Mekatronik Mühendisliği Bölümü

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Citation - WoS: 1
Citation - Scopus: 3
Analytical Solution of Thermal Stresses in a Functionally Graded Solid Cylinder Within Parabolic Continuous Grading
(Trans Tech Publications Ltd, 2013) Gulgec, Mufit; Ozturk, Ali
This paper presents analytical solutions of the thermal stresses in a functionally graded solid cylinder with fixed ends in elastic region. These thermal stresses are due to the uniform heat generation inside the cylinder. Material properties of the functionally graded (FG) cylinder vary radially according to a parabolic form. The material properties are assumed to be independent of the temperature which are yield strength, elasticity modulus, thermal conduction coefficient, thermal expansion coefficient and Poisson's ratio. The solutions for the thermal stresses are valid for both homogeneous and functionally graded materials.
Citation - WoS: 13
Citation - Scopus: 13
Averaging of Receiver Aperture for Flat-Topped Incidence
(Elsevier Sci Ltd, 2013) Kamacioglu, Canan; Baykal, Yahya; Yazgan, Erdem
Using a flat-topped profile for the incident beam, the power scintillation index for weak atmospheric turbulence is formulated and analytically evaluated. Through the use of the aperture averaging factor, the averaging effect of the finite receiver aperture on the intensity fluctuations for a flat-topped incident beam is examined. The influence of the order of flatness on the averaging is investigated. At large propagation lengths, increasing the flatness parameter decreases the power scintillations and it is possible to further reduce the scintillation by increasing the receiver aperture. Increasing the structure constant increases this effect. (C) 2013 Elsevier Ltd. All rights reserved.
Citation - WoS: 1
Citation - Scopus: 2
Classification of Low Probability of Intercept Radar Waveforms Using Gabor Wavelets
(Gazi Univ, Fac Engineering Architecture, 2021) Ergezer, Halit
Low Probability of Intercept (LPI Radar) is a class of radar with specific technical characteristics that make it very difficult to intercept with electronic support systems and radar warning receivers. Because of their properties as low power, variable frequency, wide bandwidth, LPI radar waveforms are difficult to intercept by ESM systems. In recent years, studies on the classification of waveforms used by these types of radar have been accelerated. In this study, Time-Frequency Images (TFI) has been obtained from the LPI radars waveforms by using Choi-Williams Distribution method. From these images, feature vectors have been generated using Gabor Wavelet transform. In contrast to many methods in the literature, waveform classification has been performed by directly comparing the feature vectors obtained without using any machine learning method. With the method we propose, classification accuracies were obtained at intervals of 2 dB between -20 dB and 10 dB and performed at reasonable classification accuracy rates up to -8 dB SNR value. Better results than the best reported in the literature were obtained for some signal types. The results obtained for all waveform types are given in comparison with the results of the existing methods in the literature.
Citation - WoS: 20
Citation - Scopus: 22
A Comparison of Iterative Fourier Transform Algorithms for Image Quality Estimation
(Optical Soc Japan, 2018) Alsaka, Dina Yaqoob; Arpali, Caglar; Arpali, Serap Altay
A comparison was established between two iterative Fourier transform algorithms (IFTAs), such as the original Gerchberg-Saxton (GS) and the mixed-region amplitude freedom (MRAF) algorithms, for the hologram reconstruction of different target images through the full reference image quality estimation (IQE) and pixel homogeneity in the Fourier plane presented theoretically and experimentally. The comparison was applied depending upon both algorithms based on a computer-generated hologram (CGH) implemented utilizing a reflective phase-modulated liquid-crystal spatial light modulator (LC-SLM) to obtain the digital kinoform holograms of the desired intensity distributions. These digital holograms were applied to reconstruct the intensity patterns for 852 nm, which represents a laser beam source. The theoretical and experimental results of the reconstructed patterns obtained using the MRAF algorithm were found to be smoother and better than the patterns obtained using the GS algorithm. Unmodulated light beam (dc term) is removed from the reconstructed patterns attributed to digital kinoform holograms of MRAF algorithm as an alternative to the theoretical and experimental results without using any additional optic equipment at the light path. Moreover, this paper discussed the full reference objective quality estimations, such as mean square error (MSE), peak signal-to-noise ratio (PSNR), structural content (SC), normalized absolute error (NAE), normalized cross correlation (NK), and homogeneity of pixels, through the contrast (Cont) and inverse difference moment (IDM) for numerical and experimental results. According to the two desired intensity distributions processed theoretically and experimentally, the results of MRAF algorithm were found to be in the highly accurate recovered phase, the quality of image was enhanced, and the dc term was decreased. Image quality estimation of full reference objective relay on the feedback algorithms experimental attestation has not been implemented yet.
