Mechatronics-Robotics
- Working Group
- Laboratories
- Publications
- Projects
Control, Artificial Intelligence, Design Laboratory
Responsible Faculty Member
- Mechanical Engineering Building (Z34)
- +90 232 750 6754
Human-Robot Interaction Laboratory
Responsible Faculty Member
- Mechanical Engineering Building (Z56)
- +90 232 750 6778
Mechatronics Laboratory
Responsible Faculty Member
- Mechanical Engineering Building (Z31)
- +90 232 750 6752
Modeling and Prototyping Laboratory
Responsible Faculty Members
- Mechanical Engineering Building (Z57)
- +90 232 750 6757
Robotics Laboratory
Responsible Faculty Member
- Mechanical Engineering Building (Z30)
- +90 232 750 6751
2008 |
Kiper, Gökhan; Soylemez, Eres; Kisisel, Özgür A U A family of deployable polygons and polyhedra Journal Article MECHANISM AND MACHINE THEORY, 43 (5), pp. 627-640, 2008, ISSN: 0094-114X. @article{ISI:000255728900007, title = {A family of deployable polygons and polyhedra}, author = {Gökhan Kiper and Eres Soylemez and Özgür A U Kisisel}, doi = {10.1016/j.mechmachtheory.2007.04.011}, issn = {0094-114X}, year = {2008}, date = {2008-05-01}, journal = {MECHANISM AND MACHINE THEORY}, volume = {43}, number = {5}, pages = {627-640}, abstract = {A new linkage type for resizing polygonal and polyhedral shapes is proposed. The single degree-of-freedom planar linkages considered mainly consist of links connected by revolute joints. It is shown that the group of mechanisms obtained realize Cardanic Motion. The polyhedral linkages proposed are constructed by implementing the proposed planar linkages on the faces and interconnecting them by links at the vertices to retain the solid angles of the polyhedral shape of interest. (C) 2007 Elsevier Ltd. All rights reserved.}, keywords = {}, pubstate = {published}, tppubtype = {article} } A new linkage type for resizing polygonal and polyhedral shapes is proposed. The single degree-of-freedom planar linkages considered mainly consist of links connected by revolute joints. It is shown that the group of mechanisms obtained realize Cardanic Motion. The polyhedral linkages proposed are constructed by implementing the proposed planar linkages on the faces and interconnecting them by links at the vertices to retain the solid angles of the polyhedral shape of interest. (C) 2007 Elsevier Ltd. All rights reserved. |
Ozdemir, Serhan Power transmission entropy Journal Article International Journal of Heavy Vehicle Systems, 15 (1), pp. 82–88, 2008. @article{ozdemir2008power, title = {Power transmission entropy}, author = {Serhan Ozdemir}, year = {2008}, date = {2008-01-01}, journal = {International Journal of Heavy Vehicle Systems}, volume = {15}, number = {1}, pages = {82--88}, publisher = {Inderscience Publishers}, keywords = {}, pubstate = {published}, tppubtype = {article} } |
2007 |
Ozdemir, Serhan Measures of uncertainty in power split systems Journal Article MECHANISM AND MACHINE THEORY, 42 (2), pp. 159-167, 2007, ISSN: 0094-114X. @article{ISI:000243623800003, title = {Measures of uncertainty in power split systems}, author = {Serhan Ozdemir}, doi = {10.1016/j.mechmachtheory.2006.04.008}, issn = {0094-114X}, year = {2007}, date = {2007-02-01}, journal = {MECHANISM AND MACHINE THEORY}, volume = {42}, number = {2}, pages = {159-167}, abstract = {This paper discusses the overlooked uncertainty inherent in every transmission. The uncertainty aspect has been often, for the sake of clarity, ignored. Instead, mechanical transmissions have been characterized traditionally by their transmission efficacies. It is known that transmission localities are sources of power loss, depending on many factors, hence sources of uncertainty. Thus each transmission of power should not only be designated by a constant of efficiency but also by an expression of uncertainty, reflecting the probability of transmission. Furthermore, Shannon's and Renyi's expressions of entropy have been used to quantify this so-called transmission uncertainty. The entropy of a transmitting unit is given in these two forms and then compared. Practical formulations for flow optimization are given. (C) 2006 Elsevier Ltd. All rights reserved.}, keywords = {}, pubstate = {published}, tppubtype = {article} } This paper discusses the overlooked uncertainty inherent in every transmission. The uncertainty aspect has been often, for the sake of clarity, ignored. Instead, mechanical transmissions have been characterized traditionally by their transmission efficacies. It is known that transmission localities are sources of power loss, depending on many factors, hence sources of uncertainty. Thus each transmission of power should not only be designated by a constant of efficiency but also by an expression of uncertainty, reflecting the probability of transmission. Furthermore, Shannon's and Renyi's expressions of entropy have been used to quantify this so-called transmission uncertainty. The entropy of a transmitting unit is given in these two forms and then compared. Practical formulations for flow optimization are given. (C) 2006 Elsevier Ltd. All rights reserved. |
