Aydan M. Erkmen

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• Prof Dr
• Professor at Middle East Technical University

Through the use of flying objects such as satellites and uncrewed aerial vehicles (UAVs), non-terrestrial networks (NTNs) have recently garnered interest in large-scale and developing wireless communication networks. UAV-assisted networks are quickly becoming part of future communication systems. This article overviews the recent works in which UAV...

The work tackles energy-aware data gathering problems at clustered robotic networks. A cluster head (CH) robot assigns task with other robots which gathers monitoring data from sensors. After executing their assigned tasks, they send resultant data to it in each cluster. Then, an unmanned aerial vehicle (UAV) with limited battery capacity collects...

Energy-aware data collection is of paramount importance for robotic and wireless sensor networks. Although static sink-aided cluster-based protocols provide energy-efficient solutions, UAV-aided approaches can be considered as better alternatives to reduce energy consumption while data acquisition compared with static sinks. Most of the existing UA...

This paper investigates energy-aware data collection problem in robot network clusters. In each cluster, a cluster head (CH) robot allocates one collaborative task to each cluster member (CM) robot and collects data from CMs whereas an unmanned aerial vehicle (UAV) collects data from CH robots by visiting a subset of them due to its battery limitat...

MEMS (micro electrical mechanical systems) gyroscopes are used to measure the angular rate in several applications. The performance of a MEMS gyroscope is dependent on more than one factor, such as mechanical imperfections, environmental condition-dependent parameter variations, and mechanical–thermal noises. These factors should be compensated to...

Simultaneous localization and mapping (SLAM) problem has been extensively studied by researchers in the field of robotics, however, conventional approaches in mapping assume a static environment. The static assumption is valid only in a small region, and it limits the application of visual SLAM in dynamic environments. The recently proposed state-o...

In this work, our motivation focuses on an energy-efficient data collection problem by a mobile sink, an unmanned aerial vehicle (UAV) with limited battery capacity, in a robot network divided into several robot clusters. In each cluster, a cluster head (CH) robot allocates tasks to the remaining robots and collects data from them. Our contribution...

This paper outlines the methodology and experiments associated with the reshaping of human intentions based on robot movements within Human-Robot Interactions (HRIs). Although studies on estimating human intentions are well studied in the literature, reshaping intentions through robot-initiated interactions is a new significant branching in the fie...

(Prev. published in here: https://www.researchgate.net/publication/275580300_Intention_and_Body-Mood_Engineering_via_Proactive_Robot_Moves_in_HRI) --- This chapter focuses on emotion and intention engineering by socially interacting robots that induce desired emotions/intentions in humans. The authors provide all phases that pave this road, support...

The role of retrograde intra-renal surgery (RIRS) with flexible ureterorenoscopy (FURS) in the managementof kidney stone formation has garnered a prevalent use among urologists thanks to new improvementsin medical equipment; however, it still remains a challenging technique. The purpose of this chapter isto overview robotic assistance for RIRS and...

In this study, the aim is to design a real exoskeleton robot for assisting the load lifting that consists of finite self-reconfigurable modular robots, where, each modular robot have connections to neighbor modular robots. This exoskeleton robot can lift a certain level of weight. If the system is overloaded, the least important module within the e...

Human-robot interaction (HRI) is studied in two important research areas, intention estimation and intention reshaping. Although there are many studies in the literature that define human intention, new research examines the reshaping of human intentions by using robots in HRI. In this paper, 2 different robot movements are tested in a real environ...

This chapter focuses on emotion and intention engineering by socially interacting robots that induce desired emotions/intentions in humans. The authors provide all phases that pave this road, supported by overviews of leading works in the literature. The chapter is partitioned into intention estimation, human body-mood detection through external-fo...

The main focus of this reported work is to imitate human hand gestures in the presence of the organ matching problem. Towards this aim, a case where the imitator is a fluidic system is adopted, whose dynamics are totally different from the imitatee; that is, a human performing different hand gestures. Proposed is a fluidics formation control of flu...

