Today's technology has increased the interest in robotic systems and increase the number of studies realized in this area. There are many studies on robotic systems in several fields to facilitate human life in the literature. In this study, a robot hand is designed to repeat finger movements depending upon flexible sensors mounted on any wearable glove. In the literature, various sensors that detect the finger movement are used. The sensor that detects the angle of the fingers has been shown to provide high accuracy although cheap in present research. Moreover, by entering the sensor data into the open source interface program called Blender 3D, it can be seen on the program how the hand of the robot moves. Thanks to the prototype of robotic hand in this study is developed with different materials and mechanisms, it is possible to carry out experimental studies at low cost in places where it is unsuitable for human health and safety. The angle data on the sensors and servo motor position information are transmitted through the RF 433 MHz wireless module. The determinations related to robot hand control are performed with Arduino card.
Everyone who is an amateur or student interested in electricity or electronics needs a signal generator that can produce different types of signals that must be located at the front edge. This requirement can often be met by equipment in the laboratories or signal generators received at high prices under the project. This study focuses on the design of a low cost signal generator having high accuracy and sensitivity. In previous studies, DDS (Direct Digital Synthesis) method was implemented with FPGA and other high cost microcontrollers. With this study, the design of the high-accuracy signal generator has been made simpler and more cost-effective thanks to the PIC microcontroller, which can be found easily in the market. The device designed in the study is a digital signal generator that produces sine, triangle and square wave which are created using decimal numbers in the microcontroller and converted to analog signal via DAC (Digital to Analog Converter). Also, the digital potentiometer on the device, which is used as feedback in the circuit, allows us to control the output signal. This study provides a solution for producing a low cost laboratory type signal generator having high sensitivity, however this solution is not a new method. Satisfactory results have been achieved from the implementation circuit.
Roundabouts are one of the safest types of intersections. There are a number of roundabout types in literature. Each roundabout type is distinguished by some characteristics. To design more efficient junctions, hybrid roundabouts can be created by combining their required characteristics geometrically. In this study, the safety feature of the turbo junction type and the easing up the traffic density feature of the hamburger junction have been combined. Some geometric parameters and layout details of the proposed hybrid roundabout are given, and its performance was simulated in a signalised 4-leg roundabout as the most frequently used intersection in Antalya. The performance of the proposed hybrid roundabout was compared with the status in 2016 and the current status in 2017 and beyond of the roundabout through AIMSUN transport simulation software. In regard to performance analysis, delay time, travel time, speed, density, fuel consumption, number of stops, queuing, carbon emission were analysed for all statuses and compared. In addition, traffic safety analysis has been performed for all statuses and compared. Results show that the overall average performance of the proposed roundabout increases by 40% and 41.8% in comparison with the statutes in 2016, 2017 and beyond, respectively. The proposed roundabout is 41% safer than the status in 2016, and the accident risk is lower by 18.5% than the current status.
ÖzetThe flux, speed, and torque control performance of asynchronous motors are affected by parameter deviations and nonlinear variations of the asynchronous motor. In this study, Direct Torque Control (DTC) and Indirect Field Oriented Control (IFOC) structures are examined and asynchronous motor parameter deviations in both control structures are varied to desensitize with Artificial Neural Networks (ANN). In the literature, PI controllers are used in the IFOC structure. ANN is proposed for parameter desensitization, to the best of our knowledge no comparison and assessment has been made in the literature for these two methods. Comparisons are usually on the Direct Field Oriented Control (DFOC). This study proposes the parameter desensitization of IFOC and DTC with / without artificial neural networks and examines the effect on output performance. With the proposed control structure, it has been observed that the values of flux, torque and speed of asynchronous motor outputs capture the reference value at the desired performance and decrease the error values. With the proposed desensitization with ANN, IFOC performed over 50% better particularly in the time of overshoot and sitting than DTC. The proposed algorithms are implemented with Matlab / Simulink and the same reference values are used for each method.
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