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Öğe Adaptive fuzzy logic with self-tuned membership functions based repetitive learning control of robotic manipulators(Elsevier Ltd, 2021) Yilmaz B.M.; Tatlicioglu E.; Savran A.; Alci M.With increasing demand for using robotic manipulators in industrial applications, controllers specific for performing repeatable tasks are required. These controllers must also be robust to model uncertainties. To address this research issue, a repetitive learning control method fused with adaptive fuzzy logic techniques is designed. Specifically, modeling uncertainties are first modeled with a fuzzy logic network and an adaptive fuzzy logic strategy with online tuning is designed. The stability is investigated via Lyapunov type techniques where global uniform ultimate boundedness of closed loop system is guaranteed. Numerical simulation results obtained from a two degree of freedom robot manipulator model and experiments performed on a robot manipulator demonstrate the efficacy of the proposed control methodology. © 2021 Elsevier B.V.Öğe Android based mobile payment and vehicle control device [Android Tabanli Mobil Ödeme ve Araç Içi Kontrol Merkezi](Institute of Electrical and Electronics Engineers Inc., 2017) Turk E.; Savran A.; Arslan S.In this study, an intelligent embedded system which it can be used in fare collection system and all indoor vehicle applications at same time, is designed and Android porting to this device. We discuss expected characteristics of mobile payment and how Android works on any hardware and the concepts that outline the porting of Android onto any hardware. Requirement analysis is performed before starting the study to determine hardware features of the system. Bootloader, Linux kernel and root file system is prepared for this device. Environmental parameters of the bootloader is determined in accordance with the requirements. Android source code is patched and compiled to get system image. In conclusion, Android based mobile payment and vehicle control center design has been completed. © 2016 The Chamber of Turkish Electrical Engineers.Öğe Application of a neural network for estimating the crack formation and propagation in sol-gel CeO2 coatings during processing at temperature(Institute of Metals Technology, 2014) Savran A.; Alci M.; Yildirim S.; Yig^it R.; C¸elik E.In this study the application of a neural network to estimate the crack propagation and crack size in CeO2 coatings on a Ni substrate during processing at temperature was evaluated as a function of the Ce content in solutions with increasing processing temperatures from 24 oC and 700 oC. In this respect, CeO2 coatings were prepared on Ni tapes from solutions derived from Ce-based precursors using a sol-gel method for YBCO-coated conductors. The crack size of the coating was determined using an in-situ Hot-Stage ESEM depending on the temperature at a certain time in vacuum conditions. It was determined that the crack size of the coating increased with the increasing processing temperature. Measuring the crack sizes of the coatings using Hot-Stage ESEM is an expensive and time-consuming process. In order to eliminate these kinds of problems a neural-network approach was used to estimate the crack sizes of the coatings at different temperatures. The neural network was constructed directly from the experimental results. It was concluded that the estimation of the crack propagation of CeO2 coatings on a Ni tape substrate are reasonable for the processing temperatures.Öğe Improving quick response code detection performance in fare collection tools and an embedded system implementation [Ücret toplama araçlarinda kare kod algilama performansinin artirilmasi ve gömülü sistem gerçeklenmesi](Institute of Electrical and Electronics Engineers Inc., 2018) Şahan B.; Savran A.In this study, we have focused on paper ticket fare collection systems with square codes. It is intended to improve Quick Response code detection performance and to prevent unauthorized riding. A separate quick response code appeared on the paper ticket that appeared in ultra violet light, this purpose was achieved by checking the match with the first quick response code. Secure quick response code implementation for generating quick response code and triple data encryption standard for decoding have been adopted. The study was implemented on a Linux-based embedded system. We have developed the necessary libraries and drivers for all environments that use the operating system. © 2018 IEEE.Öğe Mixing Adaptive Fault Tolerant Control of Quadrotor UAV(Wiley-Blackwell, 2017) Büyükkabasakal K.; Fi·dan B.; Savran A.In this paper, a multiple model adaptive fault tolerant control scheme is proposed based on mixing of the control signals generated by a set of linear quadratic state feedback controllers. Each of these controllers are designed considering closed loop system performance for a particular range of fault. Stability analysis of the proposed scheme is provided. The paper further presents specific design and implementation for motion control of quadrotor unmanned aerial vehicles (UAVs). The designed mixing adaptive controller is tested via real-time experiments on Quanser Qball-X4 UAVs. The experimental results verify the efficiency of the proposed scheme. © 2017 Chinese Automatic Control Society and John Wiley & Sons Australia, LtdÖğe Real-time implementation of mixing adaptive control on quadrotor UAVs(Institute of Electrical and Electronics Engineers Inc., 2015) Buyukkabasakal K.; Fidan B.; Savran A.; Koksal N.In this study, a novel multiple model adaptive control scheme is designed and implemented for quadrotor unmanned aerial vehicles (UAVs). The proposed scheme involves a mixing adaptive controller that blends a set of pre-designed linear quadratic controllers. A particular goal of the design is guaranteeing robustness in lateral motion against modeling uncertainties. The designed controller scheme is tested via real-time experiments on Quanser Qball-X4 UAVs. The experimental results verify the efficiency of the proposed scheme. © 2015 EUCA.Öğe Self-Adjusting Fuzzy Logic Based Control of Robot Manipulators In Task Space(Institute of Electrical and Electronics Engineers Inc., 2021) Yilmaz B.M.; Tatlicioglu E.; Savran A.; Alci M.End effector tracking control of robot manipulators subject to dynamical uncertainties is the main objective of this work. Direct task space control that aims minimizing the end effector tracking error directly is preferred. In the open loop error system, the vector that depends on uncertain dynamical terms is modeled via a fuzzy logic network and a self-adjusting adaptive fuzzy logic component is designed as part of the nonlinear proportional derivative based control input torque. The stability of the closed loop system is investigated via Lyapunov based arguments and practical tracking is proven. The viability of the proposed control strategy is shown with experimental results. Extensions to uncertain Jacobian case and kinematically redundant robots are also presented. IEEEÖğe Syndactylizing arterialized venous flaps for multiple finger injuries(John Wiley and Sons Inc., 2014) Kayalar M.; Kucuk L.; Sugun T.S.; Gurbuz Y.; Savran A.; Kaplan I.Multiple soft tissue finger defects in different shapes and locations are usually difficult to manage. Such defects commonly involve tendons and bones. Palmar soft tissue defects may also lead to vascular compromise. In this retrospective report, we report the results of seven patients with multiple soft tissue finger defects that were covered by syndactylizing arterialized venous flaps. Six of the patients suffered hot-pressing machine and crushing injuries, one patient had a rolling belt injury. All patients presented with soft tissue defects on palmar or dorsal sides involving at least two digits. The palmar forearm was donor site for all patients. At least one afferent artery and two efferent veins were selected for the anastomosis. Lengths of afferent and efferent veins were long enough to perform healthy anastomosis outside the injury zone. The afferent vessels were anastamosed to the digital arteries with the largest possible diameter or to the common digital arteries to maximize flow. The efferent veins were anastamosed to dorsal veins. Separations of the digits were performed after three weeks by longitudinal incisions. The mean follow-up period was 12 months. None of our patients suffered a flap loss. Syndactylizing arterialized venous flaps may be used for composite or single tissue reconstruction for multiple finger defects with satisfactory cosmetic and functional outcomes. © 2014 Wiley Periodicals, Inc.