This paper focuses on reshaping a previously detected human intention into a desired one, using contextual motions of mobile robots, which are in our applications, autonomous mobile 2-steps stairs and a chair. Our system first estimates the current intention based on human heading and trajectory depicted as orientation and location. Our previous re...

A fully immersed object, suspended in water can be rotated from distance by a preshaped robot hand approaching and closing upon the object prior to contacting it. Momentum transfer from robot fingers closing into a grasp, to the fluid medium particles, and from these particles to the object surface generates the motion tendencies of that object in...

This paper presents a new technique for a reconfigurable exoskeleton which consists of a connected network of small sized holonic robots enwrapping the human body limbs and more specifically, in this paper, the human arm. The connection control of the reconfigurable exoskeleton decides upon the necessity of a "disconnect", "reconnect" for chosen ho...

Automation of the conceptual design stage at the product development period is recently deemed to be essential. The goal of this study is to suggest a tool for PNDN theory, which is developed for this purpose. In this paper, the software package DNS, a visual simulation program for design modeling is introduced. As a real life application, modeling...

The major aim in search and rescue using mobile robots is to detect and reach trapped survivors and to support rescue operations through disaster environments. Our motivation is based on the fact that a search and rescue (SAR) robot can navigate within and penetrate a disaster area only if the area in question possesses connected voids. Traversabil...

In imitation learning, the correspondence problem, which is caused by the dynamical differences between imitator and the demonstrator, is applied on imitation of human hand gestures with a particle colony which is modeled by using fluid dynamics. In this work, firstly human hand gestures which are collected from different human groups are classifie...

In this work, we aim at imitation of two system with totally different dynamics, imitating each other, where any correspondence is missing. Towards this aim, we adopt a case where the imitator is a fluidic system whose dynamics is totally different than the imitatee, that is a human performing different body poses. Our work proposes the fluidics fo...

In this paper, we consider the problem of merging partial occupancy grid environment maps, which are extracted independently by individual robot units during search and rescue (SAR) operations in complex disaster environments. Moreover, these maps are combined using intensity-based and area-based features without knowing the initial position and or...

Robots consistently help humans in dangerous and complex tasks by providing information about, and executing tasks in disaster areas that are highly unstructured, uncertain, possibly hostile, and sometimes not reachable to humans directly. Prototyping autonomous multi-robot systems in disaster scenarios both as hardware platforms and software can p...

Imitation learning is one of the forms of social learning that enables the human or robot agents to learn new skills. The knowledge acquired for imitation can be basically represented as action mapping based on “organ matching” which determines the correspondence between imitator and imitatee, if the imitator and the demonstrator share the same emb...

This paper outlines the methodology and experiments associated with the reshaping of human intention based on robot movements during Human-Robot Interactions (HRI). Although works on estimating human intentions are quite well known research areas in the literature, reshaping intentions through interactions is a new branching of the human-robot inte...

In this paper, the continuity of the robot finger motions while closing upon the object surface is aimed to model in fluidic environment. For that purpose, we proposed a new method based on the computational fluid dynamics to investigate the effect of momentum transferred firstly from the fingers to the environment, and then from the environment to...

The procedure to estimate brain activity based on fMR signals is a process based on many assumptions. Some of the methods such as GLM (General Linear Model) and ICA(Independent Component Analysis) used for this purpose contain several restrictions. In GLM, it is assumed that each active voxel responds similarly and linearly towards a given sitmulus...

A new approach to musical improvisation based on controlled relaxation of imitation parameters by a robotic acoustic musical device, is presented in this paper. The presented RObotic Musical Instrument "ROMI", is aimed at jointly playing two instruments that belong to two different classes of acoustic instruments and improvises while assisting othe...

Estimating and reshaping human intentions are among the most significant topics of research in the field of human-robot interaction. This chapter provides an overview of intention estimation literature on human-robot interaction, and introduces an approach on how robots can voluntarily reshape estimated intentions. The reshaping of the human intent...

