Profile URL: https://hdl.handle.net/20.500.13091/11598
Job Title:Dr. Öğr. Üyesi
Email Address:acakan@ktun.edu.tr
Main Affiliation:02.10. Department of Mechanical Engineering
Status: Current Staff
ORCID:
0000-0003-3923-4069
0000-0003-3923-4069Scopus ID:
56297944600
56297944600YÖK Akademik: 96431958BBCE96E7
Google Scholar:
8xaiOCsAAAAJ
8xaiOCsAAAAJWeb of Science ID:
P-1845-2018
P-1845-2018Name Variants:
Çakan, A. Cakan A.
36 results
Scholarly Output Search Results
Now showing 1 - 10 of 36
Article Citation - Scopus: 89Particle Swarm Optimization (pso) Tuning of Pid Control on Dc Motor(Association for Scientific Computing Electronics and Engineering (ASCEE), 2022-07-06) Rahayu, E.S.; Ma’arif, A.; Çakan, A.The use of DC motors is now common because of its advantages and has become an important necessity in helping human activities. Generally, motor control is designed with PID control. The main problem that is often discussed in PID is parameter tuning, namely determining the value of the Kp, Ki, and Kd parameters in order to obtain optimal system performance. In this study, one method for tuning PID parameters on a DC motor will be used, namely the Particle Swarm Optimization (PSO) method. Parameter optimization using the PSO method has stable results compared to other methods. The results of tuning the PID controller parameters using the PSO method on the MATLAB Simulink obtained optimal results where the value of Kp = 8.9099, K = 2.1469, and Kd = 0.31952 with the value of rise time of 0.0740, settling time of 0.1361 and overshoot of 0. Then the results of hardware testing by entering the PID value in the Arduino IDE software produce a stable motor speed response where Kp = 1.4551, Ki= 1.3079, and Kd = 0.80271 with a rise time value of 4.3296, settling time of 7.3333 and overshoot of 1. © 2022, Association for Scientific Computing Electronics and Engineering (ASCEE). All rights reserved.Conference Object Citation - WoS: 29Citation - Scopus: 41Artificial Potential Field Algorithm for Obstacle Avoidance in Uav Quadrotor for Dynamic Environment(Ieee, 2021) Ma'arif, Alfian; Rahmaniar, Wahyu; Marquez Vera, Marco Antonio; Nuryono, Aninditya Anggari; Majdoubi, Rania; Cakan, Abdullah; Vera, Marco Antonio Marquez; Maarif, Alfian; Ma’arif, Alfian; Márqüz-vera, Marco AntonioArtificial potential field (APF) is the effective real-time guide, navigation, and obstacle avoidance for UAV Quadrotor. The main problem in APF is local minima in an obstacle or multiple obstacles. In this paper, some modifications and improvements of APF will be introduced to solve one-obstacle local minima, two-obstacle local minima, Goal Not Reachable Near Obstacle (GNRON) and dynamic obstacle. The result shows that the improved APF gave the best result because it made the system reach the goal position in all of the examinations. Meanwhile, the APF with virtual force has the fastest time to reach the goal; however, it still has a problem in GNRON. It can be concluded that the APF needs to be modified in its algorithm to pass all of the local minima problems.Article Simulation and Arduino Hardware Implementation of DC Motor Control Using Sliding Mode Controller(2021) Çakan, Abdullah; Ma’arif, AlfianThe research proposed an alternative controller to control the Direct Current (DC) Motor using a sliding mode controller (SMC) in Matlab Simulink simulation and Arduino hardware implementation. The proposed controller, SMC, was designed using the system model (equivalent control) and Lyapunov control design (also to prove the stability). The sliding mode controller had a better response than PID Controller, with no overshoot response in the simulation result. In the Arduino hardware implementation result, the augmented system could reach the reference but has an oscillation and chattering effect in the control signal. The chattering could be reduced by modifying the switching control. Comparing with PID, SMC had a better response with no overshoot. Thus, the SMC could be used as an alternative controller for the DC Motor.Article Implementation of PID Control for Angular Position Control of Dynamixel Servo Motor(2024) Çakan, Abdullah; Ma’arif, Alfian; Ramadhani, NurDynamixel servo motors, characterized by their compact