Prof. Dr. Yusuf Altun | Duzce University / Düzce Üniversitesi (original) (raw)

articles by Prof. Dr. Yusuf Altun

Because of increasing of vehicle usage throughout the world, the safety driving in traffic is gai... more Because of increasing of vehicle usage throughout the world, the safety driving in traffic is gaining importance. There are many automatic auditing mechanisms to decrease the number of traffic accidents. In a public road that has lanes,possibility of a traffic accident caused by drivers who uses the wrong lane or changes the lane frequently or changes the lanes when it is forbidden, is fairly high. In this study, image processing techniques are applied to detect vehicles that changes lanes hazardously and uses different lanes from its lane to go according to its classified vehicle type.

The main aim of this paper is to attenuate the effects of the road disturbance on the quarter-car... more The main aim of this paper is to attenuate the effects of the road disturbance on the quarter-car active suspension system (ASS) for the passenger comfort by using design. Therefore, a new static disturbance compensator is proposed by using linear matrix inequality method such that the disturbance compensator and feedback controller are simultaneously designed for the disturbances in the linear time-invariant systems, which are measurable or predictable. They have static structure, and the disturbance compensator is designed on the feedforward path. The design is applied against the road disturbance affecting the quarter car ASS. The effectiveness of the design is demonstrated with the simulations.{\textless}/p{\textgreater

Bu {\c{c}}alışmada, tekil olmayan descriptor (tanımlayıcı) belirsiz sistemler i{\c{c}}in kestirim... more Bu {\c{c}}alışmada, tekil olmayan descriptor (tanımlayıcı) belirsiz sistemler i{\c{c}}in kestirim yapılabilir y{\^{a}}da sens{\"{o}}rle {\"{o}}l{\c{c}}{\"{u}}lebilir bozucuları bastırmak i{\c{c}}in aynı anda statik ileri beslemeli ve geri beslemeli kontrol tasarımı {\"{o}}nerilmektedir. Geri beslemeli ve ileri beslemeli kontrol, doğrusal zamanla değişmeyen belirsiz sistemler i{\c{c}}in bozucuları bastırmak ve etkisini ortadan kaldırmak i{\c{c}}in geliştirilmiştir. Kontrol dizaynı, doğrusal matris eşitsizlikleri yardımıyla H ∞ kontrol teorisine dayanılarak ger{\c{c}}ekleştirilmiştir. Robot kolu gibi {\c{c}}oğu mekanik sistemler tekil olmayan belirsiz descriptor sistemler şeklinde modellenir. Bu y{\"{u}}zden bu {\c{c}}alışmada tekil olmayan belirsiz sistemler ele alınmıştır. {\"{O}}nerilen tasarımın başarımı sim{\"{u}}lasyon {\"{o}}rneklerinde sunulmaktadır.

In this article, it is resorted to combining robotics with the simulation of the dribbling that f... more In this article, it is resorted to combining robotics with the simulation of the dribbling that forward player does in order to pass goalkeeper when faced with goalkeeper. The purpose of the project is to provide the actualization of scoring a goal of robots by calculating the distances between the right and left sides and the distances between goalkeeper and robot when robot faced with obstacle and thus most appropriately passing of the robot to goalkeeper. There are countless ways and methods to score a goal. But in a real competition, it is often not possible to end with a number when an opponent or goalkeeper is encountered. The fuzzy logic algorithm, a branch of artificial intelligence, is used in order to robot can perform these operations. The results are interpreted by Matlab/simulink and owing to these algorithms, robot has determined the field that it will go according to location of obstacle. Also it has determined the striking velocity by measuring the distance. In final stage of the project, the robot succeeded in scoring a goal. KeyWords:

