articles by Prof. Dr. Yusuf Altun
Detection and classification of vehicles in traffic by using haar cascade classifier
Because of increasing of vehicle usage throughout the world, the safety driving in traffic is gai... more Because of increasing of vehicle usage throughout the world, the safety driving in traffic is gaining importance. There are many automatic auditing mechanisms to decrease the number of traffic accidents. In a public road that has lanes,possibility of a traffic accident caused by drivers who uses the wrong lane or changes the lane frequently or changes the lanes when it is forbidden, is fairly high. In this study, image processing techniques are applied to detect vehicles that changes lanes hazardously and uses different lanes from its lane to go according to its classified vehicle type.
The road disturbance attenuation for quarter car active suspension system via a new static two-degree-of-freedom design
The main aim of this paper is to attenuate the effects of the road disturbance on the quarter-car... more The main aim of this paper is to attenuate the effects of the road disturbance on the quarter-car active suspension system (ASS) for the passenger comfort by using design. Therefore, a new static disturbance compensator is proposed by using linear matrix inequality method such that the disturbance compensator and feedback controller are simultaneously designed for the disturbances in the linear time-invariant systems, which are measurable or predictable. They have static structure, and the disturbance compensator is designed on the feedforward path. The design is applied against the road disturbance affecting the quarter car ASS. The effectiveness of the design is demonstrated with the simulations.{\textless}/p{\textgreater
Control Design for Nonsingular Descriptor Systems
Bu {\c{c}}alışmada, tekil olmayan descriptor (tanımlayıcı) belirsiz sistemler i{\c{c}}in kestirim... more Bu {\c{c}}alışmada, tekil olmayan descriptor (tanımlayıcı) belirsiz sistemler i{\c{c}}in kestirim yapılabilir y{\^{a}}da sens{\"{o}}rle {\"{o}}l{\c{c}}{\"{u}}lebilir bozucuları bastırmak i{\c{c}}in aynı anda statik ileri beslemeli ve geri beslemeli kontrol tasarımı {\"{o}}nerilmektedir. Geri beslemeli ve ileri beslemeli kontrol, doğrusal zamanla değişmeyen belirsiz sistemler i{\c{c}}in bozucuları bastırmak ve etkisini ortadan kaldırmak i{\c{c}}in geliştirilmiştir. Kontrol dizaynı, doğrusal matris eşitsizlikleri yardımıyla H ∞ kontrol teorisine dayanılarak ger{\c{c}}ekleştirilmiştir. Robot kolu gibi {\c{c}}oğu mekanik sistemler tekil olmayan belirsiz descriptor sistemler şeklinde modellenir. Bu y{\"{u}}zden bu {\c{c}}alışmada tekil olmayan belirsiz sistemler ele alınmıştır. {\"{O}}nerilen tasarımın başarımı sim{\"{u}}lasyon {\"{o}}rneklerinde sunulmaktadır.
Non-algorithmic Robust Static Output Feedback Control Designs for Parametric Uncertain Systems
Development of Algorithm Using Fuzzy Logic for Forward Players
In this article, it is resorted to combining robotics with the simulation of the dribbling that f... more In this article, it is resorted to combining robotics with the simulation of the dribbling that forward player does in order to pass goalkeeper when faced with goalkeeper. The purpose of the project is to provide the actualization of scoring a goal of robots by calculating the distances between the right and left sides and the distances between goalkeeper and robot when robot faced with obstacle and thus most appropriately passing of the robot to goalkeeper. There are countless ways and methods to score a goal. But in a real competition, it is often not possible to end with a number when an opponent or goalkeeper is encountered. The fuzzy logic algorithm, a branch of artificial intelligence, is used in order to robot can perform these operations. The results are interpreted by Matlab/simulink and owing to these algorithms, robot has determined the field that it will go according to location of obstacle. Also it has determined the striking velocity by measuring the distance. In final stage of the project, the robot succeeded in scoring a goal. KeyWords:
Gain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulator
This paper proposes a gain scheduling linear quadratic integral (LQI) servo controller design, wh... more This paper proposes a gain scheduling linear quadratic integral (LQI) servo controller design, which is derived from linear quadratic regulator (LQR) optimal control, for non-singular linear parameter varying (LPV) descriptor systems. It is assumed that state space matrices are non-singular since many mechanical systems do not have any non-singular matrices such as the natural state space forms of robotic manipulator, pendulum and suspension systems. A controller design is difficult for the systems due to rational LPV case. Therefore, the proposed gain scheduling controller is designed without the difficulty. Accordingly, the motion control design is implemented for two-link flexible joint robotic manipulator. Finally, the control system simulation is performed to prove the applicability and performance.