size and high torque output, are made of high-quality materials that ensure the necessary strength and structural robustness against external forces. However, these motors are prone to overheating under certain internal conditions, such as temperature or supply voltage fluctuations during prolonged use. This research aims to design and apply PID control methodology to regulate Dynamixel servo motors. The research includes motor implementation using the PID method and subsequent testing with varying voltage inputs ranging from 11V to 12V. Addressing these issues involves using the Proportional Integral Derivative (PID) control method, widely recognized for its reliability in controlling motor speed. The research successfully designed Dynamixel servo motors capable of PID-controlled rotation according to predefined reference values. The motor's PID control design involved multiple trial runs - up to 5 instances - for each proportional, integral, and derivative control. The default PID parameter implementation did not match the setpoint; however, a re-tuned PID method yielded optimal results with parameter values Kp = 0.01000; Ki = 0.02703; Kd = 0.00005. Test results showed that the PID-controlled Dynamixel servomotor accurately achieved the expected angular output of 75°. In addition, tests using voltage inputs ranging from 11.00 to 12.00 volts showed stable operation without changing the servo motor's angular position before applying the PID control value, ensuring consistent motion even as the voltage drops.Article Multi-Objective Grey Wolf Optimizer-Tuned LQR Attitude Control of a Three-DOF Hover System(MDPI, 2026) Cakan, AbdullahAttitude control of unmanned aerial vehicles is a problem that needs to be solved in a reliable manner. The research presented in this paper examines a systematic approach to the design of an LQR state feedback controller for the three-DOF hover system. The state space model is used to derive the feedback gain K, with the diagonal elements of the weighting matrices Q and R used as design variables. A multi-objective grey wolf optimizer is used to obtain Q-R matrices based on closed-loop simulations under representative roll, pitch and yaw reference commands. There are four separate multi-objective optimization runs, each using one of four standard error indices which are the integral of absolute error (IAE), the integral of time-weighted absolute error (ITAE), the integral of squared error (ISE) and the integral of time-weighted squared error (ITSE). Each index is used to track roll, pitch and yaw errors at the same time and the resulting non-dominated solution sets are post-processed using TOPSIS to select a compromise knee-point design. The simulation results show that the adjusted LQR parameters lead to feasible tracking performance. The proposed framework provides a systematic and replicable method for LQR weight selection in hover-type attitude control problems under the considered simulation settings.Article Citation - WoS: 16Citation - Scopus: 16Machine Learning Approach for Flow Fields Over a Circular Cylinder Based on Particle Image Velocimetry Measurements(Elsevier B.V., 2023-12-01) Aksoy, M.H.; Goktepeli, I.; Ispir, M.; Cakan, A.Flow around a circular cylinder has been experimentally studied at Reynolds numbers of Re = 4 × 103 and Re = 8 × 103 using Particle Image Velocimetry (PIV). The Artificial Neural Network (ANN) method, a subset of machine learning, has been implemented to capture complex flow patterns and relationships within data to estimate the experimental results. Experimental and estimated results regarding instantaneous contour graphics for streamwise (u) and cross-stream (v) velocity components with velocity vector fields have been compared. Furthermore, drag coefficient (CD) and Strouhal number (St) have been validated. In flow features, instantaneous streamwise velocity components indicated a lower pressure zone in the wake region of the cylinder owing to flow separation. The ANN method has predicted the positions of the minimum velocity clusters with 3.2 % for Re = 8 × 103 as a mean relative error compared to the experimental results. Moreover, the average relative difference of 10.82 % between the experimental and