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Browsing by Author "Dede, Mehmet İsmet Can"
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Alternating error effects on decomposition method in function generation synthesis
Maaroof, Omar W.; Dede, Mehmet İsmet Can; Kiper, Gökhan (Springer, 2017)In approximate function generation synthesis methods, error between the desired function’s output and designed mechanism’s output oscillate about zero error while crossing the zero error margin at precision points. The ... -
Analysis and modeling of an actuation system to be used in light-weight collaborative robots
Yılmaz, Mert (Izmir Institute of Technology, 2019-01)Collaborative robots are a relatively new concept in robotics and industrial automation. Traditional industrial robots are relatively expensive, heavy, and dangerous devices for humans since they are enclosed in working ... -
Analytical dynamic analysis of a kinesthetic haptic device
Dede, Mehmet İsmet Can; Maaroof, Omar Waleed Najm; Ceccarelli, Marco (Dokuz Eylul University-Faculty of Engineering, 2018-05)A hybrid-structured kinesthetic haptic device based on an R-CUBE mechanism and a serial spherical wrist mechanism is considered in this article. This device is designed to simulate point-type contacts on the user. Hence, ... -
Applying model mediation method to a mobile robot bilateral teleoperation system experiencing time delays in communication
Taner, Barış; Dede, Mehmet İsmet Can; Uzunoğlu, Emre (Makina Teorisi Derneği, 2015-06)Teleoperation systems consist of two subsystems namely, the master and the slave. Master is used by the human operator to send commands to the slave to achieve a task. In bilateral teleoperation, the interaction forces ... -
The ARROWS project: Adapting and developing robotics technologies for underwater archaeology
Allotta, Benedetto; Costanzi, Riccardo; Ridolfi, Alessandro; Colombo, Carlo; Bellavia, Fabio; Fanfani, Marco; Pazzaglia, Fabio; Salvetti, Ovidio; Moroni, Davide; Pascali, Maria Antonietta; Reggiannini, Marco; Kruusmaa, Maarja; Salumae, Taavi; Frost, Gordon; Tsiogkas, Nikolaos; Lane, David M.; Cocco, Michele; Gualdesi, Lavinio; Roig, Daniel; Gündoğdu, Hilal Tolasa; Tekdemir, Enis I.; Dede, Mehmet İsmet Can; Baines, Steven; Agneto, Floriana; Selvaggio, Pietro; Tusa, Sebastiano; Zangara, Stefano; Dresen, Urmas; Latti, Priit; Saar, Teele; Daviddi, Walter (Elsevier, 2015-05)ARchaeological RObot systems for the World's Seas (ARROWS) EU Project proposes to adapt and develop low-cost Autonomous Underwater Vehicle (AUV) technologies to significantly reduce the cost of archaeological operations, ... -
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 ... -
Aşırı kısıtlı bir mekanizmanın kalibrasyonunda saklı robot kavramının uygulanması
Kiper, Gökhan; Dede, Mehmet İsmet Can; Uzunoğlu, Emre; Mastar, Ercan; Sığırtmaç, Tayfun (2014-11-21)Aşırı kısıtlı mekanizmaların sağladığı direngenlik, hafif yapı gerektiren ve bunun yanında yüksek seviyede kuvvetlere maruz kalınan uygulamalarda yüksek hassasiyet değerlerine ulaşmak için tercih edilebilmektedir. Yapılan ... -
Augmented reality-based model-mediated teleoperation: A mobile telerobot case study
Kirişci, Nihat Çağhan (Izmir Institute of Technology, 2019-07)Teleoperation is defined as operating a robot in a remote environment. Teleoperation utilizes the strength and dexterity of robots and the interpretation and problem solving skills of humans. In a teleoperation system, ... -
Bakışımsız bir düzlemsel 5R eyleyicisinin bağlama açına göre tasarımı
Kiper, Gökhan; Dede, Mehmet İsmet Can; Uzunoğlu, Emre; Mastar, Ercan (Makina Teorisi Derneği, 2015-06-14)İki serbestlik dereceli düzlemsel 5R (R: döner mafsal) mekanizmasının uç noktasının işlevsel çalışma alanına göre mekanizma tasarımı çok farklı başarım ölçütlerine göre yapılabilmektedir. Bu çalışmada uç noktasının yerleşimi ... -
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 ... -
Cerrahın anlık yönlendirilebildiği robot yardımlı endoskop kontrol sistemi mimarisi - NeuRoboScope
Dede, Mehmet İsmet Can; Kiper, Gökhan; Ayav, Tolga; Tatlıcıoğlu, Enver; Özdemirel, Barbaros; Maaroof, Omar; Ateş, Gizem; Berker, Mustafa; Işıkay, İlkay; Hanalioğlu, Şahin (Boğaziçi Üniversitesi, 2018-04-12)Bu bildiride ele alınan çalışmada endoskopik hipofiz cerrahisinde kullanılan optik-kamera sistemini, cerrahın anlık isteklerini takip ederek yönlendirilmesine izin verecek robotik sistem geliştirilmektedir. Cerrah kendisi ... -
A comparative study on application of decomposition method in function generation synthesis of over-constrained mechanisms
Maaroof, Omar Waleed Najm; Dede, Mehmet İsmet Can (Springer, 2014)Double-spherical six-bar linkage is one of the Bennett over-constrained 6R linkages. Kinematic synthesis of such linkages can be tedious and impossible to solve for analytically. In order to cope with higher number of ... -
Compliance control of SHAD redundant robot
Kanık, Mert (Izmir Institute of Technology, 2018-12)SHAD robot, which is located in IYTE Robotics Laboratory, is designed as a 4 degrees-of-freedom manipulator which has a PRRR serial kinematic structure. The prismatic joint works along the vertical axis, and the revolute ... -
Compliant control of a teleoperated endoscope robot
Işıtman, Oğulcan (Izmir Institute of Technology, 2018-07)With the development of the technology, robots are started to be used in many medical application including minimally invasive surgery to overcome disadvantages of conventional open surgery procedures. This thesis is a ... -
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 ... -
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 ... -
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 ... -
Control of mechanical joints that have joint clearance
Gündüzalp, Gün (Izmir Institute of Technology, 2015-03)Joint clearance is a defect that is present in all mechanical joints in every mechanism. Joint clearances for revolute joints result from the relatively small difference between the dimensions of diameters of two concentric ... -
Control of teleoperation systems operating under communication line failures
Dede, Mehmet İsmet Can; Tosunoğlu, Sabri (IEEE, 2008)Abstract While the robots gradually become a part of our daily lives, they already play vital roles in many critical operations. Some of these critical tasks include surgeries, battlefield operations, and tasks that take ... -
A critical review of unpowered performance metrics of impedance-type haptic devices
Görgülü, İbrahimcan; Kiper, Gökhan; Dede, Mehmet İsmet Can (Springer, 2019)A kinesthetic haptic device’s performance relies on unpowered, powered and controlled system characteristics. In this paper, a critical review is carried out for the well-known metrics for kinematics, stiffness and dynamic ...
