Yazar "Aydogdu, Omer" seçeneğine göre listele
Listeleniyor 1 - 6 / 6
Sayfa Başına Sonuç
Sıralama seçenekleri
Öğe Adaptive control of two-wheeled mobile balance robot capable to adapt different surfaces using a novel artificial neural network-based real-time switching dynamic controller(SAGE PUBLICATIONS INC, 2017) Unluturk, Ali; Aydogdu, OmerIn this article, a novel real-time artificial neural network-based adaptable switching dynamic controller is developed and practically implemented. It will be used for real-time control of two-wheeled balance robot which can balance itself upright position on different surfaces. In order to examine the efficiency of the proposed controller, a two-wheeled mobile balance robot is designed and a test platformfor experimental setup ismade for balance problemon different surfaces. In a developed adaptive controller algorithm which is capable to adapt different surfaces, mean absolute target angle deviation error, mean absolute target displacement deviation error andmean absolute controller output data areemployed for surface estimation by using artificial neural network. In a designed two-wheeledmobile balance robot system, robot tilt angle is estimated viaKalman filter from accelerometer and gyroscope sensor signals. Furthermore, a visual robot control interface is developed in C++ software development environment so that robot controller parameters can be changed as desired. In addition, robot balance angle, linear displacement and controller output can be observed online on personal computer. According to the real-time experimental results, the proposed novel type controller gives more effective results than the classic ones.Öğe Design and Implementation of a Mobile Robot used in Bomb Research and Setup Disposal(IEEE, 2013) Unluturk, Ali; Aydogdu, OmerIn this study, a mobile robot which can be used for bomb research and dispose of a bomb setup with a remote control has been designed and achieved. Also, a visual operator interface program has been written in Qt-Creator environment which supports different operating systems so as to carry out remote control and tracking the mobile robot. The mobile robot which has a high ability of mobility such as turning around its own axis has an Acorn RISC Machine (ARM) based control board, a high definition moving camera and a moving arm on which there is Bomb Setup Disposal Weapon (AK-ER) to intervene bomb setup in need. In the study, ARM based control board has been programmed by transferring C++ based control software to device with File Transfer Protocol (FTP) after compiling the software with arm_ linux_gcc compiler. In the system, User Datagram Protocol (UDP) has been used for communication between mobile robot and operator center and for robot control functions; Transmission Control Protocol/Internet Protocol (TCP/IP) has been used for image transfer. The achieved mobile robot has proved that it can be used by security units passing all the tests successfully.Öğe Design and PID Control of Two Wheeled Autonomous Balance Robot(IEEE, 2013) Unluturk, Ali; Aydogdu, Omer; Guner, UfukIn this study, a two-wheeled autonomous balance robot has been designed and implemented practically. A visual computer interface based on Qt-Creator has been created. Thanks to the computer interface, different control algorithms can be performed on the robot easily, control parameters can be set up online, filter algorithms in various structures can be tried and the reaction of these changeable values to the system can be observed. The effects of some controllers such as Proportional (P), Proportional-Integral (PI), Proportional-Integral-Derivative (PID) on developed robot have been viewed successfully. Kalman Filters have been used for a stable control of the system and it has seen that the system can balance itself for a long time with optimum PID control parameters obtained.Öğe DISIGNING FRACTIONAL ORDER PID CONTROLLERS WITH ARTIFICIAL INTELLIGENT OPTIMIZATION TECHNIQUES(ST JOHN PATRICK PUBL, 2017) Korkmaz, Mehmet; Aydogdu, Omer[Abstract not Available]Öğe An effective real coded GA based fuzzy controller for speed control of a BLDC motor without speed sensor(TUBITAK SCIENTIFIC & TECHNICAL RESEARCH COUNCIL TURKEY, 2011) Aydogdu, Omer; Akkaya, RamazanIn. this study, an effective Real Coded Genetic Algorithm (GA) based optimal fuzzy controller is proposed. The fuzzy controller is used for sensorless speed control of a Brushless DC (BLDC) motor in DSP based application system. The advantages of adopting a real coded GA for the design and optimization of fuzzy controllers, which have a great deal of design and optimization parameters, are analyzed. Having accomplished optimization of developed fuzzy control system, a multi-objective performance index has been defined and it has been used as an objective function to be minimized in the real coded GA. Thus, the system can obtain optimal design parameters in a short time without the need of an expert assistance. Convergence of the control system performance index and speed responses of the BLDC motor have been provided as a result of study. The obtained results indicate that there is close agreement between simulation and experimental results.Öğe NOVEL MOBILE BALANCE ROBOT FOR ESTIMATIING SURFACES(ST JOHN PATRICK PUBL, 2016) Unluturk, Ali; Aydogdu, Omer[Abstract not Available]