Citation - WoS: 9
Citation - Scopus: 10
Computation of Supervisors for Reconfigurable Machine Tools
(Springer, 2015) Schmidt, Klaus Werner
The rapid reconfiguration of manufacturing systems is an important issue in today's manufacturing technology in order to adjust the production to varying product demands and types. In this paper, we study the control of reconfigurable machine tools (RMTs) with the aim of fast reconfiguration and an easy controller implementation. We first formulate a particular reconfiguration problem for RMTs in a discrete event system setting, and then provide a necessary and sufficient condition for its solution. Moreover, we propose a polynomial-time algorithm for the construction of a reconfiguration supervisor as the composition of one modular supervisor for each separate RMT configuration. Each modular supervisor operates in three modes. In the first mode, it tracks the plant state if its corresponding configuration is inactive. In the second mode, it performs a configuration change if its corresponding configuration becomes active and in the third mode, it follows the specified behavior of its corresponding configuration if the configuration is active. An important property of the proposed reconfiguration supervisor is that it performs reconfigurations in a bounded number of event occurrences. In addition, the modular realization of our reconfiguration supervisor enables controller modifications such as adding or removing configurations during run-time. All results presented in the paper are illustrated by an RMT example.
Citation - WoS: 2
Citation - Scopus: 3
Control Structure Design With Constraints for a Slung Load Quadrotor System
(Sage Publications Ltd, 2024) Leblebicioglu, Kemal; Ergezer, Halit
We propose a control structure for a quadrotor carrying a slung load with swing-angle constraints. This quadrotor is supposed to pass through the waypoints at specified speeds. First, a cascaded PID autopilot is designed, which adaptively gives attention to position and speed requirements as a function of their errors. Its parameters are found from an optimization problem solved using the PSO algorithm. Second, this controller's performance is improved by adding the Complementary Controller employing an ANN. 5. Training data for the ANN is created by solving optimal control problems. The ANN is activated when the swing angle constraint is about to be violated. It is trained using optimal control values corresponding to the cases where the swing angle falls in a particular band about the upper swing angle constraint. Simulations are performed in a MATLAB environment. Finally, some of the simulation results are validated on a physical system.
