Last Updated: September 20, 2024
Scientific Papers (14): Google Scholar | Academia | ResearchGate | ORC-ID | LinkedIn | Search:
| Index | Year | Authors | Title | Publication | Citation | Link |
| 1 A... |
2024 | Erdemir, A., Kalyoncu, M. | A New Approach to Energy Efficient Control Tecnique Selection in Kinematically Redundant Robots with Variable Mass Moment of Inertia | 6th International Latin American Scientific Research Congress | Erdemir, A., Kalyoncu, M., (2024). A New Approach to Energy Efficient Control Tecnique Selection in Kinematically Redundant Robots with Variable Mass Moment of Inertia, 6th International Latin American Scientific Research Congress, Havana, Cuba, pp. 509-520, February 1-3, 2024. | [1] [2] [3] [4] |
| A New Approach to Energy Efficient Control Tecnique Selection in Kinematically Redundant Robots with Variable Mass Moment of Inertia: Abstract — In this research, our focus was on identifying optimal control techniques for minimizing energy consumption in kinematically redundant robots with varying mass moment of inertia ratios. We conducted simulations and proposed recommendations, comparing the energy consumption of trajectories derived from Jacobian transpose-based inverse kinematics analysis against those obtained through impedance control in kinematically redundant robots. The Jacobian transpose-based method involved acquiring intermediate positions using a time-based cubic polynomial function. Both methods considered the mass moment of inertia of the linkages as variables in four distinct cases. Our study centred on a planar 4-degree-of-freedom (DOF) manipulator, and we performed co-simulations utilizing MATLAB Simulink and Adams software. The results of our investigation provide valuable insights into the choice of inverse kinematics methods based on energy consumption relative to the mass moment of inertia ratios of the linkages. Notably, as the mass moment of inertia ratios of the linkages increased, impedance control demonstrated lower energy consumption. Conversely, when these ratios approached parity, the Jacobian transpose-based inverse kinematics method exhibited superior energy efficiency. Remarkably, in instances favouring impedance control, we observed up to a 34% reduction in energy consumption compared to the Jacobian transpose-based method. This study contributes to the field by offering guidance on selecting the most suitable inverse kinematics approach for kinematically redundant robots, taking into account varying mass moment of inertia ratios. The findings pave the way for more energy-efficient control strategies in robotic systems, contributing to advancements in the broader domain of robotics and automation. | ||||||
| 2 A... |
2023 | Özden, O. B., Gökçe, B., Erdemir, A. | Comparison of Welded Joint Stress with Experimental and Finite Element Method Using of Hotspot Method | TRDizin: Journal of Materials and Mechatronics: A |
Özden, O. B., Gökçe, B., Erdemir, A., (2023). Comparison of Welded Joint Stress with Experimental and Finite Element Method Using of Hotspot Method, Journal of Materials and Mechatronics: A, pp. 11-22. | [1] [2] [3] |
| Comparison of Welded Joint Stress with Experimental and Finite Element Method Using of Hotspot Method: Abstract — The purpose of the welded structures is to combine the two different structures defined as the workpiece and the main material in order to ensure that they remain in the elastic deformation zone by meeting the loading conditions safely. Welding parameters such as preheating, welding speed, shielding gas selection, filler wire selection, voltage, current values affect the mechanical properties of the HAZ zone and the general structure, especially when welding fine-grained structural steels are performed. Strain gauge sensors can give normal stress and shear stress values for structures forced by static loadings depending on the stable x, y, z axes. The hotspot stress method used with the finite element method gives closer results to experimental studies. In this study, two different S960QL steels were combined with workpiece and main material using MAG welding. Data were taken from the strain gauge sensor connected to the samples prepared by the hotspot stress method. Using the finite element method, different types of models were analyzed and experimental data were compared with analysis outputs. As a result of the comparison, the most accurate welded joint analysis modeling with the hotspot method has been determined by the results of the experiment and analysis and has been proven with an accuracy rate of 89%. | ||||||
| 3 A... |
