About
27
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Introduction
My current research interest is the prediction of arm movements by electromyography (EMG).
Current institution
Additional affiliations
December 2004 - present
Education
September 2008 - October 2014
February 2003 - August 2006
January 2003 - June 2004
Publications
Publications (27)
Sound source localization covers a very wide area of study. The need for the location of the sound source can have a wide variety of purposes. In some applications, it is aimed to isolate and strengthen the sound at a certain location and to suppress other sounds in the environment. Especially in crowded meeting rooms, sound location detection is u...
Individuals who rarely engage in manual lifting and lowering operations in their daily lives (novices) are more likely to be injured by these actions than experts. While there are many studies in the literature on manual material handling in industrial applications, studies evaluating the risks for novice individuals are limited. This study aims to...
It is not possible to directly measure the reaction forces and moments acting on the joints in the living things without damaging the integrity of the body. L5/S1 joint in the human body have a higher damage potential than other joints. In this study, it is aimed to develop a method that can calculate the net reaction forces and moments acting on t...
Bu çalışmada günlük hayatta en sık kullanılan vücut bölümlerinin başında gelen üst uzuvlara ait omuz ve dirsek eklemlerindeki kuvvet ve tork değerlerinin belirlenmesi amaçlanmıştır. Denekten dik konumda iken masada duran belirli bir yükü alması kendisine yaklaştırması ve geri bırakması istenmiştir. Deneğin bu görevi yerine getirirken gerçekleştirdi...
Periyodik bakım ve arıza/hasar tespiti genellikle bakım personeli tarafından manuel olarak gerçekleştirilmektedir. Arızanın tespiti için sadece gözlemin yeterli olduğu bazı durumlar olmasına rağmen genellikle ölçüme de ihtiyaç duyulmaktadır. Diğer taraftan arızanın giderilmesi için de birçok durumda yine bakım personelinin doğrudan müdahalesine iht...
Ameliyathanede bulunan hasta operasyon için hazırlanmaktadır. Ancak operasyonu gerçekleştirecek olan cerrah ameliyathanede değildir. Hatta cerrah ameliyathanenin yakınlarında dahi olmayıp, ameliyathaneden kilometrelerce uzakta operasyon hazırlıklarının tamamlanmasını beklemektedir. Hazırlıklar tamamlanınca cerrah kilometrelerce uzaktan operasyona b...
Periyodik bakım veya arıza sonrası hasar tespiti genellikle bakım personeli tarafından gerçekleştirilmektedir. Arızanın tespiti için bazen sadece gözlem yeterli olmakta iken birçok durumda ölçü aletlerine ihtiyaç duyulmaktadır. Diğer taraftan arızanın giderilmesi içinde genellikle yine bakım personelinin doğrudan müdahale etmesi gerekmektedir. Tekn...
As digitalization is rapidly spreading, new technologies are continuously developed and implemented to many fields and sectors. In terms of virtual reality (VR) applications, this technology has introduced into the consumer market a considerable number of devices by which users interact with virtual environments. In the beginning, there were conven...
Haptic devices are electromechanical systems designed for achieving real-time interactions with virtual or teleoperation environments. They are used in applications where both position tracking and force feedback are required for creating realistic kinesthetic perceptions to users. Depending on their architecture, these devices may have serial, par...
Position tracking during localization and navigation in mobile robots is still an important research area. Most methods used for positioning mobile robots require orientation data for processing raw data collected from devices such as laser rangefinder, ultrasonic rangefinder and depth sensors. Inaccurate orientation data makes the task of position...
Realistic interaction with virtual environments requires, above all, a haptic device capable of force feedback providing a real-like sensation to the user. Although, industrial robot manipulators have been previously employed as haptic devices, they were proven unpractical. Among many reasons to this judgment is their high inertias which make them...
Unmanned aerial vehicles (UAVs) are airborne systems controlled remotely or autonomously without pilots. These systems have a wide range of structures designed for performing a great number of different tasks. They are suitable for indoor or in outdoor use, and may have fixed or rotary wings. While large-sized fixed-wing UAVs are used for tasks tha...
This article is concerned with the haptic deformation display of discrete viscoelastic surfaces by means of a human fingertip. The virtual surface of a deformable quadrilateral mesh is interactively deformed by a Kelvin–Voigt soft fingertip model attached to the end-effector of a haptic interface device. In achieving this task, a nonlinear constitu...