2006 |
Alpay, S; Bilir, L; Ozdemir, S; Ozerdem, B Wind speed time series characterization by Hilbert transform Journal Article INTERNATIONAL JOURNAL OF ENERGY RESEARCH, 30 (5), pp. 359-364, 2006, ISSN: 0363-907X. @article{ISI:000236746700006, title = {Wind speed time series characterization by Hilbert transform}, author = {S Alpay and L Bilir and S Ozdemir and B Ozerdem}, doi = {10.1002/er.1156}, issn = {0363-907X}, year = {2006}, date = {2006-04-01}, journal = {INTERNATIONAL JOURNAL OF ENERGY RESEARCH}, volume = {30}, number = {5}, pages = {359-364}, abstract = {Predictions of wind energy potential in a given region are based on on-location observations. The time series of these observations would later be analysed and modelled either by a probability density function (pdf) such as a Weibull curve to represent the data or recently by soft computing techniques, such as neural networks (NNs). In this paper, discrete Hilbert transform has been applied to characterize the wind sample data measured on Izmir Institute of Technology campus area which is located in Urla, Izmir, Turkey, in March 2001 and 2002. By applying discrete Hilbert transform filter, the instantaneous amplitude, phase and frequency are found, and characterization of wind speed is accomplished. Authors have also tried to estimate the hourly wind data using daily sequence by Hilbert transform technique. Results are varying. Copyright (c) 2005 John Wiley & Sons, Ltd.}, keywords = {}, pubstate = {published}, tppubtype = {article} } Predictions of wind energy potential in a given region are based on on-location observations. The time series of these observations would later be analysed and modelled either by a probability density function (pdf) such as a Weibull curve to represent the data or recently by soft computing techniques, such as neural networks (NNs). In this paper, discrete Hilbert transform has been applied to characterize the wind sample data measured on Izmir Institute of Technology campus area which is located in Urla, Izmir, Turkey, in March 2001 and 2002. By applying discrete Hilbert transform filter, the instantaneous amplitude, phase and frequency are found, and characterization of wind speed is accomplished. Authors have also tried to estimate the hourly wind data using daily sequence by Hilbert transform technique. Results are varying. Copyright (c) 2005 John Wiley & Sons, Ltd. |
2005 |
Atan, E; Ozdemir, S Intelligence modeling of the transient asperity temperatures in meshing spur gears Journal Article MECHANISM AND MACHINE THEORY, 40 (1), pp. 119-127, 2005, ISSN: 0094-114X. @article{ISI:000226442400009, title = {Intelligence modeling of the transient asperity temperatures in meshing spur gears}, author = {E Atan and S Ozdemir}, doi = {10.1016/j.mechmachtheory.2004.06.006}, issn = {0094-114X}, year = {2005}, date = {2005-01-01}, journal = {MECHANISM AND MACHINE THEORY}, volume = {40}, number = {1}, pages = {119-127}, abstract = {Temperature rise in the contact zone of meshing gears is a serious problem in gear design. The temperature rise on lubricated surfaces may result in the significant decrease on the material strength and lubricant viscosity which reduces the film thickness, causing solid to solid contact. The equations and the evaluations of the rise in temperature were given in [Proc. VDI Berichte 2 (1665) (2002) 615-626] and reiterated in this paper briefly. The data from [Proc. VDI Berichte 2 (1665) (2002) 615-626] are used to establish an artificial intelligence model where a multi layer feedforward neural network has been employed. The model accepts surface roughness, gear ratio, horsepower and the number of teeth as input variables, and outputs calculated pinion surface asperity temperatures. The aim of the present work is to provide a straightforward and simple way to compute the asperity temperature rise for a given set of variables. R-square value for the computed temperature values proves the method satisfactory. (C) 2004 Elsevier Ltd. All rights reserved.