2023 | Erdemir, A., Kalyoncu, M. | Programming 3 DOF Industrial Robots with Natural Hand Motions: An Impedance Control Approach | 8th International New York Conference on Evolving Trends in Interdisciplinary Research & Practices | Erdemir, A., Kalyoncu, M., (2023). Programming 3 DOF Industrial Robots with Natural Hand Motions: An Impedance Control Approach, 8th International New York Conference on Evolving Trends in Interdisciplinary Research & Practices, New York, USA, pp. 157-166, May 1-3, 2023. | [1] [2] [3] [4] |
| Programming 3 DOF Industrial Robots with Natural Hand Motions: An Impedance Control Approach: Abstract — Programming industrial robots is a complex and time-consuming task that requires skilled operators. To simplify this process, this study proposes a method for programming a 3 DOF robot using natural hand motions. During the robot learning phase, the human operator holds and moves the robot's endpoint to the desired position, and saves it without using force/torque sensors. The impedance controller coefficients are then adjusted to minimize the gravity effects to zero, ensuring seamless movement of the robot without resistance. It has been observed that the reaction forces on the human hand are very low except for the singular position of the robot, where the reaction forces increase. During the operating mode, the robot's endpoint visits the sequential positions taught by the human, and the Bees Algorithm is used to optimize the impedance controller coefficients based on simulations. The proposed method is flexible and can be applied to various tasks, making it suitable for a wide range of applications. Simulation results demonstrate the effectiveness of this method, highlighting its potential to enhance the performance of industrial robots when interacting with the environment. The optimized impedance controller ensures precise movements, and the proposed method offers several advantages over traditional programming methods, such as reduced programming time and improved ease of use. Overall, this study presents a promising solution to the challenges of programming industrial robots using natural hand motions, offering a more efficient and user-friendly approach that can enhance productivity and improve product quality. Further research is needed to explore the potential of this method in more complex tasks and environments. | ||||||
| 4 A... |
2023 | Erdemir, A., Kalyoncu, M. | Energy Consumption Evaluation of 3 DOF Impedance-Controlled Robots Using Sinusoidal and Sigmoid Input Trajectory Functions | Tokyo 7th International Innovative Studies & Contemporary Scientific Research Congress | Erdemir, A., Kalyoncu, M., (2023). Energy Consumption Evaluation of 3 DOF Impedance-Controlled Robots Using Sinusoidal and Sigmoid Input Trajectory Functions, Tokyo 7th International Innovative Studies & Contemporary Scientific Research Congress, Tokyo, Japan, pp. 365-379, April 21-23, 2023. | [1] [2] [3] [4] |
| Energy Consumption Evaluation of 3 DOF Impedance-Controlled Robots Using Sinusoidal and Sigmoid Input Trajectory Functions: Abstract — This study aims to investigate the impact of different input trajectory functions on the energy consumption of a 3 degree-of-freedom (DOF) robot controlled by an impedance controller. Industrial robot manipulators, such as painting robots, require arm position control; however, situations may arise where obstacles exist between the robot and its environment, necessitating the avoidance of harm to both itself and other entities. Impedance control enables the dynamic relationship between the robot and the environment to be managed. The force exerted by the robot on the environment is dependent on the endpoint position of the robot and the corresponding impedance. The input trajectory function employed in impedance control affects the interaction distance of the impedance force, which, in turn, impacts the interaction force and torques in the joints, thereby influencing the robot's energy consumption. To optimize the impedance controller parameters, the Bees Algorithm was used to minimize positioning errors for three input trajectory functions: step, sinusoidal, and sigmoid. The study compared the energy consumption of each input trajectory function and presented the results in numerical and graphical formats. The study concluded that the input trajectory function has a significant impact on the energy consumption of the robot. The step function was found to be the simplest to implement but caused the highest energy consumption. The study contributes to a better understanding of the impact of input trajectory functions on the energy consumption of robots controlled by impedance controllers. The findings could be beneficial in selecting the most energy-efficient trajectory function for a specific robot manipulation task. | ||||||
