Papers by Prof.Dr. Fatih Mehmet Botsalı
Application of adaptive neural network based interval type-2 fuzzy logic control on a nonlinear system
2011 3rd International Conference on Computer Research and Development, 2011
In this study, four adaptive neural network based fuzzy logic controllers (ANNFL) are designed an... more In this study, four adaptive neural network based fuzzy logic controllers (ANNFL) are designed and used as two controllers in terms of interval type-2 fuzzy logic control. The new controllers are called as adaptive neural network based interval type-2 fuzzy logic controller (ANNIT2FL) and applied to a rigid-flexible robot manipulator. Initially dynamic model of the manipulator is obtained by using Lagrange equations and assumed modes method. ANNFL controllers are used for tracking and vibration control of system. The training and testing data of ANNFLs are obtained from the conventional PD control of the manipulator system. The performances of four ANFLCs are tested for different type and different number of membership functions and combined to create two ANNIT2FL controllers. Finally simulation results are obtained according to rotation and vibration control performances of ANNIT2FL controllers. Results demonstrate the remarkable performance of the proposed control technique. Keywords-Neural network, fuzzy logic control; interval type-2, robot manipulator; flexible link; tracking control; vibration control
Gait generation of a two-legged robot by using adaptive network based fuzzy logic control
2008 13th International Power Electronics and Motion Control Conference, 2008
In this paper, a control strategy is proposed for gait generation for a two-legged humanoid robot... more 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 MATLABreg/SimMechanics Toolbox. A fuzzy logic controller (FLC) is established for gait
Fuzzy logic trajectory control of flexible robot manipulator with rotating prismatic joint
2010 The 2nd International Conference on Computer and Automation Engineering (ICCAE), 2010
In this study, a fuzzy logic controller is designed in order to use in trajectory control of a ro... more In 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
Adaptive network based fuzzy logic control of a rigid - flexible robot manipulator
2010 The 2nd International Conference on Computer and Automation Engineering (ICCAE), 2010
In this study position and vibration control of a rigid-flexible robot manipulator is investigate... more In 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
2011 3rd International Conference on Computer Research and Development, 2011
This paper presents the performances of different type fuzzy logic controllers which are adaptive... more This paper presents the performances of different type fuzzy logic controllers which are adaptive neural-network based fuzzy logic (ANNFL) controller, hierarchical adaptive neural-network based fuzzy logic (HANNFL) controller and adaptive neural-network based interval type2 fuzzy logic (ANNIT2FL) controller. ANNFL, HANNFL and ANNIT2FL controllers are applied on flexible manipulator for both position and tip deflection control to learn which one satisfy us with it's performance according to desired goals. The performances of the proposed controllers are evaluated on the basis of the experimental results.
Mechanical Design of Lower Extremity Exoskeleton Assisting Walking of Load Carrying Human
Applied Mechanics and Materials, 2014
Exoskeletons are used in rehabilitation, military, industrial applications and rescuing, heavy-we... more Exoskeletons are used in rehabilitation, military, industrial applications and rescuing, heavy-weight lifting and civil defense applications as well. This paper presents to design of a lower-extremity exoskeleton assisting walking of a load carrying human. Proposed exoskeleton system is designed to be appropriate mechanism with human lower extremity and it operates synchronously with the human realizes. The aim of exoskeleton actuator system is to provide forces against to external load carried by user during walking, sitting, and standing motions. Thus, it supports human walking and significant portion of external load carrying by the user. Also it makes possible to user spend less energy, less stress and fatigue. Proposed work involves the following design steps: kinematic synthesis of the exoskeleton, mechanical and electro-hydraulic system design.
Force Feedback Control of Lower Extremity Exoskeleton Assisting of Load Carrying Human
Applied Mechanics and Materials, 2014
Lower extremity exoskeletons are wearable robot manipulators that integrate human intelligence wi... more Lower 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 pap...
Design and Actuator Selection of a Lower Extremity Exoskeleton
IEEE/ASME Transactions on Mechatronics, 2014
ABSTRACT Lower extremity exoskeletons are wearable robots that integrate human intelligence with ... more ABSTRACT Lower 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.