Robots consistently help humans in dangerous and complex tasks by providing information about, and executing tasks in disaster areas that are highly unstructured, uncertain, possibly hostile, and sometimes not reachable to humans directly. Prototyping autonomous multi-robot systems in disaster scenarios both as hardware platforms and software can p...

Estimating and reshaping human intentions are among the most significant topics of research in the field of human-robot interaction. This chapter provides an overview of intention estimation literature on human-robot interaction, and introduces an approach on how robots can voluntarily reshape estimated intentions. The reshaping of the human intent...

Estimating and reshaping human intentions are topics of research in the field of human-robot interaction. Although works on estimating human intentions are quite well known research areas in the literature, reshaping intentions through interactions is a new significant branching in the field of human-robot interaction. In this paper, we research ho...

A new improvisation algorithm based on parameter estimation process for the imitation control of a robotic acoustic musical device "ROMI", is presented in this paper. The musical state representation we have developed for controlling ROMI is a feature extractor for learning to imitate human players in a duet. ROMI's intelligent control architecture...

Nonlinear dynamics and chaos in robots have been extensively studied in the fields of service robots, humanoids and biologically inspired systems such as swarms, mobile sensor networks and bio-robots. This chapter surveys chaos in robots while introducing novel approaches to overcome the uncertainty in robotic systems stemming from chaotic dynamics...

The objective in our work is to develop a robotic acoustic musical device ROMI that jointly plays two instruments that belong to two different classes, improvises while assisting others in an orchestral performance and also learns to imitate human players in a duet This intelligence in imitation also provides player identification and performance t...

We propose a new fluidics based methodology to determine a continuum between preshaping and grasping so as to appropriately preshape a multifingered robot hand for creating an optimal initialization of grasp, with minimum energy loss towards task execution, upon landing on an object. In this paper, we investigate the effects of impact forces and mo...

This paper presents a novel Intelligent Inference System (IIS) for the determination of an optimum preshape for multifingered robot hand grasping, given object under a manipulation task. The IIS is formed as hybrid agent architecture, by the synthesis of object properties, manipulation task characteristics, grasp space partitioning, low-level kinem...

The correspondence problem is an important problem when the subjects have two different kinematical structures imitating each other. In this new approach, the imitator and the imitate have totally different dynamics systems, the first one is the fluidic system, the second one is the human hand gestures. The motion of the fluidic system is composed...

Cooperation between networked mobile sensors, wearable and sycophant sensor networks with parasitically sticking agents, and also having human beings involved in the loop is the “Avatarization” within the robotic research community, where all networks are connected and where you can connect/disconnect at any time to acquire data from a vast unstruc...

Continuous and rapid coverage of the unstructured disaster areas in search of possible survivors is a time critical operation where prior information about the environment is not available or very limited. Human navigation of such areas is definitely not feasible due to the nature of the debris. Localisation of possible survivors necessitates the u...

Exploration of unknown environments with a team of robots is a fundamentally important problem in the area of victim search and rescue operations. Leading existing works on exploration is focusing upon the coverage of an entire environment with minimum amount of time. In this paper, we present a novel goal oriented and prioritized exploration appro...

In this paper, a new approach is developed handling the correspondence problem due to the difference in embodiment between imitator and demonstrator in imitation learning. In our work the imitator is a fluidic system of dynamics totally different than the demonstrator which is human hand gestures. In this work we demonstrate the fluidic formation c...

In this paper two new conceptual robotic system designs, called 'aerial-retrieval' and 'aerial-rescue' are presented and demonstrated by simulation results. The unmanned air vehicles (UAV) used in this design are thrust vector controlled robotic systems. The 'aerial-retrieval' concept aims at entrapping and retrieving a (lost) floating object in th...

In this paper we introduce our novel concept of sycophant wireless sensors (SWS) which is a static ecto-parasitic clandestine sensor network mounted incognito on a mobile agent using only the agent's mobility without intervention. SWS networks not only communicate with each other through mobile WSN but also cooperate with them to form a global hybr...