}, keywords = {}, pubstate = {published}, tppubtype = {article} } Temperature rise in the contact zone of meshing gears is a serious problem in gear design. The temperature rise on lubricated surfaces may result in the significant decrease on the material strength and lubricant viscosity which reduces the film thickness, causing solid to solid contact. The equations and the evaluations of the rise in temperature were given in [Proc. VDI Berichte 2 (1665) (2002) 615-626] and reiterated in this paper briefly. The data from [Proc. VDI Berichte 2 (1665) (2002) 615-626] are used to establish an artificial intelligence model where a multi layer feedforward neural network has been employed. The model accepts surface roughness, gear ratio, horsepower and the number of teeth as input variables, and outputs calculated pinion surface asperity temperatures. The aim of the present work is to provide a straightforward and simple way to compute the asperity temperature rise for a given set of variables. R-square value for the computed temperature values proves the method satisfactory. (C) 2004 Elsevier Ltd. All rights reserved. |
Ozdemir, S Local sparse coding control of CVPSTs Journal Article INTERNATIONAL JOURNAL OF HEAVY VEHICLE SYSTEMS, 12 (2), pp. 104-120, 2005, ISSN: 1744-232X. @article{ISI:000240128000004, title = {Local sparse coding control of CVPSTs}, author = {S Ozdemir}, doi = {10.1504/IJHVS.2005.006378}, issn = {1744-232X}, year = {2005}, date = {2005-01-01}, journal = {INTERNATIONAL JOURNAL OF HEAVY VEHICLE SYSTEMS}, volume = {12}, number = {2}, pages = {104-120}, abstract = {This paper discusses simulations of a control scheme based on locally sparse coded networks (CMACs) for a novel previously proposed continuously variable transmission (CVT), a hybrid continuously variable power split transmission (CVPST) (Osdemir and Schueller, 2002). Automotive transmissions match the speed and the torque of the power source to the speed and torque requirements of the load. Properly designed CVTs have shown potential to improve efficiency and performance. The main advantage of CMACs is fast computation because of their simple operational principles. Simulation results have shown that memory contents either reach a stable limit cycle or an attractor based on the selection of network parameters and the training method. Both online and offline training are possible.}, keywords = {}, pubstate = {published}, tppubtype = {article} } This paper discusses simulations of a control scheme based on locally sparse coded networks (CMACs) for a novel previously proposed continuously variable transmission (CVT), a hybrid continuously variable power split transmission (CVPST) (Osdemir and Schueller, 2002). Automotive transmissions match the speed and the torque of the power source to the speed and torque requirements of the load. Properly designed CVTs have shown potential to improve efficiency and performance. The main advantage of CMACs is fast computation because of their simple operational principles. Simulation results have shown that memory contents either reach a stable limit cycle or an attractor based on the selection of network parameters and the training method. Both online and offline training are possible. |
2004 |
Boke, H; Akkurt, S; Ozdemir, S; Gokturk, EH; Saltik, ENC Quantification of CaCO3-CaSO3 center dot 0.5H(2)O-CaSO4 center dot 2H(2)O mixtures by FTIR analysis and its ANN model Journal Article MATERIALS LETTERS, 58 (5), pp. 723-726, 2004, ISSN: 0167-577X. @article{ISI:000188216300035, title = {Quantification of CaCO3-CaSO3 center dot 0.5H(2)O-CaSO4 center dot 2H(2)O mixtures by FTIR analysis and its ANN model}, author = {H Boke and S Akkurt and S Ozdemir and EH Gokturk and ENC Saltik}, doi = {10.1016/j.matlet.2003.07.008}, issn = {0167-577X}, year = {2004}, date = {2004-02-01}, journal = {MATERIALS LETTERS}, volume = {58}, number = {5}, pages = {723-726}, abstract = {A new quantitative analysis method for mixtures of calcium carbonate (CaCO3), calcium sulphite hemihydrate (CaSO3.1/2H(2)O) and gypsum (CaSO4.2H(2)O) by FTIR spectroscopy is developed. The method involves the FTIR analysis of powder mixtures of several compositions on KBr disc specimens. Intensities of the resulting absorbance peaks for CaCO3, CaSO3.1/2H(2)O and CaSO4.2H(2)O at 1453, 980, 1146 cm(-1) were used as input data for an artificial neural network (ANN) model, the output being the weight percent compositions of the mixtures. The training and testing data were randomly separated from the complete original data set. Testing of the model was done with successfully low-average error levels. The utility of the model is in the potential ability to use FTIR spectrum to predict the proportions of the three substances in unknown mixtures. (C) 2003 Elsevier B.V. All rights reserved.