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Öğe Assessment of Transition from Mechanical Engineering to Mechatronics Engineering in Turkey(Tempus Publications, 2009) Yavuz, Hakan; Mistikoglu, SelcukThis paper gives an assessment of the transition from the mechanical engineering curriculum to the mechatronics engineering curriculum in Turkey. It looks at the requirements for the transition and analyses the approaches adopted by Turkish universities. To achieve this, the study provides a review of the mechanical engineering departments and the proportion of mechatronics courses tonight within these departments. As presented in the paper, some universities prefer a separate department for mechatronics engineering; others introduce optional courses, while the rest replace some core modules with mechatronics engineering type courses. Therefore, this work classifies the universities into three groups. In addition to Turkish universities, some selected cases of universities from Asia, the USA, Canada, and Europe are also included as examples of each identified approach, thereby providing the necessary background for comparison. The comparative study reveals that there does lot seem to be a definitive approach to updating a mechanical engineering curriculum or a mechatronics engineering curriculum with any clearly do lined structure. Nevertheless, the proportions of mechatronics courses in mechanical engineering curricula in Turkish universities indicate that the required measures seem to have been taken in most of the cases. In this study an attempt was also made to identify the problems that Turkish universities are facing in mechanical engineering education and some suggestions were made to overcome these difficulties to improve the quality of such education in Turkey. The paper concludes with a general suggestion that consists of a set of solution models that may allow a smooth transition from a mechanical engineering to mechatronics engineering curriculum.Öğe Comparison of Robust Input Shapers for Elimination of Residual Vibrations(Trans Tech Publications Ltd, 2014) Conker, Caglar; Yavuz, Hakan; Kapucu, Sadettin; Baltacioglu, Mustafa Kaan; Arat, Huseyin Turan; Burgac, AlperInput shaping is a feedforward control technique for improving the settling time and positioning accuracy, while minimizing residual vibrations. Shaped command profiles are generated by convolving a sequence of impulses. To design an input shaping controller, estimates of the system natural frequency and damping ratio are required. However, real systems cannot be modeled exactly, making the robustness to modeling errors an important consideration. Many robust input shapers have been developed, but robust shapers typically have longer durations that slow the system response. This creates a compromise between shaper robustness and rise time. This paper analyses the compromise between shaper duration and robustness for several robust input shapersÖğe Control application and performance analysis of wave energy converters(Elsevier Sci Ltd, 2013) Yavuz, Hakan; Serin, Hasan; Conker, Caglar; Aydin, Kadir; Uluocak, Ihsan[Abstract Not Available]Öğe An Enhanced Control Technique for the Elimination of Residual Vibrations in Flexible-Joint Manipulators(Assoc Mechanical Engineers Technicians Slovenia, 2014) Conker, Caglar; Kilic, Ali; Mistikoglu, Selcuk; Kapucu, Sadettin; Yavuz, HakanOne method used to reduce or eliminate residual vibrations is to modify the input signal by using previously determined system parameters. In order to eliminate the residual vibration completely, these system parameters must be very accurately determined. In real systems, achieving such accuracy may not always be possible. To address this problem and to provide a solution, a new residual vibration elimination method is introduced in this study, which has proven to be useful especially in cases of uncertain parameters of estimated or predicted systems. It is shown that the technique is capable of handling high levels of uncertainty and is able to successfully eliminate or reduce residual vibrations in flexible systems. In this approach, the desired position of the system is primarily divided into two equal parts, and the generated input signal is used to eliminate vibration. This study presents theoretical and experimental results of the techniques applied to a flexible mechanical system; a comparative study of robustness performance is also provided. Simulation and experimental results show that the oscillations are considerably decreased with a high degree of robustness in the presence of uncertainty regarding system parameters.