The Controllability Prefix for Supervisory Control Under Partial Observation With an Application To Fault-Tolerant Control
(Elsevier, 2017) Moor, Thomas; Schmidt, Klaus Werner
The controllability prefix is known as a useful concept for the discussion and solution of synthesis problems in supervisory control of cp-languages, i.e., formal languages of infinite-length words. There, the controllability prefix is defined as the set of all finite-length prefixes that can be controlled to satisfy prescribed liveness and safety properties. In this paper, we discuss a variation of the controllability prefix to address supervisory control under partial observation for regular *-languages, i.e., formal languages of finite-length words. We derive algebraic properties that are useful for a quantitative analysis on how an upper-bound language-inclusion specification affects achievable lower-bound specifications. Our study is motivated by the synthesis of fault-tolerant supervisory controllers, where the possible occurrence of a fault may restrict the achievable pre-fault behaviour so severe, that a relaxation of the upper-bound specification becomes a practical option. As our study shows, such a relaxation can be systematically constructed in terms of the controllability prefix. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Citation - WoS: 2
Citation - Scopus: 6
Controller Area Network With Priority Queues and Fifo Queues: Improved Schedulability Analysis and Message Set Extension
(inderscience Enterprises Ltd, 2016) Schmidt, Klaus Werner; Alkan, Burak; Schmidt, Ece Guran; Karani, Duygu Culum; Karakaya, Utku
Controller area network (CAN) enables communication of electronic control units (ECUs) via messages using priority-based arbitration, which requires the implementation of priority queues (PQs) in the ECU device driver. Nevertheless, it is possible that not all ECUs on a CAN support PQs but use FIFO queues (FQs) instead. In this case, the classical CAN scheduling model with PQs is not suitable for the computation of message worst-case responsetimes (WCRTs) that are essential for verifying the correct vehicle operation. This paper considers an existing scheduling model for CAN with both PQs and FQs. First, an improved algorithm for speeding up the WCRT computation is proposed. Second, the practical case where an existing CAN message set is extended by new messages is addressed. An original algorithm for assigning priorities to new messages while keeping the priority order of existing messages is developed. Both algorithms are evaluated by computational experiments.
Controller Design for Cacc With Time-Varying Communication Delays
(Ieee, 2023) Soysal, Gokhan; Schmidt, Klaus Werner; Bingol, Hilal
Cooperative Adaptive Cruise Control (CACC) aims at the safe and comfortable travel of vehicles at short distances in the form of platoons. Hereby, it is generally desired to attenuate disturbances along vehicles in a platoon, which is captured by different string stability conditions. In this paper, we focus on L-infinity string stability. This condition ensures reducing the magnitude of the acceleration signal along the platoon, which helps to avoid actuator saturation and increases driving comfort. Since the performance of CACC is adversely affected by time-varying communication and actuator delays, we develop the first controller design method for L-infinity-string stability, combining the Lyapunov-Krasovskii method and our custom bisection algorithm. Simulation experiments demonstrate the effectiveness of our method.
Citation - WoS: 12
Citation - Scopus: 18
Cooperative Adaptive Cruise Control for Vehicle Following During Lane Changes
(Elsevier, 2017) Schmidt, Klaus W.
This paper addresses the longitudinal vehicle behavior before and during lane changes. Hereby, it is desired that the lane-changing vehicle simultaneously follows its predecessors on the lanes before and after the lane change. Specifically, the lane changing vehicle should keep a safe distance to the rearmost predecessor vehicle, while maintaining a small inter vehicle spacing and supporting driving comfort. To this end, the paper develops an extension of cooperative adaptive cruise control (CACC). Instead of following a single vehicle as in the classical realization of CACC, it is proposed to follow a virtual vehicle that is evaluated based on distance measurements and communicated state information from the predecessor vehicles. A simulation study demonstrates the practicability of the proposed method. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Citation - WoS: 6
Citation - Scopus: 6
Design and Implementation of an Electrode Feed Rate Control System in the Electrochemical Drilling Process
(Springer Heidelberg, 2022) Cogun, Can; Ozerkan, Haci Bekir
The interelectrode gap distance control is essential for preventing short circuit and spark discharge occurrences in the machining gap and ensuring a constant distance between the tool electrode (shortly electrode) and the workpiece throughout the electrochemical drilling (ECD) process. In this study, a gap distance control system was designed and implemented in the constructed ECD machine tool. The gap distance control strategy was based on the machining current's discrete measurement (in microsecond intervals) and changing the gap distance according to a set current value by feeding the electrode towards the workpiece or retracting it during the ECD process. The small diameter deep hole ECD experiments were conducted using 0.5 mm diameter side insulated tubular rotational electrodes with through-hole electrolyte flushing to drill Hadfield and AISI 1040 steels. The experimental results demonstrated the success of the developed control system in ECD operations yielding uniform hole geometries and smooth hole surfaces. The use of the control system eliminated the undesirable formations of spark discharges and short circuit pulses.
