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Öğe Adaptive Network Based Fuzzy Logic Control of a Rigid - Flexible Robot Manipulator(Ieee, 2010) Önen, Ümit; Tınkır, Mustafa; Kalyoncu, Mete; Botsalı, Fatih MehmetIn this study position and vibration control of a rigid-flexible robot manipulator is investigated. Initially dynamic model of the manipulator system is obtained by using Lagrange equations and assumed modes method. Two adaptive networks based fuzzy logic controllers (ANFLCs) are proposed for tracking control of the rigid link and the flexible link. The training and testing data of ANFLCs are obtained from the conventional PD control of the manipulator system. The performances of ANFLCs are tested for different type and different number of membership functions. Finally simulation results are obtained. Results demonstrate the remarkable performance of the proposed controllers.Öğe Adaptive Network Based Interval Type-2 Fuzzy Logic Controller Design For A Single Flexible Link Carrying A Pendulum(Ieee, 2010) Tınkır, Mustafa; Önen, Ümit; Kalyoncu, Mete; Şahin, YusufIn this study, a technique is proposed for dynamic modeling and adaptive network based interval type2 fuzzy logic (ANIT2FL) position, vibration and oscillation control of a single flexible link robot manipulator carrying a pendulum at the tip end. Simulation model for a single flexible manipulator carrying pendulum system is designed as an observer to determine motion of flexible link and uncertain oscillation of pendulum before experimental works. The performance of the proposed controller is evaluated on the basis of the experimental results.Öğe Araçlarda kullanılan stabilizler rotların dayanımına küresel mafsal boşluğunun etkisinin incelenmesi(Selçuk Üniversitesi Mühendislik Fakültesi, 2015) Gürel, Emin Gürcan; Kalyoncu, MeteAraçlardaki süspansiyon sistemlerinin bir parçası olan stabilizer rotlar; denge çubuğu ile birlikte aracın sağa ve sola dönmesi sırasında oluşan kuvvetleri dengeleyerek, aracın yan yatmasını engellemektedir. İki ucu küresel mafsaldan meydana gelen stabilizer rotlar, rot eksenine dik yöndeki kuvvetleri taşıyabilmektedir. Güvenlik açısından kritik önem taşıyan bu parçaların dinamik yükler altında çalışma performansı ve dayanımı önemlidir. Bu çalışmada, çalışma performansı kriterlerinden birisi olan küresel mafsal boşluğunun, stabilizer rotların dayanımına olan etkisi incelenmiştir. Bunu gerçekleştirebilmek için stabilizer rotlara araç altındaki çalışma koşullarında etki eden yüklerin belirlenebilmesi amacıyla veri toplama çalışmaları yapılmış, stabilizer rotun gerilme değerleri ölçülmüştür. Toplanan veriler üzerinde gerekli düzenlemeler yapılarak stabilizer rota etki eden yükler belirlenmiştir. Belirlenen yükler, test cihazında farklı mafsal boşluk değerlerine sahip stabilizer rotlara uygulanmış ve stabilizer rotlar son dayanım noktalarına kadar test edilmiştir. Yapılan deneysel doğrulama çalışmaları ve elde edilen test sonuçları incelenerek, küresel mafsaldaki boşluğun stabilizer rot dayanımı üzerine olan etkisi belirlenmiştir.Öğe Araçüstü hidrolik iş platformlarının sepet dengeleme kontrolü(Selçuk Üniversitesi Mühendislik Fakültesi, 2014) Sezer, Mehmet; Kalyoncu, MeteBu çalışmada mobil hidrolik insan platformunun sepet uzvunun her durumunda yatayla paralel olmasının sağlanması konusunda çalışılmıştır. Mobil hidrolik insan platformunu temsil edebilecek gerçekçi modeli oluşturularak, sistemin matematiksel modeli oluşturulmuştur. Geliştirilen kontrolcü ile sistemdeki sepeti uzvunun yatayla paralel olarak durmasının aktif kontrolü sağlanmıştır. Geliştirilen kontrolcü PID (Oransal, Türevsel ve İntegral) tabanlıdır. Geliştirilen kontrol sisteminin performansının değerlendirilmesi amacıyla bilgisayar simülasyonları yapılmıştır. Bilgisayar simülasyonları MATLAB/Simulink yazılımı ile yapılmıştır.