Öğe Hybrid input shaping to suppress residual vibration of flexible systems(Sage Publications Ltd, 2012) Yavuz, Hakan; Mistikoglu, Selcuk; Kapucu, SadettinThis paper presents hybrid input shaping method to eliminate residual vibration of multi-mode flexible systems. This method, initially designed for one degree of systems, is modified to apply on linear and nonlinear multi-mode systems. In this method, firstly the flexible system is uncoupled using modal analysis method, and then the parameters of the decoupled system are used to shape the command template signal. A ramp plus ramped cycloid plus ramped versine is proposed as the command template signal to be preshaped. The template function is preshaped to yield zero residual vibration for point to point motion and then the resulting trajectory is convolved with a sequence of two impulses to obtain a twice shaped input. The proposed method is applied to eliminate residual vibration of a linear multimass and flexible joint manipulator types of systems. Simulation results show that the oscillations are considerably decreased with a high degree of robustness in the presence of system parameters uncertainty.Öğe An integrated approach to the conceptual design and development of an intelligent autonomous mobile robot(Elsevier, 2007) Yavuz, HakanThis paper proposes a new approach to the design and development of an intelligent mobile robot and discusses the complex functional structure of such systems, providing solutions to some typical design problems. The proposed design approach provides a clearer view of the design problems from a function-oriented interdisciplinary point of view. The approach proves to be a useful tool in allowing the designer to cross the boundaries of technical disciplines and optimise the interdisciplinary system's components, thereby improving the overall system performance. The paper also presents a case study where it takes the design problem from the most abstract level up to the final stage, in which the developed autonomous mobile robot's specifications are verified and validated. The issues addressed in this paper include the design, development, systems integration, and experimental testing of the intelligent mobile robot. (c) 2007 Published by Elsevier B.V.Öğe Lazer-ark hibrit kaynak yöntemi(2005) Yavuz, Hakan; Çam, GürelLazer kaynağı yüksek kaynak hızı, düşük distorsiyon ve otomasyona çok uygun olma özellikleri dolayısıyla yapı çeliklerinin kaynak işlemlerinde kullanım için büyük bir potansiyele sahiptir. Lazer kaynağının bu üstün özellikleri yanında, metal elektrot-gaz ark ve lazer kaynağının birlikte kullanıldığı hibrit kaynak uygulaması, daha geniş kaynak aralıklarının birleştirilmesi, kaynak ağzı ve tabanındaki geniş açıklıklar durumunda bile yüksek hızda kaynak yapabilme gibi birçok avantaj sağlamaktadır. Hem lazer kaynağı hem de ark kaynağı uzun yıllardır endüstriyel üretimde kullanılmış kaynak yöntemleridir Her iki kaynak yönteminin de diğerine üstün olan tarafları vardır. Bu iki yöntemi bir arada kullanarak yapılan kaynak işlemine lazer-ark hibrit kaynağı adı verilmektedir. Bu uygulamada, her iki yöntemin avantajları bir araya getirilerek hem geniş aralık kaynağı yapmak hem de kaynak işlemini daha hızlı gerçekleştirmek mümkündür. Buna ilaveten, lazer kaynağındaki kaynak sonrası yüksek soğuma hızı ark sayesinde düşürülerek kaynak bölgesinden kırılgan fazların oluşumu problemi de ortadan kaldırılabilmektedir.Öğe ON CONTROL OF A PITCHING AND SURGING WAVE ENERGY CONVERTER(Taylor & Francis Inc, 2011) Yavuz, HakanThe paper presents a model of a pitching and surging wave-energy converter, investigates the tuning problem in regular seas, and presents a practical tuning technique for time-domain studies in irregular seas. The proposed tuning technique is evaluated on a specific device with defined features in irregular seas where the capabilities of the proposed control approach are assessed. Realistic performance analysis of the proposed technique is performed in time-domain studies where the proposed adaptive technique and some other passive and adaptive tuning methods are used. The passive tuning methods are based on tuning the device's natural frequency to peak and energy frequencies and use fixed power takeoff settings. The proposed adaptive tuning approach employs sliding Discrete Fourier Transform for wave properties estimation. The approach then utilizes the estimated wave properties in optimizing the power capture of a pitching and surging device by adjusting the power takeoff system parameters. The paper also presents details of a comparative study on power capture performances of a pitching-and-surging device with that of a heaving device in the same sea states. The practical implications of the results and recommendations are also presented.Öğe Suppression of residual vibration of a translating-swinging load by a flexible manipulator(Pergamon-Elsevier Science Ltd, 2008) Kapucu, Sadettin; Yildirim, Nihat; Yavuz, Hakan; Baysec, SedatThis paper presents the use of a command shaping method to eliminate residual vibrations of single-input multi-mode flexible systems for point-to-point motion. A ramp-plus-ramped cycloid-plus-ramped versine is proposed as the command template signal to be shaped. The template function is reshaped using the system's lowest natural frequency and damping ratio to yield almost zero residual vibration. The proposed method is then compared with the well known input shaping technique and its applicability is shown by experimental results. The results show that the proposed method is quite effective for fast point-to-point motion. (c) 2007 Elsevier Ltd. All rights reserved.