Çeyrek taşıt aktif süspansiyon sistemi için LQR ve LQI denetleyicilerinin karşılaştırılması
journals.tubitak.gov.tr, 2011
Filter (APF) is used for reducing these effects. APF, as a subsystem, is placed into torque contr... more Filter (APF) is used for reducing these effects. APF, as a subsystem, is placed into torque control system entrance to save the control system and induction motor output torque. Motor outputs, that are before-after APF connections, are handed for understanding effects of voltage harmonics. Since APF design was based on voltage harmonics, Electromagnetic Interference (EMI) has not changed. Main goal of the filter is zero effect of voltage harmonics on motor torque. A new place is selected for APF and the filter control system is designed with using Lyapunov function at the same time. Classical PI controlled APF is used like as a reference filter system and final result is that motor and system elements are defended by nonlinear controlled APF.
Intelligent Computing Theories and …, 2012
This paper presents design considerations of an Extended Kalman Filter (EKF) based Wireless Senso... more This paper presents design considerations of an Extended Kalman Filter (EKF) based Wireless Sensor Network (WSN) aided indoor localization for unmanned vehicles (UV). In this approach, we integrate Received Signal Strength Indicator (RSSI) measurements into an EKF based localization system. The localization system primarily uses measurements from a Laser Range Finder (LRF) and keeps track of the current position of the UV using an EKFbased algorithm. The integration of RSSI measurements at predetermined intervals improves the accuracy of the localization system. It may also prevent large drifts from the ground truth, kidnapping, and loop closure errors. Player/Stage based simulation studies were conducted to prove the effectiveness of the proposed system. The results of the comparative simulations show that integrating RSSI measurements into the localization system improves the system's accuracy.
This paper presents a new virtual laboratory tool which teaches sliding mode control (SMC) and
Electronics and Electrical Engineering, 2013
Energy mode functions and their inverse signal dynamics can be used for the design of controllers... more Energy mode functions and their inverse signal dynamics can be used for the design of controllers in classical control algorithms, which use the error signals of related system parameters in general mode. Different from this common approach, Lyapunov function-based controller design is preferred and motor mechanical speed parameter is incorporated into the control operation in this study. The results of the experimental studies conducted for this study prove that when both electrical and mechanical parameters of the system are taken into consideration, the proposed controller, nonlinear speed controller supported by direct torque controller and space vector modulation, performs better than classical controllers and can be realized successfully.
Nonlinear Dynamics, 2014
This paper presents the dynamic feedforward control synthesis for linear parameter varying (LPV) ... more This paper presents the dynamic feedforward control synthesis for linear parameter varying (LPV) systems. It is assumed that all system matrices are dependent on varying parameters, which are measurable with sensor or observable. The parameters have bounded variation rates. Parameter-Dependent Lyapunov Function (PDLF) is used for the feedforward control synthesis such that the robust stability is assured for all varying parameters at the time of the operation. The method is formulated in terms of linear matrix inequalities (LMIs) for LPV feedforward controller that guarantees the stability of the transfer matrix having L2gain. This compensator is designed by adding on the feedback controller in two degrees of freedom (2-DOF) r can be used for the disturbance attenuation or decreasing the tracking error. The numerical examples and simulations are given to provide the applicability of the proposed method.