| 5 A... |
2023 | Erdemir, A., Kalyoncu, M. | Optimal Impedance Control of A 3 DOF Robot | International Paris Congress on Applied Sciences | Erdemir, A., Kalyoncu, M., (2023). Optimal Impedance Control of A 3 DOF Robot, International Paris Congress on Applied Sciences, Paris, France, pp. 229-240, April 1-3, 2023. | [1] [2] [3] [4] |
| Optimal Impedance Control of A 3 DOF Robot: Abstract — This study aims to optimize the impedance control of a 3 degree-of-freedom (DOF) robot in various industrial applications, such as pushing, polishing, cleaning, and grinding. In these applications, the robot manipulator needs to interact with the environment to achieve the desired task, making it imperative to control the interaction between the robot and the environment. The impedance controller is an effective approach that regulates the dynamic relationship between the robot and the environment, which is crucial for performing these tasks accurately and efficiently. Unlike force/position hybrid controllers that have separate subspaces for force and position control, the proposed impedance controller aims to regulate the relationship between the force and the position of the end effector in contact with the environment. This approach ensures that the robot manipulator endpoint follows both the desired force profile and the desired position accurately. Additionally, the proposed method allows for planning a virtual trajectory to obtain a desired force profile when the environment has a rigid structure with known properties. To optimize the proposed impedance controller, the Bees Algorithm was used. The numerical application results demonstrate that the optimized impedance controller allows the robot manipulator endpoint to follow both the desired force profile and the desired position accurately, providing a practical solution for controlling the interaction between the robot manipulator and the environment in various industrial applications. The significance of this study lies in its potential to improve the performance of industrial robots in applications that require interaction with the environment. By using an optimized impedance controller, the robot can perform its task accurately and efficiently, reducing the risk of errors and improving productivity. | ||||||
| 6 A... |
2023 | Erdemir, A., Kalyoncu, M. | Polynomial Input Trajectory Functions for Improved Energy Efficiency in 3 DOF Impedance Controlled Robots | 7th International European Conference on Interdisciplinary Scientific Research | Erdemir, A., Kalyoncu, M., (2023). Polynomial Input Trajectory Functions for Improved Energy Efficiency in 3 DOF Impedance Controlled Robots, 7th International European Conference on Interdisciplinary Scientific Research, Frankfurt, Germany, pp. 568-581, March 28-30, 2023. | [1] [2] [3] [4] |
| Polynomial Input Trajectory Functions for Improved Energy Efficiency in 3 DOF Impedance Controlled Robots: Abstract — This study investigates the energy consumption of different input trajectory functions on a 3 degree-of-freedom (DOF) robot controlled by impedance controller. Industrial applications of robot manipulators, such as painting, often require only arm position control. However, in situations where obstacles may be present between the robot and the environment, the robot needs to avoid causing harm to itself and other entities. Impedance control allows for the dynamic relationship between the robot and the environment to be controlled. The force applied by the robot to the environment depends on the position of the robot endpoint and the corresponding impedance. The input trajectory function used in impedance control affects the interaction distance of the impedance force and thus the interaction force and torques in the joints. Therefore, it directly affects the energy consumption of the robot. To optimize the impedance controller parameters, the Bees Algorithm was employed to minimize positioning errors for three input trajectory functions: step, ramp, and polynomial. The energy consumption of each input trajectory function was compared, and the results were presented numerically and graphically. The study found that the input trajectory function had a significant impact on the energy consumption of the robot. The advantages and disadvantages of each trajectory function were also discussed. The step function was found to have the simplest implementation, but it caused the highest energy consumption. Overall, this study contributes to the understanding of how input trajectory functions affect the energy consumption of robots controlled by impedance controllers. The findings can be useful for selecting the most energy-efficient trajectory function for a given robot manipulation task. | ||||||
