• Bir ameliyat robotunun denetimi için basitleştirilmiş dinamik modeli 

  Ayit, Orhan; Yaşır, Abdullah; Vardarlı, Eren; Kiper, Gökhan; Dede, Mehmet İsmet Can (Otomatik Kontrol Türk Milli Komitesi, 2018-09)

  Bu çalışmanın temel konusu minimal invaziv tipi bir ameliyat olan endoskopik hipofiz tümörü ameliyatında kullanılan endoskopun hareket denetimi için geliştirilen robotik sistemdir. Geliştirilen sistemin bu bildiride ele ...

• Sol-derived hydroxyapatite Ddip-coating of a porous Ti6Al4V powder compact 

  Altındiş, Mustafa; Güden, Mustafa; Ni, Chaoying (Al-Farabi Kazakh State National University, 2009-01)

  A sintered porous Ti6Al4V powder compact with a mean pore size of 63 µm and an average porosity of 37±1% was dip-coated at soaking times varying between 1- and 5-minute using a sol-derived calcium Hydrooxyapatite (HA) ...

• Katlanabilir kafes yapısı 

  Kiper, Gökhan (Türk Patent Enstitüsü, 2019-09-23)

  Buluş, düzlemsel, küresel, silindirik ya da bu geometrilerin bileşiminden oluşan bir yüzeyin toplu halden yayılı hale gelmesini sağlayabilen çift katmanlı bir katlanabilir kafes sistemi ile ilgilidir.

• Function generation synthesis with planar 4-bar linkage as a mixed problem of correlation of crank angles and dead-center design 

  Kiper, Gökhan; Erez, Melih (Springer, 2019-09)

  The function generation synthesis of planar four-bar linkage is formulated as a mixed problem of correlation or crank angles and dead-center design. The syn-thesis is based on three desired configurations of the linkage, ...

• Conceptual design of a 2-DoF planar high-speed industrial parallel manipulator 

  Uzunoğlu, Emre; Özkahya, Merve; Paksoy, Erkan; Taner, Barış; Dede, Mehmet İsmet Can; Kiper, Gökhan (Springer, 2019-09)

  This study focuses on conceptual design alternatives for a planar high-speed/high-precision manipulator in terms of mechanism structure, control strate-gy, and drive system selection. These concepts are investigated ...

• Power transmission entropy 

  Özdemir, Serhan (Inderscience Enterprises, 2008-04)

  Mechanical transmissions have been characterised traditionally by their transmission efficiencies. This is given by the ratio of the output to the input of the transmitted power. Unfortunately, the power transmission ...

• An experimental test procedure for validation of stiffness model: A case study for R-CUBE parallel mechanism 

  Görgülü, İbrahimcan; Dede, Mehmet İsmet Can; Carbone, Giuseppe (Springer, 2019)

  Haptic device manipulators are used for generating haptic feedback. This feedback is composed of force which is regulated with respect to motion information. Accurate generation of the feedback requires exact position ...

• Structural compliance effects on the accuracy and safety of a R-CUBE haptic device 

  Carbone, Giuseppe; Acinapura, Antonio; Mundo, Domenico; Görgülü, İbrahimcan; Dede, Mehmet İsmet Can (Springer, 2019)

  This paper addresses the contribution of structural compliance on stiffness and safety of a R-CUBE Haptic Device. Structural compliance is determined in several poses via FEM analysis and addressed by referring to local ...

• Control methods for a teleoperated endoscope robot 

  Işıtman, Oğulcan; Dede, Mehmet İsmet Can (Springer, 2019)

  In this study, control of a endoscope robot for the pituitary gland surgery is presented. This co-worker robot has non-backdrivable actuation system with external brakes on the actuators. Since it is required to move in a ...

• Geometrical analysis of a continuously variable transmission system designed for human-robot interfaces 

  Mobedi, Emir; Dede, Mehmet İsmet Can (Elsevier, 2019)

  New robotic systems are placed out of their constrained workspaces in order to work alongside humans. Consequently, these applications call for robots monitoring and regulating physical human-robot interaction. These robots’ ...