Recent developments in automotive technology are focused on economy, comfort and safety. Vehicle ... more Recent developments in automotive technology are focused on economy, comfort and safety. Vehicle tracking and collision detection systems are attracting attention of many investigators focused on safety of driving in the field of automotive mechatronics. In this paper, a vision-based vehicle detection system is presented. Developed system is intended to be used in collision detection and driver alert. The system uses RGB images captured by a camera in a car driven in the highway. Images captured by the moving camera are used to detect the moving vehicles in the image. A vehicle ahead of the camera is detected in daylight conditions. The proposed method detects moving vehicles by subtracting successive images. Plate height of the vehicle is determined by using a plate recognition algorithm. Distance of the moving object is calculated by using the plate height. After determination of the distance of the moving vehicle relative speed of the vehicle and Time-to-Collision are calculated ...
Mete Kalyoncu*
In this study, vibration analysis of an elastic robot arm sliding in a rotating prismatic joint i... more In this study, vibration analysis of an elastic robot arm sliding in a rotating prismatic joint is investigated. The elastic robot arm is assumed to carry a time varying end mass. The problem is a moving boundary value problem. The equations of motion of the elastic arm are obtained by using Lagrange’s equation of motion. Effect of rotary inertia, axial shortening and gravitation has been considered in developing the dynamic model. The equations of motion are obtained in the form of a set of ordinary differential equations by using admissible functions and the principle of separation of variables. Equations of motion are numerically solved by using the Runge–Kutta method. A computer program is developed for computer simulations. Numerical results of computer simulations for tip deflections are presented in graphical form. Physical trends of the obtained numerical results are discussed. Key words: elastic robot arm, prismatic joint, time varying end mass, vibration
Proceedings of the 4th International Conference on Control, Mechatronics and Automation, 2016
This research is aimed at developing a multi-body simulation model and control of an inverted pen... more This research is aimed at developing a multi-body simulation model and control of an inverted pendulum. A virtual prototype of the inverted pendulum is built by using MSC Adams software and the plant model is exported to MATLAB. It is co-simulated in both MATLAB and MSC Adams softwares together. Proportional-integral-derivative (PID) controller is designed and implemented in order to use in pendulum angle control simulations. The modelling and control results shows that the Proportional-integral-derivative (PID) controller can successfully achieve pendulum angle control of the inverted pendulum. Controlled pendulum angle results are simulated and given in the form of the graphics.
This work presents a different approach to inverse kinematics analysis of a PUMA robot. PUMA robo... more This work presents a different approach to inverse kinematics analysis of a PUMA robot. PUMA robot is an industrial robot arm with open chain mechanism that is used in different purposes. PUMA robot has a complicated inverse kinematics expressions that needs to be solved. In this paper, the inverse kinematics problem is solved by using MSC ADAMS instead of knowing inverse kinematics expressions and calculating this expressions. PUMA robot multi-body dynamics model is built by MSC ADAMS and joint angles are derived for a circle-shaped trajectory. Used trajectory and derived joint angles are given in the form of the graphics.
Applied Engineering Letters : Journal of Engineering and Applied Sciences, 2019
This paper presents, system identification based inverse kinematics analysis and control of a mul... more This paper presents, system identification based inverse kinematics analysis and control of a multi-DOF road simulator. Multi-DOF road simulators are special devices which are widely used to perform road profiles to a vehicle in laboratory environments. In this paper a road simulator mechanism is virtually designed and inverse kinematics analysis is derived without using any mathematical expression. System identification method is used for inverse kinematics analysis and then controlled to perform desired positions of the vehicle wheel center point.
Selcuk Teknik Online Dergi, Feb 5, 2010
Şifreleme bilgisayar ağlarında haberleşme güvenliğini sağlamak için kullanılmaktadır. Bu nedenle ... more Şifreleme bilgisayar ağlarında haberleşme güvenliğini sağlamak için kullanılmaktadır. Bu nedenle günümüzde bilgisayarlarda ya da bilgisayar ağlarında şifrelemenin önemi gün geçtikçe artmaktadır. Bu çalışmada simetrik şifreleme algoritmaları ve asimetrik şifreleme algoritmaları hakkında bilgi verildikten sonra şifrelemede kullanılan anahtar boyutlarının analizi gerçekleştirilmiştir. Ayrıca şifreleme algoritmalarının performans kriterleri incelenmiştir.