the estimated results for the clusters with the minimum streamwise velocity components has been attained at Re = 4 × 103 and Re = 8 × 103. Regarding the cross-stream velocity components, the mean relative difference values have been observed for the clusters with maximum values of 6.83 % and the clusters with minimum values of 3.66 %. Drag coefficients have also been obtained, and these values are very close as CD = 1.090 and CD = 1.084 for PIV and ANN methods at Re = 8 × 103, respectively. Furthermore, St values of the circular cylinder are St = 0.216 at Re = 4 × 103 and St = 0.211 at Re = 8 × 103, which agree with the results of the literature. © 2023 Elsevier LtdArticle Dimension Optimization of Polycentric Knee Mechanism Using the Bees Algorithm and Genetic Algorithm(2023) Gümüş, Mehmet Sefa; Çakan, Abdullah; Kalyoncu, Mete; Ayğahoğlu, Mert ErenIn knee prostheses, the curve of the instantaneous center of rotation (ICR) and, therefore, stability of the prothesis are the most important parameters to be considered. The ICR curve depends on many parameters. One of them and the most effective one is the dimensions of four bar mechanism. In polycentric knee mechanisms, it has become inevitable to use optimization techniques while determining the dimensions of the mechanism for the stability of the prosthesis in the stance position. In this study, definitions of knee prostheses and polycentric knee mechanisms are given, optimization studies written in this field are mentioned thorough literature research. The study aims to find mechanism dimensions that gives ICR curve close to the reference curve by optimizing the mechanism dimensions of four-bar knee mechanisms. The Bees Algorithm and Genetic Algorithm (GA) were used for this purpose. The limits and objective function for the optimization were determined, and after many trials, separate mechanism dimensions with The Bees Algorithm and the Genetic Algorithm are obtained. By comparing the results, it has been observed that the dimensions obtained by The Bees Algorithm produced a better approximation to the reference instantaneous center of rotation curve.Article Citation - WoS: 1Design Optimization of a Wearable Chair Using the Bees Algorithm(Sage Publications Ltd, 2024-07-23) Aygahoğlu, Mert Eren; Çakan, Abdullah; Kalyoncu, MeteA wearable chair is designed to reduce musculoskeletal disorders in workers. Two-staged optimization process using The Bees Algorithm is conducted to determine the lowest operable height of the chair and minimize the maximum force among the three supports. Geometric, dimensional, and rotational angle constraints are defined accordingly. A CAD model of the chair is imported into ADAMS software for simulation. The simulation results identified the most stressed rod in the chair. A spring is selected and implemented in ADAMS to counteract the applied force on this rod. A comparison between the force on the most stressed support and the spring force through a defined motion revealed minimal differences, indicating that the spring effectively counteracted the applied force. The results demonstrated the successful application of The Bees Algorithm to wearable chairs and the successful implementation of a spring to counteract applied force, thereby achieving the objectives of this study.Book 21. Yüzyılda Mühendislikte Çağdaş Araştırma Uygulamaları Üzerine Disiplinler Arası Çalışmalar IV(2023) Şahin, Gökçen; Kaygusuz, Kamıl; Şahin, Betül; Sopuru, Joshua Chibuike; Gülüm, Mert; Karabacak, Yunus Emre; Ergün, Hilal OkMühendislik, köprüler, tüneller, yollar, araçlar ve binalar dahil olmak üzere makineler, yapılar ve diğer öğeleri tasarlamak ve inşa etmek için bilimsel ilkelerin kullanılmasıdır. Mühendislik disiplini, her biri uygulamalı matematik, uygulamalı bilim ve uygulama türlerinin belirli alanlarına özel vurgu yapan, geniş bir yelpazede uzmanlaşmış mühendislik alanlarını kapsar. Mühendislik bir ülkenin kalkınmasında ve gelişmesinde çok önemli rol oynayan disiplinler arası ortaklığın meydana getirdiği bir üst bilim dalıdır. Mühendislik, matematiksel ve doğal bilim dallarından, ders çalışma, deney yapma ve uygulama yolları ile kazanılmış bilgileri akıllıca kullanarak, doğanın kuvvetleri ve maddelerini insanoğlu