This paper is concerned with compliant haptic contact and deformation of soft objects. A human soft fingertip model is considered to act as the haptic interface and is brought into contact with and deforms a discrete surface. A nonlinear constitutive law is developed in predicting normal forces and, for the haptic display of surface texture, motion...
This work presents the design and implementation of a genuine mechatronic system enabling contact free tracking of an operator’s finger position. The variation in finger-position is detected by means of a micro-processor-based ring-shaped optical sensing system and the obtained data is then used to actuate a one DOF device driven by a unipolar step...
Bu çalışmada, viskoelastik yüzeylerin haptik olarak algılanması ve deformasyonu ele alınmıştır. Haptik temas, yumuşak yapıda bir parmak modeli ile sanal viskoelastik bir yüzey arasında tanımlanmış ve lineer olmayan gerçekçi bir model geliştirilerek formüle edilmiştir. Gerçeklik algısı kalitesinin arttırılması amacıyla yüzey üzerindeki harekete LuGr...
In this article, a constraint-based controller is developed for two-manifold oriented viscoelastic surfaces that guarantees smooth and compliant haptic rendering. The approach is direct and uses a pseudo-inverse projection of the haptic device end effector onto the virtual surface. The rendering algorithm enables the user to freely move a soft fing...
Localization is an important ability for a mobile robot. The probabilistic localization methods become more popular because of the ability of representing the uncertainties of the sensor measurements and inaccuracies in environments. They also provide robust solutions for different localization problems. The particle filter is one of the probabilis...
Localization is an important ability for a mobile robot. The probabilistic localization method becomes more popular because of the ability of representing the uncertainties of the sensor measurements and inaccuracy environments, robust solutions for a wide perspective of localization problem. The particle filter is one of the Bayesian-based methods...
Localization is an important ability for a mobile robot. The probabilistic localization method becomes more popular because of the ability of representing the uncertainties of the sensor measurements and inaccuracy environments, robust solutions for a wide perspective of localization problem. The particle filter is one of the Bayesian-based methods...
Konumlandırma gezgin robotlar için önemli bir problemdir. Olasılıksal konumlandırma yöntemleri algılayıcı ölçümlerindeki ve ortamdaki belirsizliklerin ifade edilmesinde sağladığı esnekliğin yanında geniş bir perspektifteki konumlandırma problemlerine çözüm bulması sebebiyle son yıllarda oldukça popüler olmuştur. Parçacık Süzgeci, Bayes tabanlı konu...
In real world applications, it is important that mobile robots know their location to achieve goals correctly. The localization of the robot is difficult by using raw sensor data because of the noisy measurements from these sensors. To overcome this difficulty probabilistic localization approaches can be used. The particle filter is one of the Baye...
It is important that the raw data obtained by the sensor should be converted into meaningful information.Mobile robot or autonomous vehicles are needed this interpretation to decide the next action. Researchers generally use the natural distinguishable features (landmarks) such as doors, walls, corners, and columns to localize the robot in an envir...
Gezgin robotların kendilerine verilen görevleri tam olarak yerine getirebilmeleri için doğru konum bilgisine ihtiyaçları vardır. Algılayıcı verilerindeki gürültü nedeniyle doğru konumlandırma yapmak, çözümü oldukça zor bir problemdir. Bu problemin çözümünde olasılık tabanlı konumlandırma yaklaşımları kullanılan yöntemler arasındadır. Robotun baslan...
In real world applications, it is important that mobile robots know their location to achieve goals correctly. The localization of the robot is difficult by using raw sensor data because of the noisy measurements from these sensors. To overcome this difficulty probabilistic localization algorithm approaches can be used. The Particle filter is one o...
Gezgin robotların verilen görevleri başarıyla yerine getirmeleri konumlarını doğru olarak bilmelerini gerektirmektedir. İşlenmemiş algılayıcı verilerini kullanarak doğru konumlandırma yapmak algılayıcı verilerindeki gürültülerden dolayı oldukça zordur. Bunun üstesinden gelmek için olasılıksal konumlandırma yaklaşımları kullanılabilir. Parçacık Süzg...
A robotic exoskeleton is coupled with the human operator's hand. The purpose is to maintain the relative positioning between the exoskeleton and the human operator's hand as it moves freely. A microprocessor-based optical sensor is utilized as part of a feedback control system for the high-speed guidance of the robotic exoskeleton. A photo voltaic...