Öğe Deflection Control of Two-Floors Structure Against Northridge Earthquake by Using PI Controlled Active Mass Damping(TRANS TECH PUBLICATIONS LTD, 2013) Tinkir, Mustafa; Kalyoncu, Mete; Sahin, YusufThis paper presents an experimental investigation for deflection control of two degree of freedom building-like structure system against scaled Northridge Earthquake by using PI (Proportional-Integral) controlled active mass damping. Proposed structure consist of two floors with a cart mounted on the second floor such as active mass damping (AMID) and which is used to suppress horizontal deflections. Moreover a shake table under the structure is used to create the acceleration effect of scaled earthquake. K-p and K-i gain parameters of PI controller is determined by observing passive mode behaviour of the structure against Northridge and it is used to control cart movement according to pre-determined deflection criterias of the floors. Deflection and acceleration results of the floors are obtained separately for passive and active mode responses of the system in the form of graphics.Öğe Design and Actuator Selection of a Lower Extremity Exoskeleton(IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2014) Onen, Umit; Botsali, Fatih M.; Kalyoncu, Mete; Tinkir, Mustafa; Yilmaz, Nihat; Sahin, YusufLower extremity exoskeletons are wearable robots that integrate human intelligence with the strength of legged robots. Recently, lower extremity exoskeletons have been specifically developed for transportation of disabled individuals. This paper summarizes the anthropomorphic design of a lower extremity exoskeleton named "walking supporting exoskeleton (WSE)." WSE has been developed to support some fundamental motions (walking, sitting, standing, etc.) of disabled individuals who lost leg muscular activities completely or partially. WSE has two degrees of freedom per leg which are powered by electrical actuators. This paper discusses critical design criteria considered in mechanical design and actuator selection of WSE.Öğe DIFFERENT TYPE CONTROLLERS DESIGN FOR STRUCTURES UNDER SEISMIC EXCITATION(INT SCIENTIFIC CONFERENCE SGEM, 2010) Karadag, Hakan Burak; Kalyoncu, Mete; Tinkir, MustafaIn this study, linear quadratic regulator (LQR) and fuzzy logic (FL) controller are designed for displacement control of elastic structure under seismic excitation. MATLAB (R)/SIMULINK toolbox is used for the mathematical modelling of the system and controllers design. Controllers are applied to the structure, components of which are assumed that they have standard stiffness and damping coefficient, to suppress seismical vibration. A hydraulic actuator is used as the control device. Dynamic of the actuators to create the control force to be applied to the structure, involved in the equation of motion of the controlled structure. The equation of motion of the system obtained in state-space model in continuous time is converted to discrete time. The equation of motion of a real building model structure is solved and simulated by using the data of a known earthquake having occurred ago. Numerical simulations and vibration results of the LQR and FL controlled and uncontrolled structure are presented in the form of graphics.Öğe Differential drive mobile robot trajectory tracking with using pid and kinematic based backstepping controller(Selçuk Üniversitesi Mühendislik Fakültesi, 2017) Demirbaş, Faik; Kalyoncu, MeteIn this study, the mathematical model of a nonholonomic vehicle was derived. A PID and kinematic based backstepping controller (KBBC) was designed for a differential drive mobile robot to be able to track a desired trajectory. The KBBC was used to overcome the nonlinearity of the trajectory tracking and the PID controllers was used for the DC motors’ speeds adjustments. Responses of the vehicle’s controller in the square shaped trajectory had obtained and results were graphically presented. The effectiveness of the designed controller has been discussed.Öğe Doğrusal yörünge takip eden elastik robot manipülatörlerin dinamik cevabı(1999) Kalyoncu, Mete; Botsalı, Fatih MehmetBu çalışmada, doğrusal yörünge takip eden dönerkayar mafsala sahip elastik robot manipülatörlerin dinamik cevabı incelenmiştir. Robot manipülatör, döner mafsal içinde ötelenme hareketi yapan uç kütle bağlanmış, Euler-Bernoulli çubuğu kabul edilen elastik bir koldan meydana gelmektedir. Elastik kolun hareket denklemleri, Lagrenge formülasyonu kullanılarak dönme ataleti ihmal edilmeden elde edilmiştir. Sayısal çözüm Runge-Kutta metoduyla yapılmıştır. Bir bilgisayar programı geliştirilerek elde edilen sayısal sonuçlar grafikler şeklinde sunularak irdelenmiştir.