| 7 A... |
2023 | Erdemir, A., Kalyoncu, M. | Modeling Impedance Control with Limited Interaction Power for A 2R Planar Robot Arm | 4th Latin American International Congress on Natural and Applied Sciences | Erdemir, A., Kalyoncu, M., (2023). Modeling Impedance Control with Limited Interaction Power for A 2R Planar Robot Arm, 4th Latin American International Congress on Natural and Applied Sciences, Rio de Janeiro, Brazil, pp. 107-119, March 13-14, 2023. | [1] [2] [3] [4] |
| Modeling Impedance Control with Limited Interaction Power for A 2R Planar Robot Arm: Abstract — Impedance control is a widely used concept in robotics to regulate the interaction between a robot and its environment in tasks such as pushing, polishing, cleaning, and grinding. The impedance controller regulates the dynamic relationship between the robot and the environment. The force applied by the robot to the environment depends on the position of the robot arm endpoint and the corresponding impedance. The interaction force directly affects the energy consumed by the robot, impacting the torques in the joints. This fact makes it imperative to control the interaction between the robot and the environment. However, in certain scenarios, the interaction power of the robot may be limited due to constraints such as actuator saturation, limited energy supply, or safety concerns. In these situations, it becomes crucial to model impedance control with limited interaction power to achieve effective and safe robot behavior. This study presents a detailed analysis of impedance control with limited interaction power, with a focus on developing an analytical model that accurately captures the dynamic behavior of the system while considering constraints on interaction power. The proposed model provides a framework for designing control strategies that can achieve desired behavior while satisfying the limitations. To optimize the impedance controller parameters, the Bees Algorithm is used. Following the optimization process, a model for interaction power limitation was developed, resulting in limited interaction power consumption for each joint. The effectiveness of the proposed model is demonstrated through simulations, showing successful control of the interaction between the robot and its environment with limited interaction power. Numerical and graphical results of the study are presented. | ||||||
| 8 A... |
2023 | Erdemir, A., Kalyoncu, M. | Comparison of Energy Consumptions of Input Trajectory Functions in Impedance Controlled 2R Planar Robot Manipulator | International Euroasia Congress on Scientific Researches and Recent Trends 10 | Erdemir, A., Kalyoncu, M., (2023). Comparison of Energy Consumptions of Input Trajectory Functions in Impedance Controlled 2R Planar Robot Manipulator, International Euroasia Congress on Scientific Researches and Recent Trends 10, Baku, Azerbaijan, pp. 312-325, February 16-17, 2023. | [1] [2] [3] [4] |
| Comparison of Energy Consumptions of Input Trajectory Functions in Impedance Controlled 2R Planar Robot Manipulator: Abstract — In this study, the energy consumptions of input trajectory functions on an impedance controlled 2R planar robot manipulator were compared. Industrial applications of robot manipulators often relate to manipulation tasks such as painting that only require arm position control. However, in the presence of elements that may come between the robot and the environment during these operations, the robot must not harm itself and the other entities in contact. There are also robotic tasks that require interaction between the robot manipulator and a contact surface or environment, such as pushing, polishing, cleaning and grinding. This fact makes it imperative to control the interaction between the robot and the environment. The impedance controller aims to control the dynamic relationship between the robot and the environment. The force applied by the robot to the environment depends on the position of the robot manipulator endpoint and the corresponding impedance. The impedance controller forces the robot manipulator endpoint to follow the desired reference or target impedance. The input trajectory function in impedance control has a direct effect on the interaction distance of the impedance force and thus on the interaction force. Impedance forces also affect the torques in the joints. Therefore, the input trajectory function directly affects the energy consumed by the robot. In this study, The Bees Algorithm was used to optimize the impedance controller parameters to reduce the positioning error below a certain level for each input trajectory function, including step, ramp, polynomial, sinusoidal and sigmoid input functions. As a result of the optimization, the energy consumptions of the input trajectory functions were compared. Obtained results are presented numerically and graphically. The advantages and disadvantages of the input trajectory functions were discussed. | ||||||