}, keywords = {}, pubstate = {published}, tppubtype = {article} } A new quantitative analysis method for mixtures of calcium carbonate (CaCO3), calcium sulphite hemihydrate (CaSO3.1/2H(2)O) and gypsum (CaSO4.2H(2)O) by FTIR spectroscopy is developed. The method involves the FTIR analysis of powder mixtures of several compositions on KBr disc specimens. Intensities of the resulting absorbance peaks for CaCO3, CaSO3.1/2H(2)O and CaSO4.2H(2)O at 1453, 980, 1146 cm(-1) were used as input data for an artificial neural network (ANN) model, the output being the weight percent compositions of the mixtures. The training and testing data were randomly separated from the complete original data set. Testing of the model was done with successfully low-average error levels. The utility of the model is in the potential ability to use FTIR spectrum to predict the proportions of the three substances in unknown mixtures. (C) 2003 Elsevier B.V. All rights reserved. |
2003 |
Tayfur, G; Ozdemir, S; Singh, VP Fuzzy logic algorithm for runoff-induced sediment transport from bare soil surfaces Journal Article ADVANCES IN WATER RESOURCES, 26 (12), pp. 1249-1256, 2003, ISSN: 0309-1708. @article{ISI:000186662500004, title = {Fuzzy logic algorithm for runoff-induced sediment transport from bare soil surfaces}, author = {G Tayfur and S Ozdemir and VP Singh}, doi = {10.1016/j.advwatres.2003.08.005}, issn = {0309-1708}, year = {2003}, date = {2003-12-01}, journal = {ADVANCES IN WATER RESOURCES}, volume = {26}, number = {12}, pages = {1249-1256}, abstract = {Utilizing the rainfall intensity, and slope data, a fuzzy logic algorithm was developed to estimate sediment loads from bare soil surfaces. Considering slope and rainfall as input variables, the variables were fuzzified into fuzzy subsets. The fuzzy subsets of the variables were considered to have triangular membership functions. The relations among rainfall intensity, slope, and sediment transport were represented by a set of fuzzy rules. The fuzzy rules relating input variables to the output variable of sediment discharge were laid out in the IF-THEN format. The commonly used weighted average method was employed for the defuzzification procedure. The sediment load predicted by the fuzzy model was in satisfactory agreement with the measured sediment load data. Predicting the mean sediment loads from experimental runs, the performance of the fuzzy model was compared with that of the artificial neural networks (ANNs) and the physics-based models. The results of showed revealed that the fuzzy model performed better under very high rainfall intensities over different slopes and over very steep slopes under different rainfall intensities. This is closely related to the selection of the shape and frequency of the fuzzy membership functions in the fuzzy model. (C) 2003 Elsevier Ltd. All rights reserved.}, keywords = {}, pubstate = {published}, tppubtype = {article} } Utilizing the rainfall intensity, and slope data, a fuzzy logic algorithm was developed to estimate sediment loads from bare soil surfaces. Considering slope and rainfall as input variables, the variables were fuzzified into fuzzy subsets. The fuzzy subsets of the variables were considered to have triangular membership functions. The relations among rainfall intensity, slope, and sediment transport were represented by a set of fuzzy rules. The fuzzy rules relating input variables to the output variable of sediment discharge were laid out in the IF-THEN format. The commonly used weighted average method was employed for the defuzzification procedure. The sediment load predicted by the fuzzy model was in satisfactory agreement with the measured sediment load data. Predicting the mean sediment loads from experimental runs, the performance of the fuzzy model was compared with that of the artificial neural networks (ANNs) and the physics-based models. The results of showed revealed that the fuzzy model performed better under very high rainfall intensities over different slopes and over very steep slopes under different rainfall intensities. This is closely related to the selection of the shape and frequency of the fuzzy membership functions in the fuzzy model. (C) 2003 Elsevier Ltd. All rights reserved. |