This paper proposes a gain scheduling linear quadratic integral (LQI) servo controller design, wh... more This paper proposes a gain scheduling linear quadratic integral (LQI) servo controller design, which is derived from linear quadratic regulator (LQR) optimal control, for non-singular linear parameter varying (LPV) descriptor systems. It is assumed that state space matrices are non-singular since many mechanical systems do not have any non-singular matrices such as the natural state space forms of robotic manipulator, pendulum and suspension systems. A controller design is difficult for the systems due to rational LPV case. Therefore, the proposed gain scheduling controller is designed without the difficulty. Accordingly, the motion control design is implemented for two-link flexible joint robotic manipulator. Finally, the control system simulation is performed to prove the applicability and performance.

journals.tubitak.gov.tr, 2011

Filter (APF) is used for reducing these effects. APF, as a subsystem, is placed into torque contr... more Filter (APF) is used for reducing these effects. APF, as a subsystem, is placed into torque control system entrance to save the control system and induction motor output torque. Motor outputs, that are before-after APF connections, are handed for understanding effects of voltage harmonics. Since APF design was based on voltage harmonics, Electromagnetic Interference (EMI) has not changed. Main goal of the filter is zero effect of voltage harmonics on motor torque. A new place is selected for APF and the filter control system is designed with using Lyapunov function at the same time. Classical PI controlled APF is used like as a reference filter system and final result is that motor and system elements are defended by nonlinear controlled APF.

Intelligent Computing Theories and …, 2012

This paper presents design considerations of an Extended Kalman Filter (EKF) based Wireless Senso... more This paper presents design considerations of an Extended Kalman Filter (EKF) based Wireless Sensor Network (WSN) aided indoor localization for unmanned vehicles (UV). In this approach, we integrate Received Signal Strength Indicator (RSSI) measurements into an EKF based localization system. The localization system primarily uses measurements from a Laser Range Finder (LRF) and keeps track of the current position of the UV using an EKFbased algorithm. The integration of RSSI measurements at predetermined intervals improves the accuracy of the localization system. It may also prevent large drifts from the ground truth, kidnapping, and loop closure errors. Player/Stage based simulation studies were conducted to prove the effectiveness of the proposed system. The results of the comparative simulations show that integrating RSSI measurements into the localization system improves the system's accuracy.

This paper presents a new virtual laboratory tool which teaches sliding mode control (SMC) and

Electronics and Electrical Engineering, 2013

Energy mode functions and their inverse signal dynamics can be used for the design of controllers... more Energy mode functions and their inverse signal dynamics can be used for the design of controllers in classical control algorithms, which use the error signals of related system parameters in general mode. Different from this common approach, Lyapunov function-based controller design is preferred and motor mechanical speed parameter is incorporated into the control operation in this study. The results of the experimental studies conducted for this study prove that when both electrical and mechanical parameters of the system are taken into consideration, the proposed controller, nonlinear speed controller supported by direct torque controller and space vector modulation, performs better than classical controllers and can be realized successfully.

Nonlinear Dynamics, 2014

This paper presents the dynamic feedforward control synthesis for linear parameter varying (LPV) ... more This paper presents the dynamic feedforward control synthesis for linear parameter varying (LPV) systems. It is assumed that all system matrices are dependent on varying parameters, which are measurable with sensor or observable. The parameters have bounded variation rates. Parameter-Dependent Lyapunov Function (PDLF) is used for the feedforward control synthesis such that the robust stability is assured for all varying parameters at the time of the operation. The method is formulated in terms of linear matrix inequalities (LMIs) for LPV feedforward controller that guarantees the stability of the transfer matrix having L2gain. This compensator is designed by adding on the feedback controller in two degrees of freedom (2-DOF) r can be used for the disturbance attenuation or decreasing the tracking error. The numerical examples and simulations are given to provide the applicability of the proposed method.