| 9 A... |
2023 | Erdemir, A., Kalyoncu, M. | Optimal Impedance Control of A 2R Planar Robot Manipulator | Mas 17th International European Conference on Mathematics, Engineering, Natural & Medical Sciences | Erdemir, A., Kalyoncu, M., (2023). Optimal Impedance Control of A 2R Planar Robot Manipulator, Mas 17th International European Conference on Mathematics, Engineering, Natural & Medical Sciences, Cairo, Egypt, pp. 82-92, January 26-27, 2023. | [1] [2] [3] [4] |
| Optimal Impedance Control of A 2R Planar Robot Manipulator: Abstract — In this study, the energy consumptions of input trajectory functions on an impedance controlled 2R planar robot manipulator were compared. Industrial applications of robot manipulators often relate to manipulation tasks such as painting that only require arm position control. However, in the presence of elements that may come between the robot and the environment during these operations, the robot must not harm itself and the other entities in contact. There are also robotic tasks that require interaction between the robot manipulator and a contact surface or environment, such as pushing, polishing, cleaning and grinding. This fact makes it imperative to control the interaction between the robot and the environment. The impedance controller aims to control the dynamic relationship between the robot and the environment. The force applied by the robot to the environment depends on the position of the robot manipulator endpoint and the corresponding impedance. The impedance controller forces the robot manipulator endpoint to follow the desired reference or target impedance. The input trajectory function in impedance control has a direct effect on the interaction distance of the impedance force and thus on the interaction force. Impedance forces also affect the torques in the joints. Therefore, the input trajectory function directly affects the energy consumed by the robot. In this study, The Bees Algorithm was used to optimize the impedance controller parameters to reduce the positioning error below a certain level for each input trajectory function, including step, ramp, polynomial, sinusoidal and sigmoid input functions. As a result of the optimization, the energy consumptions of the input trajectory functions were compared. Obtained results are presented numerically and graphically. The advantages and disadvantages of the input trajectory functions were discussed. | ||||||
| 10 A... |
2022 | Özden, O. B., Gökçe, B., Erdemir, A. | Investigation of Welded Joints in Finite Element Analysis | 2nd International Congress on Scientific Advances (ICONSAD’22) | Özden, O. B., Gökçe, B., Erdemir, A., (2022). Investigation of Welded Joints in Finite Element Analysis, 2nd International Congress on Scientific Advances (ICONSAD’22), pp. 516-522, December 21-24, 2022. | [1] [2] [3] |
| Investigation of Welded Joints in Finite Element Analysis: Abstract — Regions with the lowest fatigue life in a welded joint are usually formed at the weld toe or weld root. It is important to carefully examine the welded joint region, especially for structures exposed to high moments and forces. While evaluating welded joints in finite element method (FEM) analysis, it can be evaluated according to International Institute of Welding (IIW). According to IIW, there are four approaches to evaluate the stresses on the welded joint: the nominal stress approach, the structural hot spot stress approach, the effective notch stress approach and the linear elastic fracture mechanics' approach. In large and complex structures, modeling of welded joints in FEM analyzes affects the time spent for analysis. Therefore, preferred approach for modeling and evaluation is important for the time spent. The accuracy rate, on the other hand, varies according to the chosen approach, and investigations should be made according to the complexity of the structure being analyzed and the type of stress coming to the examined region. Although the accuracy rate is closest to the linear elastic fracture approach, this approach is not preferred because it will require a lot of effort in FEM analysis, especially in complex structures. In this study, conventional approaches proposed by IIW were examined while performing welded joints in FEM analysis. These investigations were carried out in the welded region with the most critical stress on a mobile crane machine. According to the results of the study, the hot spot stress was found to be 693 MPa and the nominal stress was 515 MPa according to the maximum principal stress in this region. | ||||||
