Browsing by Author "Yavuz, Hakan"

Now showing 1 - 3 of 3

Fuzzy Logic Based Force Control of Robot Hand With Haptic Feedback
(Konya Technical University, 2019) Karaca, Aslıhan; Conker, Çağlar; Yavuz, Hakan
In the presented study; work has been done for a robotic hand systemcontrolled by the user. In order to ensure the object grip force sensitivity ofthe system focused on control problem of clutch force. In addition, a hapticfeedback system is provided for feedback to the user of the force applied tothe object. Fuzzy logic is proposed and implemented for controlling the forceexerted by the robot hand on objects in accordance with the user command. Theuser can send different griping commands to the fuzzy logic control system suchas grasp, drop and tight grasp. The fuzzy logic controllercontrols the force applied to the objects in according to the user command.In addition, the data from the forcesensor are evaluated by fuzzy logic controller. As a result of the evaluation,the vibration intensity of the vibration motors in the haptic feedback systemis adjusted. Thus, the user canfeel the grasping force of the objects. Besides, the robot hand has been grasping the objects in the appropriateforce range according to the user command. The created system is provides asolution to the problem of force control and lack of haptic feedback in robothand applications.
Investigation of the Effect of Dbd Plasma Actuator Excitation Frequency on Flow Control Around an Aircraft Wing
(Konya Technical University, 2020) Akbıyık, Hürrem; Yavuz, Hakan
In this study, the effect of variation of plasma excitation frequency and applied voltagevariation on lift coefficient of NACA0015 airfoil is investigated at Re=48 000. In this context, the effects ofthe parameters direct effecting the plasma generation on the aerodynamic performance of the airfoil areassessed. In this study, plasma actuators are located at near leading edge (x/C=0.1) position. Within thescope of the experimental studies, the separated flow is studied for the excitation frequency at highattack angles. When the studies in the literature are taken into consideration, it is seen that the majorityof the studies are performed for stall angle and post stall angles. In experimental studies, the effects offrequency and voltage are examined for a certain angle of attack angle. As a result of the experimentalstudies, the direct proportional effect of the application voltage of the plasma actuators on the liftcoefficient was determined. On the other hand, no significant correlation was found between excitationfrequency. This relationship appears to be more of a non-linear structure. This has been examined indetail in the findings section of the study.
Citation - WoS: 12
Citation - Scopus: 13
Meta-Heuristic Tuning of the Lqr Weighting Matrices Using Various Objective Functions on an Experimental Flexible Arm Under the Effects of Disturbance
(SPRINGER HEIDELBERG, 2021) Bilgiç, Hasan Hüseyin; Şen, Muhammed Arif; Yapıcı, Ahmet; Yavuz, Hakan; Kalyoncu, Mete
In this paper, meta-heuristic tuning of LQR weighting matrices using various objective functions on the experimental flexible arm under the effects of disturbance is investigated. The use of flexible and lightweight systems provides certain advantages such as high operating speeds, low electricity consumption, and low initial investment costs. However, such systems are more prone to vibration-related problems than their rigid and heavyweight counterparts. One of the closed-loop control methods used to suppress these vibrations is LQR control, but the success of the controller depends on the choice of the gain and regulator matrices. In this study, the Bees algorithm, a meta-heuristic search algorithm, is used to determine LQR matrices. The system performance is compared with similar studies in the literature. The proposed objective function reveals an improvement of 3.1% in rotor maximum overshoot compared to studies in the literature. Flexible link maximum overshoot has been reduced from 17.8 to 7.1%. In order to validate the applicability and repeatability of the proposed method under the noise and disturbance in real systems, experimental verification tests were conducted using the Quanser Flexible Link system. As a result, the proposed method has been experimentally validated and it is estimated that it may well be a very useful controller design approach in various engineering systems and related control system developments.