Bu {\c{c}}alışmada end{\"{u}}striyel ve elektronik uygulamalarda ve robot teknolojilerinde kullan... more Bu {\c{c}}alışmada end{\"{u}}striyel ve elektronik uygulamalarda ve robot teknolojilerinde kullanılan step motorun hız kontrol{\"{u}} ger{\c{c}}ekleştirilmiştir. Tasarımda kullanılan Arduino IDE kod edit{\"{o}}r{\"{u}} ve derleyici olarak g{\"{o}}rev yaparak, derlenen programı karta y{\"{u}}kleme işlemini sağlamıştır. Encoder sayısal bir elektrik sinyali {\"{u}}reten elektromekanik bir cihaz olması {\"{o}}zelliğinden dolayı motorun ka{\c{c}} tur attığını algılamak i{\c{c}}in {\c{c}}alışmada yer verilmiştir. Hesaplama sonu{\c{c}}larının listelendiği ekran olarak 2x16 display(LCD) ekran kullanılmıştır. Devreye eklenen butonlar ile hız artırma ve azaltma sağlanmıştır. Doğru malzeme se{\c{c}}imi modellenmesi ardından c programlama dili ve gerekli platformlar kullanılmıştır. Ares devre şeması proteus isis programı ile oluşturulmuştur. Gerekli işlemler yapılarak bakır plaket {\"{u}}zerine yapıştırılmıştır. Sanal ortamda denenen devre kablo ve test aşamalarının tamamlanmasıyla ger{\c{c}}ek ortama ge{\c{c}}irilmiştir. Bu sayfa bulanık mantık kullanılarak, girişe uygulanan işaret ile birlikte istenilen {\c{c}}ıkışı veren step motor hız kontrol{\"{u}}n{\"{u}} anlatmaktadır. Anahtar Kelimeler: Arduino, Step Motor, Bulanık mantık, Encoder

Induction motors (IM) are commonly used in industrial applications due to their superiorities suc... more Induction motors (IM) are commonly used in industrial applications due to their superiorities such as low cost, less maintenance requirements, high effiency and high power density in comparison with other electric motors such as dc motors. There are many studies in the literature on IM control. The best known speed control method of the IM is scalar control method (SCM) because of its easy to understand and implement. The another control method which is known as vector control method is the field oriented control method (FOC). Although FOC is more sophisticated than SCM, it is higher performance on control in general. In this study, the mathematical model of IM has used on simulation and FOC method has implemented on it. Then for speed control of IM Ziegler-Nichols method is used.Matlab/Simulink software has used to simulate system.

Humanoid robots have been used in several scientific areas as a research and development tools. I... more Humanoid robots have been used in several scientific areas as a research and development tools. In addition to research, humanoid robots have been developed to perform different human tasks like a human. They are reprogrammable repeatedly for fulfilling various tasks expected from them. With the advancements in technology, humanoid robots have been widely used in industrial applications due to their reducing costs. In this study, artificial neural network application has been implemented on images which taken from NAO's camera instantly. Segmentation and feature extraction methods have been used to find characters. NAO robot has been satisfied to search for and say characters on images after training robot with training dataset. The results show that using neural network algorithms gives good results on character recognition applications

\textcopyright} 2017 Institute of Control, Robotics and Systems and The Korean Institute of Elect... more \textcopyright} 2017 Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin HeidelbergThis paper proposes an improved robust H2 state feedback control synthesis for the Linear Parameter Varying (LPV) systems by attaining the affine quadratic stability. In place of standard H2 computation in the literature, a new H2 computation based on extended Linear Matrix Inequality (LMI) is improved by means of the slack variable, where it is obtained by separation Lyapunov matrix from system matrix. State feedback H2 synthesis is improved for the systems, and is more effective and less conservative than the common ones in the literature. Therefore, the less conservative results are obtained for gain scheduling controller design for LPV systems. The numerical examples are presented to show the superiority of the proposed controller design.

inproceedings by Prof. Dr. Yusuf Altun

The state feedback control is presented by pole placement for the water hydraulic servo motor sys... more The state feedback control is presented by pole placement for the water hydraulic servo motor system in this paper, which is a choice of driving source for many applications. Although the system is highly nonlinear and has uncertainty parameters, it can be linearized around the working points. The pole placement method is used for the velocity control because it has simpler structure and low-cost contrary to advanced controllers or dynamic controllers. In addition, the control enables to place the desired poles. Therefore, the oscillation, settling time and overshoot are regulated to the disturbances thanks to the controller. The simulation results are presented for the control performance.