| 11 A... |
2022 | Erdemir, A., Alver, V., Kalyoncu, M. | Arı Algoritması Kullanılarak Önden Dümenlemeli Bir Aracın Dümenleme Mekanizmasının Optimizasyonu | International Aegean Conferences on Innovation Technologies & Engineering 6 | Erdemir, A., Alver, V., Kalyoncu, M., (2022). Arı Algoritması Kullanılarak Önden Dümenlemeli Bir Aracın Dümenleme Mekanizmasının Optimizasyonu, International Aegean Conferences on Innovation Technologies & Engineering 6, İzmir, Turkey, pp. 50-59, December 20-22, 2022. | [1] [2] [3] [4] |
| Arı Algoritması Kullanılarak Önden Dümenlemeli Bir Aracın Dümenleme Mekanizmasının Optimizasyonu: Abstract — In this study, the steering linkage of a front-wheel-steering vehicle was optimized using the Bee Algorithm. Here, a four-bar linkage is used as the steering linkage. Steering angles were calculated from the kinematic analysis of the four-bar linkage. Generally, steering linkages of vehicles are designed using Ackerman geometry. Ackerman geometry is the geometric arrangement of the steering linkage designed to solve the problem of wheels inside and outside of a turn that need to follow the circumferences of different radii. The purpose of Ackerman geometry is to prevent the tires from slipping sideways and causing additional lateral loads when following the path around a curve during a turn. The geometric solution to this is that the axles of all wheels are arranged as radii of circles with a common center point. However, it is not always guaranteed that the ideal rule, known as the Ackerman rule, will be met during vehicle rotation. Therefore, the dimensional synthesis has been done through optimization aiming to determine the steering linkage dimensions that both steering wheels must obey the Ackerman rule as much as possible while the vehicle is turning. In this study, the Bee Algorithm was used to minimize the error between the steering angles obtained by the Ackerman rule and the four-bar linkage kinematic analysis. The results obtained as a result of the optimization reduced the Ackerman error and showed that the dimensions of the steering linkage could be improved and presented in graphics. | ||||||
| 12 A... |
2021 | Gümüş, M. S., Erdemir, A., Alver, V., Kalyoncu, M. | Experimental evaluation of different spectral methods for damage estimation of an electrical panel bracket mounted on a military wheeled vehicle | SCI-E: J Mech Sci Technol 35 |
Gümüş, M. S., Erdemir, A., Alver, V., Kalyoncu, M., (2021). Experimental evaluation of different spectral methods for damage estimation of an electrical panel bracket mounted on a military wheeled vehicle, J Mech Sci Technol 35, pp. 5561–5569, 2021. | [1] |
| Experimental evaluation of different spectral methods for damage estimation of an electrical panel bracket mounted on a military wheeled vehicle: Abstract — This study evaluates different frequency domain vibration fatigue methods by verifying the results of the analyses with the experimental data on the bracket of an electrical panel mounted on a military vehicle. Loadings are defined considering composite wheeled vehicle vibration exposure as stated in the MIL-STD-810G Standard. The electrical panel and the bracket are simulated by FEM. Response PSDs are created on critical points. The experiment is carried out by using a uniaxial electrodynamic shaker. In this study, the Dirlik method proposes the most reliable and accurate fatigue life, while the Wirsching-Light method overestimates. Ortiz-Chen has made a very conservative prediction among other methods in this case study. | ||||||
| 13 A... |
2019 | Erdemir, A., Kalyoncu, M. | Optimization of a Multi-Axle Steered Heavy Vehicle Steering Mechanism by using the Bees Algorithm and the Hooke-Jeeves Algorithms Simultaneously | International Symposium on Automotive Science And Technology (ISASTECH 2019) | Erdemir, A., Kalyoncu, M., (2019). Optimization of a Multi-Axle Steered Heavy Vehicle Steering Mechanism by using the Bees Algorithm and the Hooke-Jeeves Algorithms Simultaneously, International Symposium on Automotive Science And Technology (ISASTECH 2019), Ankara, Turkey, pp. 613-622, September 5-6, 2019. | [1] [2] [3] [4] |