Design and Implementation of Visual Simultaneous Localization and Mapping (Vslam) Navigation System
(Ieee, 2021) Ergezer, Halit; Bekcan, Arda
It is very important to guess the location of the redetected objects and loop closures with the visual simultaneous localization and mapping system (VSLAM), one of the biggest problems of a mobile robot. VSLAM makes it possible to eliminate and/or reduce these applications' errors and realize or improve the robot's direction and position correctly by creating a map of the environment. This study aims to achieve an autonomous indoor/outdoor navigation of a ground robot using VSLAM algorithm in an unknown environment using a monocular camera. In this context, the theoretical information was tested in real-world conditions. Performance of localization and loop closing were compared based on the results obtained by experiments
Citation - WoS: 15
Citation - Scopus: 16
Developing and Implementation of an Optimization Technique for Solar Chimney Power Plant With Machine Learning
(Asme, 2021) Kocak, Eyup; Bayer, Ozgur; Beldek, Ulas; Yapic, Ekin Ozgirgin; Ayli, Ece; Ulucak, Oguzhan
Green energy has seen a huge surge of interest recently due to various environmental and financial reasons. To extract the most out of a renewable system and to go greener, new approaches are evolving. In this paper, the capability of Artificial Neural Network and Adaptive Neuro-Fuzzy Inference System in geometrical optimization of a solar chimney power plant (SCPP) to enhance generated power is investigated to reduce the time cost and errors when optimization is performed with numerical or experimental methods. It is seen that both properly constructed artificial neural networks (ANN) and adaptive-network-based fuzzy inference system (ANFIS) optimized geometries give higher performance than the numerical results. Also, to validate the accuracy of the ANN and ANFIS predictions, the obtained results are compared with the numerical results. Both soft computing methods over predict the power output values with MRE values of 12.36% and 7.25% for ANN and ANFIS, respectively. It is seen that by utilizing ANN and ANFIS algorithms, more power can be extracted from the SCPP system compared to conventional computational fluid dynamics (CFD) optimized geometry with trying a lot more geometries in a notably less time when it is compared with the numerical technique. It is worth mentioning that the optimization method that is developed can be implemented to all engineering problems that need geometric optimization to maximize or minimize the objective function.
Citation - WoS: 2
Citation - Scopus: 2
Development of Air-To Engagement Analysis Model of Fighter Aircrafts
(Gazi Univ, Fac Engineering Architecture, 2022) Bektas, Almila; Ergezer, Halit; Erdogan, Sinem
In operational analysis studies; it is possible to model and simulate at an engineering level, engagement level, task level and campaign forces level. In this study, modelling and simulation studies are performed in engagement-level allowing the analysis of air-to-ground engagement effectiveness of fighter aircraft according to the operational environment. The operating environment of the combat aircraft, which provides survivability analysis based on low visibility and electronic mixing capabilities, is created. The search radar and tracking radar models for ground-to-air threats have been designed in accordance with the engagement level. The dynamic model of the fighter aircraft and the ground-to-air missile have been modelled using pseudo 5 degree-of-freedom. Modelling has been carried out to allow the use of changes in the Radar Crosssectional Area (RCS), which is one of the most important factors affecting the survivability of the aircraft, with respect to azimuth and elevation angles. The Radio Frequency (RF) jamming capability of the fighter aircraft has also been modelled in accordance with the engagement level. The results of the generic scenarios for the analysis of the effect of these models' parameters on the survivability of fighter aircraft have been presented.