journals.tubitak.gov.tr, 2011

Intelligent Computing Theories and …, 2012

This paper presents a new virtual laboratory tool which teaches sliding mode control (SMC) and

Electronics and Electrical Engineering, 2013

Nonlinear Dynamics, 2014

This paper shows the linear-quadratic regulator (LQR) control of coupled-tank system based on the... more This paper shows the linear-quadratic regulator (LQR) control of coupled-tank system based on the linearized mathematical model. Although the system is nonlinear, it can be linearized at the operating points. Therefore, the temperature and level controller is designed via the method, which is applicable in practical. Also, the control method is known as an optimal control and it has good performance is obtained by determining some matrices of and designing of control for liquid level and temperature controls.

This paper presents a PID controller for water hydraulic servo motor systems. Ziegler-Nichols met... more This paper presents a PID controller for water hydraulic servo motor systems. Ziegler-Nichols method estimates the control parameters of the controller. Even though the highly nonlinear nature of water hydraulic servo motor systems makes the implementation of this controller a challenge with the help of linearization techniques it is been successful in controlling the system. Ease of use and simplicity are two big advantages of this control method in hydraulic servo motor systems.

In recent years, electric vehicles have tremendous potential due to their low maintenance costs a... more In recent years, electric vehicles have tremendous potential due to their low maintenance costs and environmental friendliness. The purpose of this study is to provide fatigue analyses on the vehicle chassis to determine the parts to be fatigued and to find the critical life of these parts. Within the scope of this plan, first of all static analysis was carried out with 600 kg load on the chassis model. According to the results of the static analysis, it was observed that the system was within the safety limits, and then fatigue analysis was started. Fatigue analysis were carried out with 5 different road data collected during road tests. As a result of the analysis, the fatigue lives of the parts on the model were determined and It has been seen that the vehicle chassis is far below critical values in terms of fatigue life.

PMSM motor are getting more common each day in industrial applications due to their superiorities... more PMSM motor are getting more common each day in industrial applications due to their superiorities such as lacking physical parts such as brushes or commutators, higher reliability and high efficiency and better life expectancy. Another advantage of a pmsm is that it can operate at speeds above 10,000 rpm in bot loaded and unloaded conditions. It is also capable of operating with less noise and electromagnetic interference than a brushed motor. Only disadvantage of a PMSM is that it needs for a control system which is complex. One of the common ways to control a PMSM is the field oriented control method. PMSM is used for the hydraulic servo motor systems. In this study, a PMSM is controlled with FOC method by using Simulink model and the K p and K I coefficients of PI have been determined by using Ziegler-Nichols method.

This paper presents the simulation and analysis of hydraulic-pneumatic quadruple tank system, whi... more This paper presents the simulation and analysis of hydraulic-pneumatic quadruple tank system, which is generally used in industrial processes. The system is complex and has many variables. So, the program tool brings to examine the effects of the system parameters. In addition, this analysis and simulation program provides to teach graduate and undergraduate students without laboratory for hydraulic-pneumatic quadruple tank system. The linear dynamic model is used for the simulation and analysis under some operating conditions. Eventually, some simulation examples are exhibited for the parameter effects.

-Because of increasing of vehicle usage throughout the world, the safety driving in traffic is ga... more -Because of increasing of vehicle usage throughout the world, the safety driving in traffic is gaining importance. There are many automatic auditing mechanisms to decrease the number of traffic accidents. In a public road that has lanes,possibility of a traffic accident caused by drivers who uses the wrong lane or changes the lane frequently or changes the lanes when it is forbidden, is fairly high. In this study, image processing techniques are applied to detect vehicles that changes lanes hazardously and uses different lanes from its lane to go according to its classified vehicle type.