| Optimization of a Multi-Axle Steered Heavy Vehicle Steering Mechanism by using the Bees Algorithm and the Hooke-Jeeves Algorithms Simultaneously: Abstract — In this study, an optimization scheme for a multi-axle heavy vehicle steering system is designed. The Bees Algorithm and the Hooke-Jeeves algorithm are used simultaneously in the optimization process in connection with each other in order to minimize the objective function which is obtained from the Ackerman error. The Ackerman error is computed by using the solid model of the multi-axle steering system achieved by a CAD application instead of using an analytical model. Considering some assumptions are performed in order to simplify the analytical model in the mathematical formulation of the steering system, steering angle computation by using an original solid model is expected to produce more precise results. Solidworks CAD application is used in Ackerman steering error computations. By using the solid model, the user can observe the current shape of the multi-axle steering system in every iteration of the optimization process. A software in the Visu-alBasic.Net programming language is generated in order to execute The Bees Algorithm in combination with the Hooke-Jeeves algorithm in the optimization of Ackerman steering error. Solidworks API is used in data shift from Solidworks to the generated software. The developed system is used in optimization of Ackerman steering error of a five-axle heavy vehicle steering system. Obtained numerical results are discussed and remarks on the use of the presented method in steering angle optimization are displayed. The participation of Hooke-Jeeves algorithm to the effectiveness of optimization method is also discussed. | ||||||
| 14 A... |
2015 | Erdemir, A., Kalyoncu, M. | Bir Ağır Vasıtanın Çok Akslı Direksiyon Mekanizmasının Arı Algoritması Kullanılarak Optimizasyonu | Uluslararası Katılımlı 17. Makina Teorisi Sempozyumu (UMTS 2015) | Erdemir, A., Kalyoncu, M., (2015). Bir Ağır Vasıtanın Çok Akslı Direksiyon Mekanizmasının Arı Algoritması Kullanılarak Optimizasyonu, Uluslararası Katılımlı 17. Makina Teorisi Sempozyumu (UMTS 2015), İzmir, Turkey, pp. 421-426, June 14-17, 2015. | [1] [2] [3] [4] |
| Bir Ağır Vasıtanın Çok Akslı Direksiyon Mekanizmasının Arı Algoritması Kullanılarak Optimizasyonu: Abstract — This paper presents an optimization scheme for a multi-axle heavy vehicle steering system. The Bees Algorithm is used in the optimization process in order to minimize the error function which is derived from the Ackerman steering error. Ackerman error is calculated by using the solid model of the multi-axle steering system obtained by a CAD program instead of using an analytical model. Since some assumptions are made in order to simplify the analytical model in mathematical formulation of the steering system, steering angle calculation by using an actual solid model is expected to give more accurate results. Solidworks CAD program is used in Ackerman steering error calculations. By using the solid model, user can see the current configuration of the multi-axle steering system in each iteration of the optimization process. A software in VisualBasic.Net language is developed in order to implement Solidworks API is used in data transfer from Solidworks to the developed software. The developed technique is used in optimization of Ackerman steering error of a 5 axle heavy vehicle steering system. Obtained numerical results are discussed and comments on use of the presented technique in the steering angle optimization are presented. | ||||||
Thesis (2):
| Year | Authors | Title | Publication | Citation | Link | |
| Doctor of Philosophy Thesis | 2023 | Erdemir, A. | Optimal Impedance Control of A Quadruped Robot with Gripper Arm | Konya Teknik Üniversitesi Lisansüstü Eğitim Entitüsü Makina Mühendisliği | Erdemir, A., (2023). Tutucu Kola Sahip Dört Ayaklı Bir Robotun Optimum Empedans Kontrolü, Doktora Tezi, Konya Teknik Üniversitesi Lisansüstü Eğitim Entitüsü Makina Mühendisliği, Konya, Türkiye, 2023. | [1] [2] [3] |
| Master of Science Thesis | 2015 | Erdemir, A. | A Multi-Axle Steered Heavy Vehicle Steering Mechanism Optimization | Selçuk Üniversitesi Fen Bilimleri Entitüsü Makina Mühendisliği | Erdemir, A., (2015). Bir Ağır Vasıtanın Çok Akslı Direksiyon Mekanizmasının Optimizasyonu, Yüksek Lisans Tezi, Selçuk Üniversitesi Fen Bilimleri Entitüsü Makina Mühendisliği, Konya, Türkiye, 2015. | [1] [2] [3] |