Vibration Analysis of an Elastic Robot Manipulator with Prismatic Joint and a Time-Varying End Mass
ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING
ABSTRACT
Modeling and Controller Comparison for Quarter Car Suspension System by Using PID and Type-1 Fuzzy Logic
Applied Mechanics and Materials, 2014
Ensuring vehicle drive comfort and securing drive safety are the leading topics among the most in... more Ensuring vehicle drive comfort and securing drive safety are the leading topics among the most interested issues for researchers in vehicle dynamics area. In this paper, a method utilizing a linear actuator is proposed for active control of the vehicle vibrations which are caused by road profile, intending to improve drive comfort and safety of road vehicles. The mathematical model belonging to the system that is evaluated as two degrees of freedom quarter car suspension system is derived by using Lagrange Equation of Motion and MATLAB/Simulink software. In addition to modeling technique, dynamic model of proposed system is created in MSC-ADAMS software and it is simulated in both Matlab and Adams programs together. Moreover two different controllers are designed, which are PID and Artificial Neural Network Based Fuzzy Logic (ANNFL) control in order to use in active vibration control simulations. Performances of the designed controllers are examined and the suitability of the design...
Lateral and Torsional Vibration Analysis of Elastic Robot Manipulators With Prismatic Joint
Engineering Technology Conference on Energy, Parts A and B, 2002
ABSTRACT
Pid and interval type-2 fuzzy logic control of double inverted pendulum system
2010 The 2nd International Conference on Computer and Automation Engineering (ICCAE), 2010
In this study, interval type2 fuzzy logic (IT2FL) and PID controller is designed for swing-up pos... more In this study, interval type2 fuzzy logic (IT2FL) and PID controller is designed for swing-up position control of double inverted pendulum (DIP) system. The double inverted pendulum system consists of two rigid bars connected by a revolute joint. Mass of the revolute joint is included in the dynamic model.Rigid bars in the system are assumed to experience planar motion. The
Recognition of Sun-pest Infected Wheat Kernels Using Artificial Neural Networks
2007 IEEE 15th Signal Processing and Communications Applications, 2007
ABSTRACT In this study it is aimed to recognize sun-pest infected kernels in a sample sub-group o... more ABSTRACT In this study it is aimed to recognize sun-pest infected kernels in a sample sub-group of wheat kernels taken from a bulk of Bezostaja wheat. Recognition of the damaged kernels is realized by evaluating light transmittance data of the kernels through use of artificial neural networks (ANN). Wheat kernels in the sub-group are left to fall in an oblique groove with semi-circular cross-section. While the kernels cross a LED light source, light transmitted through the kernel fall on a sensor just across the light source. Analog signals induced by the sensor are recorded and histograms of these signals are evaluated by using ANN in order to recognize sun-pest infected wheat kernels in the sub-group. Two different ANN models: multi layer perceptron (MLP) and self organizing map (SOM) models were used in the recognition process.
Mathematical Modeling and Simulation of a Flexible Shaft-Flexible Link System With End Mass
Mathematical and Computer Modelling of Dynamical Systems, 2004
In this study, the equation of motion of a single link flexible robotic arm with end mass, which ... more In this study, the equation of motion of a single link flexible robotic arm with end mass, which is driven by a flexible shaft, is obtained by using Hamilton's principle. The physical system is considered as a continuous system. As a first step, the kinetic energy and the potential energy terms and the term for work done by the nonconservative forces are established. Applying Hamilton's principle the variations are calculated and the time integral is constructed. After a series of mathematical manipulations the coupled equations of motion of the physical system and the related boundary conditions are obtained. Numerical solutions of equations of motion are obtained and discussed for verification of the model used.
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Papers by Prof.Dr. Fatih Mehmet Botsalı