Yazar "Şen, Muhammed Arif" seçeneğine göre listele

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    İki tekerlekli robot için bulanık mantık tabanlı kontrolcü tasarımı ve arı algoritması kullanarak optimizasyonu
    (Selçuk Üniversitesi Fen Bilimleri Enstitüsü, 2014-06-26) Şen, Muhammed Arif; Kalyoncu, Mete
    Bu çalışmada; iki tekerlekli kendi kendini dengeleyebilen birbirinden bağımsız iki elektrik motoru ile tahrik edilen bir robotun tasarımı ve bulanık mantık tabanlı kontrolü gerçekleştirilmiştir. Çalışmanın ana hedefi, robotun herhangi bir yörüngede hareket ederken kendi kendini dengede tutabilmesidir. Çalışma kapsamında robotun matematiksel modeli elde edilmiş ve kontrolü için bulanık mantık (Fuzzy Logic) tabanlı kontrolcü kullanılmıştır. Ön tasarımı yapılan bulanık mantık tabanlı kontrolcü parametreleri Arı Algoritması (AA) kullanılarak optimize edilmiştir. Optimize edilmiş olan bulanık mantık tabanlı kontrolcünün etkinliğinin görülmesi amacıyla, robot için ayarlanan LQR kontrolcünün ve optimize edilmiş olan bulanık mantık tabanlı kontrolcünün performansları MATLAB/Simulink ortamında yapılan simülasyon çalışmalarında karşılaştırılmış ve sonuçlar grafikler şeklinde sunulmuştur.
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    The modal and dynamic analysis of sprayer booms with diverse structural geometries
    (Selçuk Üniversitesi, 2024) Buğdaycı, Ali Rıza; Şen, Muhammed Arif
    In spraying agricultural areas with a sprayer boom, the vibrations on the boom due to irregularities and variable speeds in the agricultural land directly affect spraying performance. Vibrations on the system disrupt the spraying pattern and cause agricultural yield to decrease. In addition, it may be subject to deformations due to structural strains caused by vibration, which may cause performance losses and long-term failures. In this study, the modal analysis of a sprayer boom with the same working width but a different geometric structure, which is widely used in agricultural spraying, was performed with the finite element method its natural frequencies and mode shapes were obtained, the dynamic responses of the system under harmonic strains were examined, and the obtained simulation results were evaluated comparatively. Firstly, the solid model of the system was obtained, transferred to the finite element program, and its modal properties were simulated. Afterwards, the sprayer was fixed to the body connection and forced with a harmonic acceleration input determined by considering the irregularities in the fields. The obtained results are presented in detail with graphs. From the simulation results, it is understood that the structural geometry affects the mode shapes and natural frequencies of the system. It is thought that the results can be useful in the structural optimization of the system, in the control of vibration dynamics and can contribute to the development of new design strategies.
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    Three Degree Of Freedom Leg Desıgn For Quadruped Robots And Fractıonal Order Pıd (Pı?dµ) Based Control
    (Selçuk Üniversitesi Mühendislik Fakültesi, 2020) Şen, Muhammed Arif; Bakırcıoğlu, Veli; Kalyoncu, Mete
    Quadruped robots are legged mobile robots that increase their popularity in robotic and control areas due to their complex dynamic structure with high mobility in different terrain conditions compared to wheeled systems. In this study; A 3-DoF linear leg model and its control are provided in order to enable quickly and effectively simulate about on such subjects that walking planning, foot trajectory design and body stability control of robot. A realistic physical model with parameters such as the dimensions, masses, inertia of limbs and the stiffness and damping values of joints is designed on Matlab/SimMechanics and simulated on Simulink environments. By taking into account the angular position ranges of the joints required for the robot to perform a standard step trajectory during the walk, the linear state-space model of the system (torque input- angular position output) is obtained using the linearization tools over the physical model. The unit step responses of the physical model are compared with the obtained linear model responses under constant torque input and it is understood to give similar results with small error values. Using the linear model, the angular position control of the system is achieved with PI?Dµ controllers designed by selecting various parameters of fraction orders as comparatively the classical PID. Simulation results are presented and investigated.