yararına sunmak üzere ekonomik olan yöntemler geliştiren bir meslektir. Çünkü mühendislik yaklaşımı; işi sorun çözmek olan insan yaklaşımıdır. Mühendislik yaklaşımı içinde bulunan çalışanlar, görülmeyeni görerek, düşünülmeyeni bularak, optimum çözümleri hedefleyip durumdan maksimum faydayı çıkarmayı bilirler. Diğer taraftan mühendislik nedir, sorusu ile aklımıza çok geniş ve detaylı bir tanımlama gelse de genel olarak mühendislik, problemleri çözebilmek için gerekli olan bilim ve matematiğin uygulanmasıdır diyebiliriz. Mühendisler, bir şeylerin nasıl çalıştığını anlar ve bilimsel keşiflerin pratik hayatta kullanımı için yöntemler bulur. Yayınlanan bu kitap; çeşitli mühendislik dallarında hocalık yapan akademisyenlerin sunmuş olduğu gerek kendi özgün çalışmaları ve gerekse literatürden aktarılan derleme çalışmaların bir araya getirilmiş sunumlarından meydana getirilmiştir. Burada amaç konuyla ilgilenen mühendis ve akademisyenlerin önemli sayılacak mühendislik çalışmalarını bir arada bulmalarıdır. Dolayısıyla kitabın önemli bir boşluğu dolduracağı ve genç araştırmacılara faydalı olacağı kanaatindeyim. Bu bağlamda; kitaba bilimsel katkı sunan, kitabı baskıya hazırlayan kısacası emeği geçen herkese teşekkür ederiz. Yayımlanan bu kitabın gerek mühendislere ve gerekse genç akademisyenlere faydalı olmasını diler, tüm mühendis ve genç akademisyenlere başarılar dilerim. Prof. Dr. Kamil KAYGUSUZ Makine & Kimya Mühendisi ve Enerji Uzmanı Karadeniz Teknik Üniversitesi Öğretim Üyesi Türkiye Bilimler Akademisi Asli ÜyesiArticle Current Trend in Control of Artificial Intelligence for Health Robotic Manipulator(2022) Mahmoud, Magdi S.; Raharja, Nia Maharani; Baballe, Muhammad Ahmad; Suwarno, Iswanto; Çakan, AbdullahThe increasing utilization of artificial intelligence and robots in various services in healthcare makes robots as preferred intelligent agent model. Robotic evolution produces the optimal robotic innovation in the robotic system or its subsystems, morphology, kinematics, and control. An intelligent algorithm is programmed into the control of the robotic manipulator. This paper aims to identify the control of artificial intelligence and identify comparisons of artificial intelligence algorithms control for healthcare robotic manipulators. This study uses a systematic literature review using the Preferred Reporting Items for Systematic Review (PRISMA). The potential for further articles is explored related to the theme of the research carried out. The conclusion obtained many studies have been carried out to optimize the work and tasks of the robotic arm manipulator, specifically developing various types of manipulator control (algorithms) combined with neural networks to get the right and appropriate algorithm.
Research Topics
Domains
Physical Sciences
Fields
Engineering
Subfields
Mechanical EngineeringControl and Systems EngineeringElectrical and Electronic Engineering
Specific Research Areas
Hydraulic and Pneumatic Systems
Adaptive Control of Nonlinear Systems
Dynamics and Control of Mechanical Systems
Advanced Control Systems Design
Engineering and Technology Innovations
Sustainable Development Goals
1NO POVERTY
1
Research Products
9INDUSTRY, INNOVATION AND INFRASTRUCTURE
1
Research Products
Documents
22
Citations
353
h-index
10
Documents
12
Citations
118
Publication Collaboration
| Affiliation Name | Count |
|---|---|
| Konya Technical University | 29 |
| Necmettin Erbakan University | 9 |
| Selçuk University | 8 |
| Universitas Ahmad Dahlan | 7 |
| KTO Karatay University | 7 |
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Data obtained from OpenAlex
| Journal | Count |
|---|---|
| Journal of Robotics and Control (JRC) | 3 |
| International Journal of Robotics and Control Systems | 2 |
| Applied Engineering Letters | 2 |
| Özgür Yayınları eBooks | 2 |
| Balıkesir Üniversitesi Fen Bilimleri Enstitüsü Dergisi | 1 |
Current Page: 1 / 6
Scholarly Output
36
Articles
29
Views / Downloads
75/348
Supervised MSc Theses
0
Supervised PhD Theses
0
WoS Citation Count
90
Scopus Citation Count
300
Patents
0
Projects
0
WoS Citations per Publication
2.50
Scopus Citations per Publication
8.33
Open Access Source
28
Supervised Theses
0
Scopus Quartile Distribution
Competency Cloud