Citation - WoS: 15
Citation - Scopus: 17
Distributed Real-Time Protocols for Industrial Control Systems: Framework and Examples
(Ieee Computer Soc, 2012) Schmidt, Klaus Werner; Schmidt, Ece Guran
The automation of today's large-scale industrial systems relies on the operation of distributed controller devices that perform local computations and exchange information via communication networks. The subject of this paper is the development of a family of shared-medium industrial communication protocols that support the transmission of real-time (RT) and nonreal-time (nRT) data among distributed controller devices. Different from existing protocols, we suggest to incorporate information that is available from the control application in the protocol definition. As a result, our protocols dynamically change the bandwidth allocation on the shared medium according to the instantaneous communication requirements while ensuring hard RT guarantees. Following the recent developments in industrial automation, our protocols can be realized as software layers on top of low-cost conventional Ethernet.
Citation - WoS: 7
Citation - Scopus: 6
Dynamic Flat-Topped Laser Beam Shaping Method Using Mixed Region Amplitude Freedom Algorithm
(Springer Heidelberg, 2022) Arpali, Caglar; Arpali, Serap Altay; Altemimi, Mohammed Fawzi; Alsaka, Dina Yaqoob
A dynamic beam shaping method is proposed for the generation of flat-top beams (FTBs) in the far field. Using the mixed-region amplitude freedom algorithm, this new method is used to design the required phase distribution encoded on a spatial light modulator for the generation of FTB profiles. The characteristics of these new beam shaping methods are used as beam parameters, such as the laser beam size, the beam intensity of square FTBs, and the root-mean-square error (RMSE). Using our proposed method, the theoretical performance of beam intensity shaping is improved to an RMSE < 0.02 with a minimum number of iterations of phase reconstruction. Using the phase hologram of dynamic beam shaping, theoretical and experimental comparisons of edge steepness and plateau uniformity were established for the square FTBs of variable beam sizes. It is shown that the dynamic beam shaping of FTBs can produce high intensity uniformity in the plateau region with steep edges, which makes it an effective tool, especially for laser machining applications.
Citation - WoS: 21
Citation - Scopus: 25
Effect of Electrical Discharge Machining on Dental Y-Tzp Ceramic-Resin Bonding
(Elsevier Ireland Ltd, 2017) Kucukturk, Gokhan; Gurun, Hakan; Cogun, Can; Esen, Ziya; Rona, Nergiz; Yenisey, Murat
Purpose: The study determined (i) the effects of electrical discharge machining (EDM) on the shear-bond strength (SBS) of the bond between luting resin and zirconia ceramic and (ii) zirconia ceramic's flexural strength with the three-point bending (TPB) test. Methods: Sixty 4.8 mm x 4.8 mm x 3.2 mm zirconia specimens were fabricated and divided into four groups (n = 15): SBG: sandblasted + silane, TSCG: tribochemical silica coated + silane, LTG: Er:YAG laser treated + silane, EDMG: EDM + silane. The specimens were then bonded to a composite block with a dual-cure resin cement and thermal cycled (6000 times) prior to SBS testing. The SBS tests were performed in a universal testing machine. The SBS values were statistically analyzed using ANOVA and Tukey's test. To determine flexural strength, sixty zirconia specimens were prepared and assigned to the same groups (n = 15) mentioned earlier. After surface treatment TPB tests were performed in a universal testing machine (ISO 6872). The flexural strength values were statistically analyzed using ANOVA and Tukey's test (a = 0.05). Results: The bond strengths for the four test groups (mean SD; MPa) were as follows: SBG (Control), 12.73 +/- 3.41, TSCG, 14.99 +/- 3.14, LTG, 7.93 +/- 2.07, EDMG, 17.05 +/- 2.71. The bond strength of the EDMG was significantly higher than those of the SBG and LTG (p < 0.01). The average flexural strength values for the groups SBG (Control), TSCG, LTG and EDMG were 809.47, 800.47, 679.19 and 695.71 MPa, respectively (p > 0.05). Conclusions: The EDM process improved the SBS. In addition, there was no significant adverse effect of EDM on the flexural strength of zirconia. (C) 2016 Japan Prosthodontic Society. Published by Elsevier Ltd. All rights reserved.