Akkurt, S; Ozdemir, S; Tayfur, G; Akyol, B The use of GA-ANNs in the modelling of compressive strength of cement mortar Journal Article CEMENT AND CONCRETE RESEARCH, 33 (7), pp. 973-979, 2003, ISSN: 0008-8846. @article{ISI:000183190600005, title = {The use of GA-ANNs in the modelling of compressive strength of cement mortar}, author = {S Akkurt and S Ozdemir and G Tayfur and B Akyol}, doi = {10.1016/S0008-8846(03)00006-1}, issn = {0008-8846}, year = {2003}, date = {2003-07-01}, journal = {CEMENT AND CONCRETE RESEARCH}, volume = {33}, number = {7}, pages = {973-979}, abstract = {In this paper, results of a project aimed at modelling the compressive strength of cement mortar under standard curing conditions are reported. Plant data were collected for 6 months for the chemical and physical properties of the cement that were used in model construction and testing. The training and testing data were separated from the complete original data set by the use of genetic algorithms (GAs). A GA-artificial neural network (ANN) model based on the training data of the cement strength was created. Testing of the model was also done within low average error levels (2.24%). The model was subjected to sensitivity analysis to predict the response of the system to different values of the factors affecting the strength. The plots obtained after sensitivity analysis indicated that increasing the amount Of C3S, SO3 and surface area led to increased strength within the limits of the model. C2S decreased the strength whereas C(3)A decreased or increased the strength depending on the SO3 level. Because of the limited data range used for training, the prediction results were good only within the same range. The utility of the model is in the potential ability to control processing parameters to yield the desired strength levels and in providing information regarding the most favourable experimental conditions to obtain maximum compressive strength. (C) 2003 Elsevier Science Ltd. All rights reserved.}, keywords = {}, pubstate = {published}, tppubtype = {article} } In this paper, results of a project aimed at modelling the compressive strength of cement mortar under standard curing conditions are reported. Plant data were collected for 6 months for the chemical and physical properties of the cement that were used in model construction and testing. The training and testing data were separated from the complete original data set by the use of genetic algorithms (GAs). A GA-artificial neural network (ANN) model based on the training data of the cement strength was created. Testing of the model was also done within low average error levels (2.24%). The model was subjected to sensitivity analysis to predict the response of the system to different values of the factors affecting the strength. The plots obtained after sensitivity analysis indicated that increasing the amount Of C3S, SO3 and surface area led to increased strength within the limits of the model. C2S decreased the strength whereas C(3)A decreased or increased the strength depending on the SO3 level. Because of the limited data range used for training, the prediction results were good only within the same range. The utility of the model is in the potential ability to control processing parameters to yield the desired strength levels and in providing information regarding the most favourable experimental conditions to obtain maximum compressive strength. (C) 2003 Elsevier Science Ltd. All rights reserved. |
Project Title | Director of the Project | Start Date | Funds |
Yüksek Hassasiyetli Haptik Cihaz Tasarımı | Doç. Dr. M. İ. Can Dede | 2013 | AB 7. Çerçeve Programı Geriye Dönüş Hibeleri |
Bomba İmha Robotu Tasarımı ve Prototipi İmalatı | Doç.Dr. E. Faruk Keçeci | 2005 | TÜBİTAK |
Robot Assisted endoscope Control that can be controlled by the surgical tools (NeuRoboScope) | Doç. Dr. M. İ. Can DEDE | 2016 | TÜBİTAK |
Titreşim Ölçümlerine Dayanan Hasar Azaltıcı Kontrol Ve Ömür Uzatma Simülatörü | Prof. Dr. Serhan Özdemir | 2010 | TÜBİTAK |
Kinematically Redundant Laser Cutting Machine Design | Doç. Dr. M. İ. Can Dede | 2014 | SANTEZ |
Çok Amaçlı Bomba İmha Robotu için Tamamen Mekanik Çabuk Değiştirilebilinir Eklemin Mekatronik Tasarımı | Doç.Dr. E. Faruk Keçeci | 2005 | DPT |
GPS-INS İle Otonom Yol Bulma | Prof.Dr.Serhan Özdemir | 2004 | DPT |
6 Serbestlik Dereceli Paralel Manipulatör Simülasyon ve Kontrolü | Prof.Dr.Rasim Alizade | 2002 | İYTE-BAP |
Akustik Emisyon İle Pasif Durum Gözleme | Prof. Dr. Serhan Özdemir | 2005 | İYTE-BAP |
Data Sürümlü Takviyeli Öğrenmeli Otomatik Modelleme | Prof. Dr. Serhan Özdemir | 2002 | İYTE-BAP |
Data Sürümlü, Takviyeli Öğrenmeli Otonom Ünite Tasarımı | Prof. Dr. Serhan Özdemir | 2002 | İYTE-BAP |
Deprem Sonrası Arama Çalışmaları için Kurtarma Robotu Tasarımı ve Prototip İmalatı | Doç.Dr. E. Faruk Keçeci | 2006 | İYTE-BAP |
Devingen Kalite Endeksiyle Niteliksel Makina Sağlığı İzleme | Prof. Dr. Serhan Özdemir | 2007 | İYTE-BAP |
Dinamik Ortamlarda Probabilistik Lokalizasyon ve Patika Tayini | Prof. Dr. Serhan Özdemir | 2003 | İYTE-BAP |
Internet Üzerinden Durum İzleme | Prof. Dr. Serhan Özdemir | 2006 | İYTE-BAP |
Küresel Mekanizmaların ve Modüler Manipülatörün Tasarımı ve Üretimi | Prof. Dr. Rasim Alizade | 2002 | İYTE-BAP |
Yetersiz Serbestlik Dereceli Uzaysal Paralel Manipülatörün Analizi, Sentezi ve Üretimi | Prof. Dr. Rasim Alizade | 2005 | İYTE-BAP |