• Kinematic synthesis of planar 4-Bar path generators for finite line positions 

  Kiper, Gökhan; Söylemez, Eres (Springer, 2019)

  Although the kinematic synthesis of planar function, point-path and motion gen-erators are vastly studied in the literature, surprisingly synthesis of line-path gen-erators is not formulized in detail. This study presents ...

• Static force balancing of a 2R1T parallel manipulator with remote center of motion 

  Yaşır, Abdullah; Kiper, Gökhan; Dede, Mehmet İsmet Can; Van der Wijk, Volkert (Springer, 2019)

  Assistive robots in surgical applications should be gravity balanced due to safety considerations. This study presents a gravity balancing solution for a 3-degree-of-freedom parallel manipulator to be used as an endoscope ...

• Low-power and low-cost stiffness-variable oesophageal tissue phantom 

  Thorn, Alexander; Afacan, Dorukhan; Ingham, Emily; Kavak, Can; Miyashita, Shuhei; Damian, Dana D. (Springer, 2017)

  Biological tissues are complex structures with changing mechanical properties depending on physiological or pathological factors. Thus they are extendible under normal conditions or stiff if they are subject to an inflammatory ...

• Reconfigurable deployable umbrella canopies 

  Jovichikj, R.; Yaşır, Abdullah; Kiper, Gökhan (Institute of Electrical and Electronics Engineers, 2018)

  The kinematic design of reconfigurable deployable canopy mechanisms with radially distributed limbs are presented in this study. The mechanisms allow a compact form and are reconfigurable with several alternative deployed ...

• The ARROWS Project: Robotic technologies for underwater archaeology 

  Allotta, Benedetto; Costanzi, Riccardo; Ridolfi, Alessandro; Salvetti, Ovidio; Reggiannini, Marco; Kruusmaa, Maarja; Salumäe, Taavi; Lane, David Mike; Frost, Gordon; Tsiogkas, Nikolaos; Cocco, Michele; Gualdesi, Lavinio; Lacava, Giovanni; Roig, Daniel; Gündoğdu, Hilal Tolasa; Dede, Mehmet İsmet Can; Baines, Steven; Tusa, Sebastiano; Latti, Priit; Scaradozzi, David (Institute of Physics Publishing, 2018-06)

  The paper summarizes the main results achieved during the three-year European FP7 ARROWS project (ARchaeological RObot systems for the Worlds Seas). ARROWS concluded at the end of August 2015 and proposed to adapt and ...

• Wetting of chemically heterogeneous striped surfaces: Molecular dynamics simulations 

  Nguyen, Chinh Thanh; Barışık, Murat; Kim, BoHung (American Institute of Physics, 2018-06)

  Using molecular dynamics simulations, we thoroughly investigated the wetting behaviors of a chemically heterogeneous striped substrate patterned with two different wetting materials, face-centered cubic gold and face-centered ...

• Adaptive signal processing strategy for a wind farm system fault accommodation 

  Simani, Silvio; Turhan, Cihan (Institute of Electrical and Electronics Engineers, 2018-03)

  In order to enhance the 'sustainability' of offshore wind farms, thus skipping unplanned maintenance operations and costs, that can be important for offshore systems, the earlier management of faults represents the key ...

• The effect of cooling on mechanical and thermal stresses in vascular structures 

  Çetkin, Erdal (Yıldız Technical University, 2018-02)

  Here, we show how the vascular channel configuration and its shape affect the mechanical strength which is simultaneously subjected to heating and mechanical load. The material properties were defined as functions of ...

• A continuously variable transmission system designed for human-robot interfaces 

  Mobedi, Emir; Dede, Mehmet İsmet Can (IFToMM, 2018-12)

  Continuously Variable Transmission (CVT) systems are being used for many applications such as automotive transmissions, robotics, aerospace. In an ideal condition, these systems have the potential to provide continuously ...

• Manipulator design for a haptic system with improved performance 

  Sekendiz, Veysel; Görgülü, İbrahimcan; Karabulut, Mehmet Görkem; Kiper, Gökhan; Dede, Mehmet İsmet Can (IFToMM, 2018-12)

  This paper presents the work carried out to improve the design of an existing kinesthetic haptic device. The proposed improvement is designated for enhancing this device’s impedance width which is a common metric in ...

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