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Makine Mühendisliği Bölümü

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    Kinematic Analysis of Overconstrained Manipulators With Partial Subspaces Using Decomposition Method
    (Cambridge Univ Press, 2022) Selvi, Ozgun
    Overconstrained manipulators in lower subspaces with unique motions can be created and analyzed. However, far too little attention has been paid to creating a generic method for overconstrained manipulators kinematic analysis. This study aimed to evaluate a generic methodology for kinematic analysis of overconstrained parallel manipulators with partial subspaces (OPM-PS) using decomposition to parallel manipulators (PMs) in lower subspaces. The theoretical dimensions of the method are depicted, and the use of partial subspace for overconstrained manipulators is portrayed. The methodology for the decomposition method is described and exemplified by designing and evaluating the method to two overconstrained manipulators with 5 degrees of freedom (DoF) and 3 DoF. The inverse kinematic analysis is detailed with position analysis and Jacobian along with the inverse velocity analysis. The workspace analysis for the manipulators using the methodology is elaborated with numerical results. The results of the study show that OPM-PS can be decomposed into PMs with lower subspace numbers. As imaginary joints are being utilized in the proposed methodology, it will create additional data to consider in the design process of the manipulators. Thus, it becomes more beneficial in design scenarios that include workspace as an objective.
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    Citation - Scopus: 1
    Prediction of the Onset of Shear Localization Based on Machine Learning
    (Cambridge Univ Press, 2023) Ayli, Ece; Ulucak, Oguzhan; Ugurer, Doruk; Akar, Samet
    Predicting the onset of shear localization is among the most challenging problems in machining. This phenomenon affects the process outputs, such as machining forces, surface quality, and machined part tolerances. To predict this phenomenon, analytical, experimental, and numerical methods (especially finite element analysis) are widely used. However, the limitations of each method hinder their industrial applications, demanding a reliable and time-saving approach to predict shear localization onset. Additionally, since this phenomenon largely depends on the type and parameters of the constitutive material model, any change in these parameters requires a new set of simulations, which puts further restrictions on the application of finite element modeling. This study aims to overcome the computational efficiency of the finite element method to predict the onset of shear localization when machining Ti6Al4V using machine learning methods. The obtained results demonstrate that the FCM (fuzzy c-means) clustering ANFIS (adaptive network-based fuzzy inference system) has given better results in both training and testing when it is compared to the ANN (artificial neural network) architecture with an R-2 of 0.9981. Regarding this, the FCM-ANFIS is a good candidate to calculate the critical cutting speed. To the best of the authors' knowledge, this is the first study in the literature that uses a machine learning tool to predict shear localization.