Department of Mechatronics Engineering

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    AUTOMATED CLUSTERING OF BEHAVIOUR MODULES FOR SOCIAL ROBOTS
    ( 2023-01-27) AL-ZUABIDI, Muneer Mohammed Adnan ; ERDEN, Zühal
    This thesis presents a method for automatically generating behaviour modules for social robots using clustering algorithms. Behavioural modules are considered a vital element of social robot family design which falls in the benefit of individual’s needs. The work includes the implementation of different clustering techniques such as K means, Agglomerative Clustering, and BRICH to cluster behavioural elements of social robot which are categorized as "perception", "cognition" and "motoric action". In this thesis, a previously generated data list consisting of linguistic values from these elements in size of 28 by 3 is used. A mapping method is developed to represent the data in numeric form. Also, a 3D graphical representation of the data is obtained. In addition, a variety of behavioural modules are generated and evaluated using right clustering algorithms, three algorithms of which are decided as successful. The generated modules are evaluated based on four criteria as, cost, mobility, complexity, and power consumption. The results of this work can be used by researchers and engineers in the field of social robotics particularly during the conceptual design of personalized social robots. Additionally, the proposed criteria and visualization techniques can be used as a starting point for future research in this area.
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    A MULTI-CRITERIA DECISION MAKING APPROACH FOR ROBOT SELECTION IN A MANUFACTURING ENVIRONMENT
    ( 2022-06-10) ARSLAN, Rasim Atakan ; ERDEN, Zuhal ; BAÇ, Uğur
    In this thesis, we apply SWARA-WASPAS method as a multi-criteria decision making (MCDM) method for selecting the most suitable mechatronic systems to be used for the conversion of human-based production lines to production lines with robot-based automation systems. Robots are becoming not only quicker and more precise than people, but they are also frequently more cost-effective in the long term. Getting high efficiency from the robots used for different missions and choosing the most suitable robot are among the most difficult problems. To select the most suitable systems among different alternatives, SWARA-WASPAS hybrid decision making method, which suggest making the most appropriate choice among different alternatives by considering different criteria and the opinions of different experts, is applied according to the characteristic criteria of these systems, and a sensitivity analysis was carried out. As a result of the thesis, the most suitable robots from each robot selection problem are determined and it is seen that the most suitable robot is not change with the sensitivity analysis made for each robot class, but the other alternatives could change depending on the combined optimality coefficient value used.
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    DESIGN OF TWO WHEELED TWIN ROTORED HYBRID ROBOTIC PLATFORM
    ( 2010-07-27) KÜÇÜK, Doğanç ; ARIKAN, Kutluk Bilge ; İRFANOĞLU, Bülent
    The design of the two wheeled twin rotored hybrid robot (TWTR) structure is explained in the thesis. This study is the initial phase of the project to reach a hybrid platform that can navigate on ground and hover and navigate in air whenever necessary. This initial phase includes the design of the initial version of the physical system and design of basic controllers depending on the mathematical models and simulations. The system is designed and physically constructed based on the mechatronics design principles. Selection of actuators, sensor set, and the control hardware and the physical structure design are all considered simultaneously with the mathematical model and controller design phases. Nonlinear equations of motion of the physical system are derived and linearized in state space form for both ground and flying modes of motion. Linear Quadratic Regulator (LQR) and Error Space Approach type of controllers are designed employing the mathematical model and simulations. For ground motion, LQR and Error Space Approach controllers are designed and implemented on the real system; whereas PID and LQR type control systems are designed and implemented for the flying motion of the real robotic platform. Stabilization of the attitude dynamics is considered for the flying motion in this study. Designed control systems are implemented on the physical system and the control parameters are tuned experimentally. The control system is developed in Matlab/Simulink and real time implementation is achieved by using Simulink Real Time Windows Target utility. Embedded controllers are not utilized in this first stage. Control systems are designed for the stabilization of the system and error space approach is applied for tracking a reference for the motion of the robot on ground. LQR’s are designed to stabilize the attitude dynamics of the robot for flying motion. Switching between the control systems on ground and in air modes are achieved using a proximity sensor that can sense the distance of the platform body to the ground. Experiments show that system can be stabilized on ground and the attitude dynamics can be stabilized in air. The system will be developed to fully guide on ground and in air.
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    DESIGN OF A MODULAR EDUCATIONAL SET-UP FOR MECHATRONICS ENGINEERING
    ( 2013-03-22) AYHAN, Emre ; ERDEN, Zühal
    This thesis is a study on modular mechatronic product design. The main purpose of this study is to implement heuristic approach to the modular design of a mechatronic product family. The heuristic method has been developed and applied for the design of mechanical product families. Thus, main contribution of this thesis is the application of the method in the mechatronic design field. In this study, the selected product family is an educational mechatronic set-up which will be used for the sophomore mechatronics design course in the Mechatronics Engineering Department of Atılım University. This research includes implementation of the heuristic design methodology and conceptual design for the mechatronics educational set-up, as well as its physical design and manufacturing.
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    ATTITUDE AND ALTITUDE CONTROL OF TWO WHEEL TRIROTOR HYBRID ROBOT
    ( 2013-05-21) ALWAFI, Husein ; İRFANOĞLU, Bülent ; ARIKAN, Kutluk Bilge
    Two Wheel Tri-Rotor (2W3R) hybrid robot that can move on ground, hover and navigate in air, is a novel system studied in this thesis. Physical structure of the system had been built in Flying Robotics Laboratory by undergraduate students as a course project in Mechatronics Department at Atılım University. Core of this thesis is to design controllers to stabilize and control the system on its hovering conditions. Stabilization and control of roll, yaw, pitch, and the altitude dynamics using the propulsion units are studied. Nonlinear equations of motion of the physical system are first derived, and then state feedback linearization technique and Linear Quadratic Regulator (LQR) are used, and control systems are developed in Matlab Simulink.