In this paper, we develop a graph theoretic model for a robot colony that morphs itself according to changing tasks for search and rescue operations. The main goal of the proposed control strategy is to reconfigure the robot colony autonomously and seamlessly in order to achieve the given task. We introduce a novel highly decentralized coordination...

This paper presents the design of multi-robots or multiple mobile sensors and gives the results of the team behavior of them in a potential field in a collaborative manner. The aim is to prove the concept of the fractal conductivity-based approach to mobile sensor networks in a potential field. We attempted to create multi-robots having similar inh...

In order to summarize the status of rescue robotics, this chapter will cover the basic characteristics of disasters and their impact on robotic design, describe the robots actually used in disasters to date, promising robot designs (e.g., snakes, legged locomotion) and concepts (e.g., robot teams or swarms, sensor networks), methods of evaluation i...

In this paper we design and implement a 2D coupled mobility snake/caterpillar vehicle for terrains with variable friction. A control hierarchy made of fuzzy logic controllers equipped with fuzzy actor critic learning (FACL) enables the robot to adapt itself to variable friction conditions of unknown, unstructured environments as well as the need fo...

The paper presents a fluid dynamics based framework for control of emergent behaviors of robot swarms that are modeled as fluids. A distributed low-level control mechanism is developed based on Smoothed Particle Hydrodynamics (SPH) and it is coupled with a high-level control layer that is responsible for the control of fluid parameters to generate...

Integrated global positioning system and inertial navigation system (GPS/INS) have been extensively employed for navigation purposes. However, low-grade GPS/INS systems generate erroneous navigation solutions in the absence of GPS signals and drift very fast. We propose in this paper a novel method to integrate a low-grade GPS/INS with an artificia...

We propose a novel approach inspired by compressible fluids as a distributed and scalable solution to the deployment problem of mobile sensor networks in unknown environments. Our approach is based on fluid dynamics through which we model the sensor network as a fluid body and each sensor node as a fluid element. Originating from local neighborhood...

In this paper, we develop a distributed intelligent fuzzy learning controller for serpentine locomotion while doing lasso-type grasping in 3D environments. The novelty of our approach is not only in the control modularity but on a lasso type grasping having as a moving base the remaining snake links undergoing serpentine gait. Dynamical constraints...

We describe in this paper a new approach to the identification of the chaotic boundaries of regular (periodic and quasiperiodic) regions in nonlinear systems, using cell mapping equipped with measures of fractal dimension and rough sets. The proposed fractal-rough set approach considers a state space divided into cells where cell trajectories are d...

In this study we develop a hybrid methodology for supporting diagnostic decision and treatment planning processes in chronic hepatitis B, and provide a novel structure for evaluation of the patient response to alternative treatments by staging disease severity. We create a cascaded architecture composed of a Fuzzy Inference System to assess patholo...

In this study we develop a decision support architecture that evaluates pathology findings for defining levels of chronic hepatitis B, and models patients' clinical stages for assisting treatment decisions. It is a learning system that generates a feedback to pathological diagnostic as well as to the clinical decision making by using reinforcement...

We propose in this paper a novel adaptive approach inspired by fluid dynamics as a distributed, scalable, and robust solution to the deployment problem of mobile sensor networks in unknown environments. Our approach is based on the physical principles of fluids through which we model a mobile sensor network as a fluid body and individual nodes as f...

This work focuses on the design and implementation of a behavior based, layered, cooperative control of robots in a sensor network, hybrid in combining subsumption and motor schema layers. Behaviors at different level of resolution are not only coordinated by the motor schema layers but also through units called "evaluators" which fuses state and a...

In this paper, a distributed intelligent fuzzy learning controller architecture is developed for a snake robot to avoid obstacles while reaching a target, in a dynamic environment. Moreover, in order to use the robot in object carrying search and rescue (SAR) applications, a grasping scheme of desired objects is added to the abilities of the contro...

We describe in this paper a new approach to the identification of the nonchaotic (regular) regions of nonlinear systems, using cell mapping equipped with measures of fractal dimension and those from rough set theory. The proposed fractal-rough set approach divides the state space into cells, finds out the chaotic region using cell to cell mapping t...

