Dünya genelinde artan yalın üretim sistemlerinin gelişmesinde şüphesiz en önemli değere sahip olan girdilerden birisi de robotik çalışmalardır. Robotik çalışmalar sayesinde üretimde oluşabilecek hata payları ve kaza oranları en aza indirilerek üretimler gerçekleştirilebilmektedir. Başka bir söyleyişle, endüstriyel uygulamalarda robot kullanımının yaygınlaşması ile birlikte üretim kalitesi ve hassasiyeti artmıştır. Bu yaklaşımla, robot manipülatörlerinin zamanla insan eli yapısına olan benzerliklerinin artması gözlemlenmektedir. Bu çalışmada, eldivene monte edilmiş esneklik sensörleri yardımıyla insan elinden alınan konum bilgileri ile mekatronik tabanlı robotik elinin kontrolü sağlanmıştır. İnsan el parmaklarının açısal hareketleri algılanarak bir mikrodenetleyici tarafından işlendikten sonra servo motorlar yardımıyla robot elin kontrolü gerçeklenmiştir. Çalışma sonunda ortaya çıkan robot el ile insan için tehlikeli ortamlarda manipülasyon işlemlerini uzaktan kontrol etmek amaçlanmıştır. Diğer mevcut manipülatörlerin aksine daha az bir maliyet ile gerçekleştirilen bu çalışmanın ileride gerçekleştirilmesi planlanan yapay zeka tabanlı çalışmalara zemin oluşturması hedeflenmektedir.
One of the main problems in path planning for multiple mobile robots is to find the optimal path between two points so that robots can follow the shortest path and consume the least energy. Also, motion planning is important to avoid collisions if multiple mobile robots are running together within environments with obstacles. In this study, motion planning for multiple robots has been proposed. It is desired that robots could move in coordination with each other from the starting point to the destination point on a plane. The coordinates of the objects and mobile robots have been acquired using image processing with a single ceiling camera. The path planning for the shortest distance has been performed using A* algorithm in dynamic frame between robot-object and object-target point, respectively. A graphical user interface has been developed based on MATLAB GUI. It is hoped that the developed system will have a wide area of applications in industry and will make important contributions for the improvement of manufacturing, assembly, transportation and storage technologies.
In this study, unlike in other similar studies, the localization of mobile robots has been realized using an integrated system based on odometry, camera images and the extended Kalman filter. This integrated system was developed to determine the location of the mobile robots in the environment. It is controlled by an interface, designed specifically for this study, based on Robot Operation System. In the designed system firstly the images have been acquired from the overhead camera located in a fixed position. The received images have been processed by image processing algorithm. This way the position and rotation angle of the mobile robot have been measured. The location and the rotation angle have been also estimated using the odometric sensors and the kinematic model of mobile robot. The data obtained by these two methods have been used in extended Kalman filter to achieve a more accurate localization of the mobile robot. In the expanded Kalman filter, the image processing system performs the function of measurement model while the odometric sensors perform the function of state forecasting model. The accuracy of the system and performance have been tested with realistic experiments. The results has shown that the developed new system can be used in professional mobile robot applications.
ÖzTeknolojinin gelişmesine paralel olarak kamera sistemlerinde yüksek düzeyde kaliteyi öngören lensler tasarlanmıştır. Ancak bu lensler yapısal olarak her ne kadar görüntü kalitesinde başarılı olsalar da üzerinde tahribat meydana gelmiş görüntülerin ayırt edilmesinde herhangi bir ek özellik mevcut değildir. Esasen bu tür tahribatların giderilmesi için yapay zeka teknikleri kullanmak mümkündür. Bu çalışmada, yapay sinir ağları kullanarak üzerinde tahribat meydana gelmiş görüntülerin morfolojik görüntü işleme teknikleri ile birleştirilerek tahribatın derecesine göre orijinal görüntüye yakınsaması ele alınmıştır. Ayrıca bu amaca ulaşmak ve kullanımı kolaylaştırmak amacıyla geliştirilen arayüz sayesinde eğitim ve test verilerinin yanı sıra ağı oluşturmak için kullanılacak parametrelerin kolaylıkla hazırlanan algoritmaya entegrasyonu sağlanmaktadır. AbstractThe lenses providing high quality for camera systems are designed as parallel with developing technologies. These lenses do not have any additional functionality to distinguish damaged images while they are successful with regard to image quality. Essentially, artificial intelligence techniques can be used to eliminate such damaged cases. In this study, convergence to original image of the damaged images according to the degree of damage using together artificial neural networks and morphological image processing techniques are discussed. Also, it is provided to be integrated training and test data with used algorithm thanks to developed interfaces to achieve goal and to facilitate use. In addition, this interface is used to be entered the training parameters to the system.
In this study, a new communication protocol, which addresses the rotary table, has been designed. Developed system works over a single line and is using slip rings. The designed communication protocol ensures the half duplex communication for multiple stations over a single cable. During the protocol design, media access methods, coding techniques and multi-node synchronization techniques were examined. These techniques have been adapted, updated and combined for the study, during the formation of the communication protocol. The designed protocol was tested and verified in the simulation environment with original software, on the microcontrollers. The protocol is aimed to be open source, flexible, easily applicable and a new solution for the distributed control problems in the field of automation and for the rotary table systems in particular.
This study aims to design a new energy absorber (damper) to protect structures against impact loads and against sudden transition from resonance region. It is an adaptation of interference fit process in machine elements for designing of damper based on the principles of Coulomb friction. There are a lot of investigations of dampers based on Coulomb friction. In this study, pre-stress is obtained by interference fit. It is different from other studies and is original in this respect. There is a contact pressure between the shaft and the hub in the interference fit joints and frictional force occurs with the beginning of the relative motion in the axial direction. Thus, the damaging energy is absorbed from the system. The quantity of damping ratio depends directly on the tolerances of the shaft and the hub and can be easily adjusted. This is another advantage of the friction damper with interference fit compared to similar dry friction dampers.
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