Öğe Experimental Investigation of Full-Order Observered and LQR Controlled Building-Like Structure Under Seismic Excitation(TRANS TECH PUBLICATIONS LTD, 2013) Tinkir, Mustafa; Kalyoncu, Mete; Sahin, YusufIn this paper, the dynamic behaviour of two degree of freedom building-like structure system against unexpected input such as seismic excitation is considered by experimentally. Proposed system consists of two floors structure with active mass damping (AMD) and shaker. Passive and active mode deflection responses of the floors are investigated and also a cart is used to suppress vibrations, which moves linear direction and is mounted on the second floor. PV (proportional and velocity) control of the cart is realized in passive mode. Moreover LQR (Linear Quadratic Regulator) control is designed to control the cart in active mode while system under excitation. For this aim a full-order observer is designed and implemented to control strategy. Displacements of cart, deflections and accelerations results of the floors are presented separately for passive and active mode responses of the system in the form of graphics.Öğe Force Feedback Control of Lower Extremity Exoskeleton Assisting of Load Carrying Human(TRANS TECH PUBLICATIONS LTD, 2014) Sahin, Yusuf; Botsali, Fatih Mehmet; Kalyoncu, Mete; Tinkir, Mustafa; Onen, Umit; Yilmaz, Nihat; Baykan, Omer KaanLower extremity exoskeletons are wearable robot manipulators that integrate human intelligence with the strength of legged robots. Recently, lower extremity exoskeletons have been specifically developed for rehabilitation, military, industrial applications and rescuing, heavy-weight lifting and civil defense applications. This paper presents controller design of a lower-extremity exoskeleton for a load carrying human to provide force feedback control against to external load carried by user during walking, sitting, and standing motions. Proposed exoskeleton system has two legs which are powered and controlled by two servo-hydraulic actuators. Proportional and Integral (PI) controller is designed for force control of system. Six flexible force sensors are placed in exoskeleton shoe and two load cells are mounted between the end of the piston rod and lower leg joint. Force feedback control is realized by comparing ground reaction force and applied force of hydraulic cylinder. This paper discusses control simulations and experimental tests of lower extremity exoskeleton system.Öğe Fuzzy Logic Trajectory Control of Flexible Robot Manipulator With Rotating Prismatic Joint(IEEE, 2010) Botsalı, Fatih Mehmet; Kalyoncu, Mete; Tınkır, Mustafa; Önen, ÜmitIn this study, a fuzzy logic controller is designed in order to use in trajectory control of a robot manipulator. The considered robot manipulator consists of a rotating-prismatic joint housing a sliding flexible arm that carries a concentrated mass at the tip end. The tip end of the flexible arm traces a multi-straight-line path. This study is aimed to use a fuzzy logic controller in controlling the trajectory traced by the tip end of the flexible arm so as to reduce the vibrations induced in the flexible arm. The designed fuzzy controller is aimed to control both the position of the tip end of the flexible robot arm while the tip end traces a multi-straight-line path and the vibrations induced in the flexible arm. Numerical simulations obtained by using a developed computer program are presented and physical trend of obtained numerical results are discussed. The performance of the fuzzy logic control system is evaluated on the basis of the simulation results.Öğe Gait generation of a two-legged robot by using adaptive network based fuzzy logic control(IEEE, 2008) Onen, Umit; Kalyoncu, Mete; Tinkir, Mustafa; Botsali, Fatih M.In this paper, a control strategy is proposed for gait generation for a two-legged humanoid robot. The two-legged robot is assumed as a 3-dimensional robot with 5-links. Gait generation is performed by assuming motions in the saggital and lateral planes. Dynamic model of the robot is obtained by using MATLAB (R)/SimMechanics Toolbox. A fuzzy logic controller (FLC) is established for gait generation. The rule-base of the controller is optimized offline by using artificial neural network (NN). The neural networks are trained by using the reference joint trajectories obtained from clinical gait analysis (CGA) [13].