We analyze the stability of our novel 2-way fuzzy adaptive controller using describing function technique. We use additivity property of fuzzy systems to develop a systematic analytical approach for the design of a multi-input singleoutput fuzzy controller that we use for the control of a flexible-joint robot arm.

In a dextrous manipulation, one of the major problems that remain to be solved is the determination of an appropriate preshape for grasping given the object, under a given manipulation and the task. In order to have a successful grasp execution, the system should have a successful grasp preparation at preshaping phase. Hence, the grasp preparation...

We propose in this paper a method to enhance the performance of a coupled global positioning/inertial navigation system (GPS/INS) for land navigation applications during GPS signal loss. Our method is based on the use of an artificial neural network (ANN) to intelligently aid the GPS/INS coupled navigation system in the absence of GPS signals. The...

In this paper a gait synthesizer for a hexapod robot working in search and rescue operations is designed. The gait synthesizer is composed of three modules responsible for selecting a new gait, evaluating tide current one, and modifying the recommended gait according to the internal reinforcements of past time steps. A fuzzy logic controller is imp...

We propose in this paper a method to enhance the performance of a coupled global positioning/inertial navigation system (GPS/INS) for both air and land navigation applications during the GPS signal loss. Our method is based on using an artificial neural network (ANN) to intelligently aid the GPS/INS coupled navigation system in the absence of GPS s...

A Petri net-based design inference network (PNDN) architecture is presented in this paper. The network models the logical behaviour of any design artefact developed by designers at the conceptual design level by representing the subfunctions and their inter-relationships to perform a required overall function. The theoretical framework in developin...

Our aim in this work is to generate an intelligent interface for profiling and evaluating each student remotely accessing a robot assisted lab setup. The interface provides the student with the "hands on" experience by necessary visual feedback, giving this user as much freedom as possible to control the experiment. Besides, the system evaluates th...

The utilization of autonomous intelligent robots in search and rescue (SAR) is a new and challenging field of robotics, dealing with tasks in extremely hazardous and complex disaster environments. Autonomy, high mobility, robustness, and modularity are critical design issues of rescue robotics, requiring dexterous devices equipped with the ability...

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The objective in this paper is to apply our proposed two-way fuzzy adaptive system that makes use of intuitionistic fuzzy sets to the identification and model-based control of a flexible-joint robot arm. Uncertainty and inconsistency are modelled in the proposed system such as uncertainty is the width of the interval introduced by the independent a...

We introduce an online transition detection method of degradation of control predictability to robotic systems which can behave chaotically depending on the variations of the control parameter. This method allows us to control such systems at the boundary of the chaotic region until the onset of degradation thus allowing us to use the whole richnes...

Develops a new gait synthesizer for a snake-like robot in an unstructured changing environment similar to earthquake rubbles. The gait synthesizer, inspired from the GARIC Architecture, is implemented on a simulated navigation of a snake robot. We consider 6 prototypical gaits classified into vertical undulation, lateral undulation, heading changin...

This paper presents a logical sensor to be used in the intelligent perception for the motion planning of a mechanical snake searching for rescue in an unstructured environment of collapsed buildings after a natural disaster. The multi-link robot is equipped with ultrasound sensors and a thermal sensor, which detects body heat and isolates any survi...

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This paper presents the multisensor-based online path planning of a serpentine robot in the unstructured changing environment of earthquake rubble during search for survivors. The robot has 6 links and 16 controllable degrees of freedom and is equipped with an ultrasound sensor and a camera on its head and infrared sensors along the links of the ro...

We introduce in this paper a new fractal/rough set modeling approach to the domains of attraction of nonlinear systems obtained by cell mapping. The state space is partitioned into cells and the stability regions found using cell to cell mapping. Our new approach gives a fractal rough set identity to the domains of attraction where cells are identi...