Bulanık Mantık ve Arduino Kullanarak Step Motorun Hız Kontrolu
Bu {\c{c}}alışmada end{\"{u}}striyel ve elektronik uygulamalarda ve robot teknolojilerinde kullan... more Bu {\c{c}}alışmada end{\"{u}}striyel ve elektronik uygulamalarda ve robot teknolojilerinde kullanılan step motorun hız kontrol{\"{u}} ger{\c{c}}ekleştirilmiştir. Tasarımda kullanılan Arduino IDE kod edit{\"{o}}r{\"{u}} ve derleyici olarak g{\"{o}}rev yaparak, derlenen programı karta y{\"{u}}kleme işlemini sağlamıştır. Encoder sayısal bir elektrik sinyali {\"{u}}reten elektromekanik bir cihaz olması {\"{o}}zelliğinden dolayı motorun ka{\c{c}} tur attığını algılamak i{\c{c}}in {\c{c}}alışmada yer verilmiştir. Hesaplama sonu{\c{c}}larının listelendiği ekran olarak 2x16 display(LCD) ekran kullanılmıştır. Devreye eklenen butonlar ile hız artırma ve azaltma sağlanmıştır. Doğru malzeme se{\c{c}}imi modellenmesi ardından c programlama dili ve gerekli platformlar kullanılmıştır. Ares devre şeması proteus isis programı ile oluşturulmuştur. Gerekli işlemler yapılarak bakır plaket {\"{u}}zerine yapıştırılmıştır. Sanal ortamda denenen devre kablo ve test aşamalarının tamamlanmasıyla ger{\c{c}}ek ortama ge{\c{c}}irilmiştir. Bu sayfa bulanık mantık kullanılarak, girişe uygulanan işaret ile birlikte istenilen {\c{c}}ıkışı veren step motor hız kontrol{\"{u}}n{\"{u}} anlatmaktadır. Anahtar Kelimeler: Arduino, Step Motor, Bulanık mantık, Encoder
The estimation of PID controller parameters of vector controlled induction motor using Ziegler-Nichols method
Induction motors (IM) are commonly used in industrial applications due to their superiorities suc... more Induction motors (IM) are commonly used in industrial applications due to their superiorities such as low cost, less maintenance requirements, high effiency and high power density in comparison with other electric motors such as dc motors. There are many studies in the literature on IM control. The best known speed control method of the IM is scalar control method (SCM) because of its easy to understand and implement. The another control method which is known as vector control method is the field oriented control method (FOC). Although FOC is more sophisticated than SCM, it is higher performance on control in general. In this study, the mathematical model of IM has used on simulation and FOC method has implemented on it. Then for speed control of IM Ziegler-Nichols method is used.Matlab/Simulink software has used to simulate system.
Optical and handwritten digit recognition by using neural network on NAO humanoid robot
Humanoid robots have been used in several scientific areas as a research and development tools. I... more Humanoid robots have been used in several scientific areas as a research and development tools. In addition to research, humanoid robots have been developed to perform different human tasks like a human. They are reprogrammable repeatedly for fulfilling various tasks expected from them. With the advancements in technology, humanoid robots have been widely used in industrial applications due to their reducing costs. In this study, artificial neural network application has been implemented on images which taken from NAO's camera instantly. Segmentation and feature extraction methods have been used to find characters. NAO robot has been satisfied to search for and say characters on images after training robot with training dataset. The results show that using neural network algorithms gives good results on character recognition applications
Developing Convenient Motor Selection Algorithm According to Road Conditions In Electric Vehicles
Tekil olmayan tanımlayıcı sistemler icin kontrol tasarımı
Fatigue analysis of electrical vehicle chassis
A new extended LMI-based robust gain scheduled state feedback H2 controller design
\textcopyright} 2017 Institute of Control, Robotics and Systems and The Korean Institute of Elect... more \textcopyright} 2017 Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin HeidelbergThis paper proposes an improved robust H2 state feedback control synthesis for the Linear Parameter Varying (LPV) systems by attaining the affine quadratic stability. In place of standard H2 computation in the literature, a new H2 computation based on extended Linear Matrix Inequality (LMI) is improved by means of the slack variable, where it is obtained by separation Lyapunov matrix from system matrix. State feedback H2 synthesis is improved for the systems, and is more effective and less conservative than the common ones in the literature. Therefore, the less conservative results are obtained for gain scheduling controller design for LPV systems. The numerical examples are presented to show the superiority of the proposed controller design.
inproceedings by Prof. Dr. Yusuf Altun
The state feedback control is presented by pole placement for the water hydraulic servo motor sys... more The state feedback control is presented by pole placement for the water hydraulic servo motor system in this paper, which is a choice of driving source for many applications. Although the system is highly nonlinear and has uncertainty parameters, it can be linearized around the working points. The pole placement method is used for the velocity control because it has simpler structure and low-cost contrary to advanced controllers or dynamic controllers. In addition, the control enables to place the desired poles. Therefore, the oscillation, settling time and overshoot are regulated to the disturbances thanks to the controller. The simulation results are presented for the control performance.
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articles by Prof. Dr. Yusuf Altun
inproceedings by Prof. Dr. Yusuf Altun