… Motion Control, 2010 …, 2010

This work focuses on providing sensorless DTC for IPMSM with minimum torque ripple and at the sam... more This work focuses on providing sensorless DTC for IPMSM with minimum torque ripple and at the same time with a simple algorithm to be implemented with hardware. The developed algorithm method follows the principle of steering that corrects the direction of vehicle from deviation. The algorithm uses the output of two hysteresis controllers used in the traditional HDTC to determine two adjacent active vectors. It also uses the magnitude of the torque error and stator flux linkage position to select the switching time required for the two selected vectors. The selection of the switching time for the selected vector consider the system inertia and control time delay utilizes a new suggested table structure, which reduces the complexity of calculation. The simulation and experimental results of this proposed algorithm show adequate dynamic torque performance and considerable torque ripples reduction as well as lower harmonic current as compared to traditional HDTC.

Optimization of Electrical …, 2008

In this study, we consider evaluation of the first year undergraduate curriculums of electrical-e... more In this study, we consider evaluation of the first year undergraduate curriculums of electrical-electronics engineering departments at the state universities in Turkey (TR). The first year education is very significant, in view of the student's vocational information. Therefore, the first year curriculums are explained at thirty state universities. Analyzing the curriculums, the situation of electrical-electronics engineering departments is represented. According to analyze, we propose lessons of the first year curriculum.

Bu çalışmada, kontrol teorisinin gelişmesinde önemli yere sahip olan dönen tek ters sarkaç sistem... more Bu çalışmada, kontrol teorisinin gelişmesinde önemli yere sahip olan dönen tek ters sarkaç sisteminin kayan kip kontrol uygulaması gerçekleştirilmiştir. Çalışmanın ilk aşaması simülasyon olarak yürütülmüştür. Simülasyonda ters sarkaç sistemlerine kayan kip kontrol uygulanmıştır. Dönen tek ters sarkaç sisteminde uygulanan kayan kip kontrol için integral ve türev olmak üzere iki adet kayma yüzeyi tasarlanmıştır. Yapılan simülasyon sonucunda belirlenen sistem için kontrolör parametreleri belirlenerek ters sarkacın dengede durması sağlanmıştır. İkinci aşamada, dönen tek ters sarkaç sisteminin kayan kip kontrolü için deney düzeneği tasarlanmıştır. LabVIEW TM programı ve 6024E LabVIEW TM DAQ kartı kullanılarak dönen ters sarkaç sisteminin gerçek zamanlı kayan kip kontrolü gerçekleştirilmiştir.

Bu çalışmada, kontrol teorisinin gelişmesinde önemli yere sahip olan dönen tek ters sarkaç sistem... more Bu çalışmada, kontrol teorisinin gelişmesinde önemli yere sahip olan dönen tek ters sarkaç sisteminin hiyerarşik kayan kip kontrolü gerçekleştirilmiştir Sistem tek giriş-çift çıkış(çıkışta sistemin iki konumu kontrol edilmiştir) olarak düşünülmüştür. Bu yüzden iki adet kayma yüzeyi tanımlanarak hiyerarşik kayan kip kontrolör tasarlanmıştır. Buna göre gerçekleştirilen simülasyonda, sisteme bozucu eklenerek tasarlanan kontrolörün performansı incelenmiştir.

ieeexplore.ieee.org, 2012

This paper presents linear parameter varying (LPV) control of permanent magnet synchronous motor ... more This paper presents linear parameter varying (LPV) control of permanent magnet synchronous motor (PMSM), which have nonlinear model in d-q rotating frame, using Linear Matrix Inequality (LMI). PMSM model is rewritten in the LPV form depending on the angular speed of rotor which can be measured or estimated. Parameter-dependent Lyapunov function is used for the LPV control design such that the robust stability is assured for all varying parameters using multi-convexity functions. The proposed LPV structure of speed tracking problem is based on the field oriented control (FOC) in the AC motor control methods. Thus, the proposed LPV controller acquires the control of stator currents in d-q rotating frames for the speed control of PMSM in Electrical Vehicle (EV) presented in the simulation results.