Our objective in this paper is to evaluate inconsistency for our proposed 2-way fuzzy adaptive system that makes use of intuitionistic fuzzy sets. Uncertainty is modeled as the width of the interval introduced by the independent assignment of membership and nonmembership functions of the intuitionistic fuzzy sets. There is only a consistency constr...

The International Virtual Design Studio (MIVDS) that was originated between the Departments of Mechanical Engineering of Union College (UC) and the Middle East Technical University (METU) is now extended to include the Mechanical Engineering Department at Queen's University in Canada, the Computer Systems Engineering/Electrical Engineering Departme...

Our objective in this paper is to model and reduce inconsistency in expert knowledge for our proposed 2-way adaptive fuzzy system that makes use of intuitionistic fuzzy sets. Intuitionistic fuzzy sets model an interval valued distribution of information in the adaptive control architecture with the necessity at the lower bound as the degree of memb...

Our work focuses on developing methods of determining the optimal preshape of a robot hand closing onto an object in order to achieve at contact a certain stability and manipulability degree based on kinematic considerations. This purposive closing of a preshaped hand should then be kinematically modelled in such a way that impact force patterns on...

The manipulation phase of a multifingered robot hand is initialized, upon contact, by the impact force patterns imparted to the object at contact points, in the final state of a preshaped hand closure. The object then inherits from contacts different helix motion tendencies (translation, rotation) as the initial conditions of manipulation. These mo...

The purpose of this work is to plan and control task oriented configuration changes in a metamorphic robotic system, formed by a colony of axisymmetric holons moving to inspect pipe surfaces. The metamorphic robotic system in question, is a reconfigurable robotic structure made up of identical, independently controlled, mechatronic modules (holons)...

Many algorithms have been proposed in order to train radial basis function (RBF) networks. Resilient Backpropagation (RPROP) with a weight decay term is proposed to train RBF networks and used to differentiate surfaces of 3D objects in range images and to classify eight different machine learning data sets for classification purposes. We show the a...

This paper uses a holonic hand model introduced in our early works (1998), which is composed of 2-stems-of-links-1-joint nonconvex biped planar holons working in colony in order to perform dexterous grasps. This paper focuses on the reconfiguration control of the colony that we structure as a sequence of planar grasp operations defining a holonic r...

This paper introduces a methodology developed for the self-organization of a colony of holons in its task space where holons act as intelligent agents in this decentralized robotic structure such that they self localize themselves in the reconfiguration task space of their colony and identify their individual role in the colony re-organization. We...

This paper introduces a methodology developed for the self-localization of a holon, within the reconfiguration task space of its colony under a highly decentralized decision-making and colony reconfiguration control. Holons act as intelligent agents of a colony in this decentralized structure. We term such an n-holon colony where intelligent agents...

This paper proposes an escape methodology to the local minima problem of self organizing feature maps generated in the overlapping regions which are equidistant to the corresponding winners. Two new versions of the Self Organizing Feature Map are derived equipped with such a methodology. The first approach introduces an excitation term, which incre...

We develop a 2-way adaptive fuzzy control system that makes use of the intuitionistic fuzzy sets for modeling expert knowledge bearing uncertainty. Adaptive fuzzy control systems are fuzzy logic systems whose rule parameters are automatically adjusted through training. In our system, all supports to propositions have interval valued distributions w...

This paper introduces the trend in mechatronics education at the Engineering Faculty of the Middle East Technical University (METU), which will be initiated as a Mechatronics Minor Program in Fall 1999. It has its foundations based on a multi-disciplinary International Virtual Design Studio (MIVDS) course as a capstone design senior project, which...

This article presents a methodology for the haptic perception of contour shapes of almost planar objects grasped by a five-fingered robot hand as well as the detection of any object cavity. The originality of our approach resides in (1) finding the reaction force patterns at the fingertips of a five-fingered robot hand that grasps different deforma...

This paper investigates the holonic modeling of multifingered robotic hands where 2-stem-of-links+1-joint holons having basic kinematic properties are considered, working in colony in order to perform dexterous grasps. Those holons are the simplest physical elements, which have the capabilities of independent actuation, and of cooperation with othe...