Öğe Hierarchical adaptive network based fuzzy logic controller design for a single flexible link robot manipulator(IEEE, 2008) Kalyoncu, Mete; Tinkir, MustafaIn this study, hierarchical adaptive network based fuzzy logic controller for a single flexible link robot manipulator is designed. This study is aimed to get the end of the flexible robot manipulator to desired position and terminate vibrationson arm while it moves under the action of an external driving torqua The proposed controller has two subsystems. The fast-subsystem reduces the vibration of the flexible robot manipulator end point, and the other slow-subsystem controller controls the desired position. The performance of the proposed control system is evaluated on the basis of the experimental results.Öğe Hybrid Controller Design for Two-Floors Structure Against Northridge Earthquake(TRANS TECH PUBLICATIONS LTD, 2013) Tinkir, Mustafa; Kalyoncu, Mete; Sahin, YusufIn this study, an adaptive neural network based fuzzy logic controller (ANNFLC) and a PI (Proportional and Integral) controller are used together as hybrid controller for deflection control of two degree of freedom building-like structure system against scaled Northridge Earthquake experimentally. Proposed structure consist of two floors with a shake table and a cart which is mounted on the second floor as active mass damping (AMD) and controlled by hybrid controller. Training and testing data of ANNFLC are determined by using behaviour of PI controlled system against Northridge. Thus, ANNFLC is created and it's control performance is combined with PI controller's effect to achieve small deflection responses of the floors. Obtained hybrid controlled results are compared with passive and PI controlled results and presented in the form of graphics.Öğe Kayar mafsala sahip elastik uzuvlu robot manipulatörlerinin dinamik modellemesi(Selçuk Üniversitesi Fen Bilimleri Enstitüsü, 1998-09-29) Kalyoncu, Mete; Botsalı, Fatih MehmetRijit elemanlı robot manipülatörlerin dinamik analizi rijit sistem kabulü sayesinde oldukça kolay yapılabilmesine rağmen, bu tür manipülatörlerde yüksek atalet momentlerinden dolayı güç ihtiyacı, çalışma emniyeti, imalat maliyeti ve hassasiyet açısından önemli dezavantajlar ortaya çıkmaktadır. Bu sebeple, son yıllarda düşük atalet momentine sahip elemanlardan oluşan robot manipülatörlerin kullanımı yaygınlaşmaktadır. Bu tür manipülatörlerin kullanımı, elastik sistem kabulü ile manipülatör elemanların dinamik davranışının bilinmesini ve kontrol edilmesini zorunlu kılmaktadır. Bu çalışmada son uzvu kayar mafsala sahip elastik kol olan robot manipülatörlerin dinamik modellenmesi yapılmıştır. Üç boyutlu dönme ve ötelenme hareketine sahip olan kayar mafsallı kolun ucunda bir noktasal kütle bulunduğu, kayar mafsalın rijit olduğu, Euler-Bernoulli çubuğu olarak kabul edilen elastik kolun kayar mafsal içerisindeki hareketinin sürtünmesiz olduğu kabul edilmiştir. Euler-Bernoulli çubuğu olan kolun dönme ataleti ihmal edilmemiştir. Elastik deplasmanların küçük olduğu ve şekil değiştirmelerin lineer olduğu kabul edilmiştir. Eksenel yöndeki titreşimler ihmal edilmiştir. Ancak eksenel kuvvet etkisi ihmal edilmemiş, malzemenin sönümsüz olduğu varsayılmıştır. Elastik uzvun iki eksende eğilme titreşimlerine ve bir eksende burulma titreşimine maruz kaldığı düşünülmüştür. Elastik çubuğun hareket denklemleri, Lagrange hareket denklemi kullanılarak, kısmi diferansiyel denklemler takımı şeklinde elde edilmiştir. Bu denklemler değişkenlerin ayrılması metodu ile kabul edilebilir fonksiyonlar ve genelleştirilmiş koordinatlar sayesinde adi diferansiyel denklemler takımı haline dönüştürülerek Runge-Kutta metoduyla yaklaşık çözüm yapılmıştır. Sayısal çözüm için bir bilgisayar programı geliştirilmiş, bilgisayar programı kullanılarak elde edilen sayısal sonuçlar grafiklerle sunulmuştur. Sunulan dinamik model, döner mafsalh ve rijit elemanlı robot manipülatörler için de kullanılabilmektedir.