publication
3.67
Open Access Source
4
Supervised Theses
2
| Journal | Count |
|---|---|
| Computer Applications in Engineering Education | 1 |
| Industrial Robot | 1 |
| Mechanisms, Transmissions and Applications, IFToMM 2017 | 1 |
| Robotica | 1 |
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6 results
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Now showing 1 - 6 of 6
Article Citation - WoS: 2Citation - Scopus: 3Model-Based Detection and Isolation of the Wheel Slippage and Actuator Faults of a Holonomic Mobile Robot(Emerald Group Publishing, 2022) Şahin, Osman Nuri; Şahin, Osman Nuri; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 01. Izmir Institute of Technology; 03. Faculty of EngineeringPurpose: Mobile robots may perform very critical tasks under difficult operating conditions. Faults encountered during their tasks may cause the task to be interrupted or failed completely. In the active fault tolerant control methods, it is very important not only to detect the faults that occur in the robot, but also to isolate these faults to develop a fault recovery strategy that is suitable for that specific type of fault. This study aims to develop a model-based fault detection and isolation method for wheel slippage and motor performance degradation that may occur in wheeled mobile robots. Design/methodology/approach: In the proposed method, wheel speeds can be estimated via the dynamic model of the mobile robot, which includes a friction model between the wheel and the ground. Four residual signals are obtained from the differences between the estimated states and the measured states of the mobile robot. Mobile robot’s faults are detected by using these signals. Also, two different residual signals are generated from the calculation of the traction forces with two different procedures. These six residual signals are then used to isolate possible wheel slippage and performance degradation in a motor. Findings: The proposed method for diagnosing wheel slip and performance degradation in motors are tested by moving the robot in various directions. According to the data obtained from the test results, a logic table is created to isolate these two faults from each other. Thanks to the created logic table, slippage in any wheel and performance degradation in any motor can be detected and isolated. Originality/value: Two different recovery strategies are needed to recover temporary wheel slippage and permanent motor faults. Therefore, it is important to isolate these two faults that create similar symptoms in robot’s general movement. Thanks to the method proposed in this study, it is not only possible to isolate the slipping wheel with respect to the non-slipping wheels or to isolate the faulty motor from the non-faulty ones, but also to isolate these two different fault types from each other.Doctoral Thesis Diagnosis and Recovery of Hardware Faults Encountered During Operation of Mobile Robots(01. Izmir Institute of Technology, 2020) Şahin, Osman Nuri; Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; Özdemir, Sehan; 03.10. Department of Mechanical Engineering; 01. Izmir Institute of Technology; 03. Faculty of EngineeringMobile robots are used in many critical tasks. In such tasks, it is of great importance to tolerate the faults that the robot may encounter during the operation in order to complete the task successfully. This dissertation focuses on tolerating the faults that occur in the hardware of the mobile robots. To tolerate these faults, it is necessary to be prepared for the faults that the robot may encounter during the operation and to determine an appropriate fault toleration strategy. The mobile robot considered in this dissertation has holonomic motion ability in the plane thanks to its omnidirectional wheels. The types of faults focused on are the slippage of one of the wheels of this mobile robot and the performance degradation in the motor that actuates one of the wheels. To tolerate these two faults, an active fault tolerant control method is developed. A model-based fault diagnosis algorithm is developed for fault diagnosis algorithm, which is one of the two main parts of active fault tolerant control. To obtain the dynamic model of the mobile robot that is used in this algorithm, firstly, the friction between the wheel and the ground used is modeled. The parameters of the friction model are identified via the developed test setup. As a result of the tests performed for fault diagnosis, it is seen that these two types of faults occurring in the holonomic mobile robot can be diagnosed with developed fault diagnosis algorithm. In order to tolerate these faults, two different fault recovery algorithms which make use of kinematic redundancy of the mobile robot are developed, and the developed algorithms are tested. As a result of the fault recovery tests performed for the motor performance degradation, it is observed that the motion performance of the mobile robot improved despite the presence of the fault. Thanks to the developed recovery algorithm in the recovery tests for wheel slippage, it is observed that there is a significant decrease in the amount of slippage occurring on the faulty wheel and accordingly the mobile robot performs the desired motion more accurately.Article Citation - WoS: 11Citation - Scopus: 11Design and Development of an Educational Desktop Robot R3d(John Wiley and Sons Inc., 2017) Şahin, Osman Nuri; Uzunoğlu, Emre; Tatlıcıoğlu, Enver; Dede, Mehmet İsmet Can; Şahin, Osman Nuri; Uzunoğlu, Emre; Dede, Mehmet İsmet Can; 03.05. Department of Electrical and Electronics