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    Design and development of a test setup for reaction wheel systems of nanosatellites
    (Selçuk Üniversitesi, 2020) Koç, Muhammed Hayri; Ünlü, Umut; Kuvat, Tarık; Ulu, Cenk
    Nanosatellites have gained an important place in space applications thanks to developing technology. For a successful operation, attitude determination and control systems in satellites are vital. A reaction wheel system is the widely used drive system for nanosatellites. An electric motor driven reaction wheel is a system that operates utilizing from conservation of momentum and law of action and reaction. In this study, the design and development of a test setup for reaction wheel systems of nanosatellites are given. By using this test setup, different configurations of reaction wheels can be tested, performances of different control methods can be evaluated, and the energy efficiency of the whole system can be determined. Additionally, measured test data such as orientation angles and system current, voltage, and power can be recorded and monitored via the developed user interface. The test setup consists of a platform, reaction wheels, and a control unit. The mechanical design of the test setup which allows changing reaction wheel configurations is developed in Solidworks software. Modeling and control studies are performed in Matlab Simulink environment for brushless dc motor driven reaction wheels. The electronic control unit is designed, and Raspberry Pi is used as a controller. The test platform is produced by using 3d printer and then, subcomponents (electrical control equipment) are assembled into the platform. The functionality and performance tests of the system are performed successfully. The PD control performance results for attitude control of the satellite with the specific reaction wheel configuration are given. These results match the simulation results and validate the system design.
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    Development of an agriculture robot for row-type seed sowing applications
    (Selçuk Üniversitesi, 2020) Yurtsever, Cihan; Ertaş, Yasin; Sustam, Oben; Ulu, Cenk
    In this study, the design and development of an agriculture robot which has row type seed sowing feature are presented. The robot consists of four subsystems; a four-wheel mobile platform, a digger mechanism, a seed dropping mechanism, and an irrigation mechanism. The electrical and mechanical designs of the robot are performed depending on the specified design criteria. System control software and user interface are developed considering stakeholder expectations. Designed subsystems are manufactured and integrated. Furthermore, robot functionality tests are performed and the desired performance of the agriculture robot is validated by the test results. The robot is remotely operated via an Android application on a mobile phone and all operation data can be monitored via this android application. Additionally, the robot can perform the row-type seed sowing operation in an autonomous mode. The developed agriculture robot has the potential to provide an efficient and inexpensive way for future seed sowing applications.
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    Thruster design for unmanned underwater vehicles
    (Selçuk Üniversitesi, 2020) Gücer, Çetin Arda; Acar, Onur; Kantarcıoğlu, Burak; Ulu, Cenk
    Underwater researches have been carried out for various purposes such as the protection and investigation of natural and environmental resources, various construction activities, finding and extracting fossil fuel resources, academic and industrial researches. Especially in the last two decades, unmanned underwater vehicles are effectively used in almost all of these researches. One of the most essential parts of those vehicles is their thrust system which gives them the ability to move underwater. In this study, the design of a thruster for unmanned underwater vehicles is given. The designed thruster system consists of four main parts: an electric motor, a driver circuit, a magnetic coupling transmission element, and a propeller. The electrical and mechanical designs of these parts are performed depending on the predetermined design criteria. A brushless type DC motor is chosen as an electric motor, and the required torque and rpm values are determined analytically. Depending on the chosen electric motor, a suitable driver circuit is determined. Then the propeller, the magnetic coupling element, and the motor housing are designed by using the SolidWorks software package. Pressure and fluid dynamics analyses of the housing and propeller are performed by using the Ansys software package. The thruster design is validated by simulation results.