Öğe Konya' da Çalışan Endüstri ve Makina Mühendislerinin İş Hayatı Profilinin Belirlenmesine Yönelik Bir Araştırma(2004) Kara, Yakup; Kalyoncu, MeteBu çalışmada, Konya'da çalışan Endüstri ve Makina Mühendislerinin iş hayatı profili incelenmiştir. Araştırmaya, Konya'da değişik sektörlerde ve endüstri kollarında olmak üzere toplam 151 mühendis gönüllü olarak katılmıştır. Araştırma kapsamında, mühendislerin maaş durumları, mesleklerinden memnuniyetleri, hedeflerine ulaşabilme durumları,,almış oldukları mühendislik öğreniminin yeterliliği hakkındaki görüşleri ve TMMOB Makina Mühendisleri Odası'ndan beklentileri olmak üzere beş temel konu, bazı değişkenler açısından ele alınmıştırÖğe Lateral and Torsional Vibration Analysis of Elastic Robot Manipulators With Prismatic Joint(2002) Kalyoncu, Mete; Botsalı, Fatih MehmetLateral and torsional vibrations of a robot manipulator with an elastic arm sliding in a prismatic joint are analyzed. The elastic arm is assumed as an Euler-Bernoulli beam. The mass of the end-effector is assumed as a point mass attached at the end of the elastic arm. The prismatic joint experiences 3-dimensional translational and rotational motion. The prismatic joint is assumed as rigid and frictionless. Rotational inertia of the beam is taken into consideration in obtaining the equations of motion. Elastic deformations are assumed as linear and small displacements. Axial vibrations are not considered but the effect of axial force is taken into account in the analysis. Elastic arm experiences both bending vibrations in two directions and torsional vibrations. The equations of motion are obtained by Lagrange's equation of motion. Numerical solution of the equations of motion are obtained by Runge-Kutta method. A computer program is developed for implementation of the presented technique. Numerical simulations are presented in the form of graphics. Presented method is found to be versatile in dynamic analysis of elastic robot arms.Öğe Mathematical modelling and dynamic response of a multi-straight-line path tracing flexible robot manipulator with rotating-prismatic joint(ELSEVIER SCIENCE INC, 2008) Kalyoncu, MeteIn this study, mathematical modelling and dynamic response of a flexible robot manipulator with rotating-prismatic joint are investigated. The tip end of the flexible robot manipulator traces a multi-straight-line path under the action of an external driving torque and an axial force. Considered robot manipulator consists of a rotating prismatic joint and a sliding flexible arm with a tip mass. Flexible arm is assumed to be an Euler-Bernoulli beam carrying an end-mass. Equations of motion of the flexible manipulator are obtained by using Lagrange's equation of motion. Effect of rotary inertia, axial shortening and gravitation is considered in the analysis. Equations of motion are solved by using fourth order Runge-Kutta method. Numerical simulations obtained by using a developed computer program are presented and physical trend of the results are discussed. (c) 2007 Elsevier Inc. All rights reserved.Öğe Mathematical modelling and fuzzy logic based position control of an electrohydraulic servosystem with internal leakage(PERGAMON-ELSEVIER SCIENCE LTD, 2009) Kalyoncu, Mete; Haydim, MustafaThis paper describes an application of a fuzzy logic position control to an electrohydraulic servosystem. Mathematical model of the electrohydraulic servosystem is obtained considering the internal leakage within the servosystem. Electrohydraulic servosystems are one of the most commonly used actuators. However, electrohydraulic servosystems are difficult to control due to nonlinearity and complexity of their mathematical models. In this paper, as a first step, the mathematical models of the main components of the servosystem are obtained. The effect of compressibility, friction, internal leakage in servovalve, leakage in actuator and inertia are included in the model. Since the system has a complex structure and the system characteristics are time dependent. Fuzzy Logic Control (FLC) is applied to the electrohydraulic servosystem. The error and change in error are employed in the FLC. The effect of internal leakage on the mathematical model and performance of the position control system is investigated. Numerical simulation results for position control under a square wave reference input are obtained. Results are presented in graphical form. Physical trends of numerical simulation results are discussed. Although leakage is often ignored in dynamic analysis of servosystems, results shown in the paper indicate that the leakage has a significant effect on the mathematical model and performance of the position control system at small spool displacements. (C) 2009 Elsevier Ltd. All rights reserved.