Engineering; 03.10. Department of Mechanical Engineering; 01. Izmir Institute of Technology; 03. Faculty of EngineeringRobotic desktop devices have been used for academic purposes for a variety of investigation and development studies. Desktop devices for academic/educational purposes have been highly anticipated especially in the fields of haptics, teleoperation systems, and control studies. This paper's motivation is to present the steps of designing, manufacturing, and implementing of Educational Desktop Robot R3D to be used for haptics, teleoperation, and redundancy control studies. The design, manufacturing details, kinematic, and dynamic model of the robot are described in the manuscript. Additionally, a case study is carried out for end effector control in task space is given and the results are shared.Article Citation - WoS: 6Citation - Scopus: 6Investigation of Longitudinal Friction Characteristics of an Omnidirectional Wheel Via Lugre Model(Cambridge University Press, 2021) Şahin, Osman Nuri; Dede, Mehmet İsmet Can; Dede, Mehmet İsmet Can; Şahin, Osman Nuri; 03.10. Department of Mechanical Engineering; 01. Izmir Institute of Technology; 03. Faculty of EngineeringIn recent years, omnidirectional wheels have found more applications in the design of automated guided vehicles (AGV). In this work, LuGre friction model is used for an omnidirectional wheel. A test setup that includes a single omnidirectional wheel is designed and constructed to identify the model parameters. With the help of the constructed test setup, the longitudinal friction characteristic of the omnidirectional wheel is obtained, and the model is verified via validation tests. In addition, for the first time, the effect of lateral frictional force on longitudinal motion is examined for an omnidirectional wheel through experiments.Master Thesis Unlimited-Wokspace Teleoperation(Izmir Institute of Technology, 2012) Şahin, Osman Nuri; Dede, Mehmet İsmet Can; Şahin, Osman Nuri; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 01. Izmir Institute of Technology; 03. Faculty of EngineeringTeleoperation is, in its brief description, operating a vehicle or a manipulator from a distance. Teleoperation is used to reduce mission cost, protect humans from accidents that can be occurred during the mission, and perform complex missions for tasks that take place in areas which are difficult to reach or dangerous for humans. Teleoperation is divided into two main categories as unilateral and bilateral teleoperation according to information flow. This flow can be configured to be in either one direction (only from master to slave) or two directions (from master to slave and from slave to master). In unlimited-workspace teleoperation, one of the types of bilateral teleoperation, mobile robots are controlled by the operator and environmental information is transferred from the mobile robot to the operator. Teleoperated vehicles can be used in a variety of missions in air, on ground and in water. Therefore, different constructional types of robots can be designed for the different types of missions. This thesis aims to design and develop an unlimited-workspace teleoperation which includes an omnidirectional mobile robot as the slave system to be used in further researches. Initially, an omnidirectional mobile robot was manufactured and robot-operator interaction and efficient data transfer was provided with the established communication line. Wheel velocities were measured in real-time by Hall-effect sensors mounted on robot chassis to be integrated in controllers. A dynamic obstacle detection system, which is suitable for omnidirectional mobility, was developed and two obstacle avoidance algorithms (semi-autonomous and force reflecting) were created and tested. Distance information between the robot and the obstacles was collected by an array of sensors mounted on the robot. In the semi-autonomous teleoperation scenario, distance information is used to avoid obstacles autonomously and in the force-reflecting teleoperation scenario obstacles are informed to the user by sending back the artificially created forces acting on the slave robot. The test results indicate that obstacle avoidance performance of the developed vehicle with two algorithms is acceptable in all test scenarios. In addition, two control models were developed (kinematic and dynamic control) for the local controller of the slave robot. Also, kinematic controller was supported by gyroscope.Conference Object Citation - Scopus: 2Fault-Tolerance Experiments With a Kinematically Redundant Holonomic Mobile Robot(Springer Verlag, 2018) Şahin, Osman Nuri; Çelik, Onur; Dede, Mehmet İsmet Can; Şahin, Osman Nuri; 03.10. Department of Mechanical Engineering; 01. Izmir Institute of Technology; 03. Faculty of EngineeringIndoor locomotion with mobile robots has found applications in industrial part moving, factory floor investigation and cleaning tasks. Holonomic mobile robots have the advantage of moving in tight and winding passages without the need of steering. In this study, a four omni-directional wheeled mobile robot is considered. The mobile robot is kinematically redundant having four of these wheels and this is used in providing fault-tolerance due to a malfunction in one of the wheels. In this paper, the redundancy resolution for this mobile robot is explained providing a solution to a fault in one of the wheels during operation. A top level controller to compensate for the orientation errors is introduced. Finally experimental set-up is presented along with the result of the fault-tolerance experiments.