Citation - WoS: 32
Citation - Scopus: 36
Effect of Powder Metallurgy Cu-B4c Electrodes on Workpiece Surface Characteristics and Machining Performance of Electric Discharge Machining
(Sage Publications Ltd, 2016) Cogun, Ferah; Akturk, Nizami; Cogun, Can; Esen, Ziya; Genc, Asim
The main aim of this study is to produce new powder metallurgy (PM) Cu-B4C composite electrode (PM/(Cu-B4C)) capable of alloying the recast workpiece surface layer during electric discharge machining process with boron and other hard intermetallic phases, which eventually yield high hardness and abrasive wear resistance. The surface characteristics of the workpiece machined with a PM/(Cu-B4C) electrode consisted of 20 wt% B4C powders were compared with those of solid electrolytic copper (E/Cu) and powder metallurgy pure copper (PM/Cu) electrodes. The workpiece surface hardness, surface abrasive wear resistance, depth of the alloyed surface layer and composition of alloyed layers were used as key parameters in the comparison. The workpiece materials, which were machined with PM/(Cu-B4C) electrodes, exhibited significantly higher hardness and abrasive wear resistance than those of machined with the E/Cu and PM/Cu. The main reason was the presence of hard intermetallic phases, such as FeB, B4C (formed due to the boron in the electrode) and Fe3C in the surface layer. The improvement of the surface hardness achieved for steel workpiece when using PM/(Cu-B4C) electrodes was significantly higher than that reported in the literature. Moreover, the machining performance outputs (workpiece material removal rate, electrode wear rate and workpiece average surface roughness (Ra)) of the electrodes were also considered in this study.
Citation - WoS: 10
Citation - Scopus: 9
The Effect of Powder Mixed and Heated Dielectric on Drilling Performance of Electric Discharge Machining (Edm)
(Gazi Univ, Fac Engineering Architecture, 2016) Cogun, Can; Urtekin, Levent; Ozerkan, H. Bekir; Uslan, Ibrahim; Erdem, Oguz
In this study, heated silicon oil with added carbon and starch powders was used as dielectric liquid, instead of common hydro-carbon based dielectrics, to obtain better hole surface quality with rotating brass tube electrode in electric discharge machining (EDM). The electro-rheometer tests were conducted to find out the suitable temperature and powder concentration values of the electro-rheological (ER) dielectric under the electric field. Higher workpiece material removal rates (MRR) was obtained in carbon powder added dielectrics than the starch powder added ones for rotating and non-rotating electrodes. The optical microscope observations of the machined hole surfaces indicated that the carbon powder added dielectrics reduced the diameter and depth of the discharge craters, thereby resulting in uniformly distributed and round top peaked surface topography. The starch powder addition to the carbon mixed dielectric further improved the surface quality for both rotating and non-rotating electrodes cases at 30 degrees C and 75 degrees C dielectric temperatures.
Citation - WoS: 9
Citation - Scopus: 10
Effect of Use of Cu-Cr P/M Electrodes on Machining Performance of Electric Discharge Machining
(Gazi Univ, Fac Engineering Architecture, 2015) Gulcan, Orhan; Çoğun, Can; Uslan, Ibrahim; Usta, Yusuf; Cogun, Can; Mekatronik Mühendisliği
In this study, the effect of use of Cu-Cr powder metal (P/M) electrodes on EDM performance outputs, namely material removal rate (MRR), electrode wear rate (EWR), mean and maximum roughness of machined surface (R-a and R-z) and workpiece surface recast layer thickness, was investigated experimentally. The Cu-Cr P/M electrodes produced at different mixing ratios, compacting pressures and sintering temperatures were used to machine SAE 1040 steel. The analyses performed have shown that the electrode material is deposited on to the work surface as a layer and the powder mixing ratio, the compaction pressure and sintering temperature affect the EDM performance outputs.

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