Published in:
Vehicular Electronics and Safety (ICVES), 2012 IEEE International Conference on
Date of Conference:
24-27 July 2012
Page(s):
340 - 345
Print ISBN:
978-1-4673-0992-9
INSPEC Accession Number:
12978476
Conference Location :
Istanbul
DOI:
10.1109/ICVES.2012.6294262
Publisher:
IEEE

emo.org.tr

This paper presents a rule based controller for boost converter. This algorithm is used to find t... more This paper presents a rule based controller for boost converter. This algorithm is used to find the switching duty cycle of boost converter for a crisp output voltage. The output voltage is studied for different loads. Simulation results show that value of the load limits output voltage of the boost converter.

2013 9th Asian Control Conference (ASCC), 2013

This paper proposes a new static feedforward controller synthesis for Linear Parameter Varying (L... more This paper proposes a new static feedforward controller synthesis for Linear Parameter Varying (LPV) systems. In this approach, the matrices of system are dependent on measurable parameters which have bounded variations. The proposed controller design is based on H infinity controller design and is formulated in terms of Linear Matrix Inequalities (LMIs). Parameter-dependent Lyapunov function is used for the synthesis where the robust stability is guaranteed for all varying parameters during the control. This controller is used by combining on the feedback controller in two degrees of freedom (2-DOF) control system structure. It is assumed that the feedback controller in the generalized system was previously designed in the structure. Afterwards the feedforward controller is designed by imposing on the feedback controller. The controller design can be used for decreasing the reference tracking error or the disturbance attenuation. A numerical example is given to provide the applicability of the controller for decreasing the reference tracking error.

2013 3rd International Conference on Electric Power and Energy Conversion Systems, 2013

In this study, the current tracking problem of PMSM is handled as static feed-forward controller ... more In this study, the current tracking problem of PMSM is handled as static feed-forward controller design for Linear Parameter Varying (LPV) system. H infinity controller formulated by means of Linear Matrix inequalities (LMI) with bounded and measurable system parameters is used. Parameter dependent Lyapunov function is preferred to achieve robust stability against inconstant parameters, throughout the control process. The LPV controller is used in two degrees of freedom (2-DOF), by jointly adding static LPV feed-forward controller on a PI feedback controller. Space vector pulse width modulation (SVPWM) is used to generate switching signals. Overall system is simulated by Matlab/Simulink Software to evaluate the validity of the method in transient and steady state response by computer simulation. Simulation results reveal that proposed method has good dynamic performance and robustness.

Bu çalışma kara araçları için yol tutuşu ve yolcu konforu bakımından çok önemli bir yere sahip ol... more Bu çalışma kara araçları için yol tutuşu ve yolcu konforu bakımından çok önemli bir yere sahip olan aktif süspansiyon sisteminin kontrolünü sunar. Kontrol sistemi için literatürde çeyrek taşıt modeli olarak bilinen ve aracın dörtte bir kütlesiyle tek teker sisteminden oluşan model kullanılmıştır. Öncelikle pasif ve aktif süspansiyon sistemlerinin matematiksel modelleri ortaya konulmuş ve aktif süspansiyon sistemi için kontrolörler tasarlanmıştır. Kontrolör tasarımları lineer matris eşitsizlikleri (LMI) ile optimizasyon yapılarak elde edilmiştir. Çalışmada lineer quadratik regülatör (LQR) kontrol ile lineer quadratik integral (LQI) kontrol tasarımları yapılmış ve yol bozucularına karşı performansları kıyaslanmıştır.

Research Square (Research Square), Nov 17, 2022

In this study, a novel filter bank design is proposed for speech emotion recognition to replace c... more In this study, a novel filter bank design is proposed for speech emotion recognition to replace current state-of-the-art MFCC (Mel Filter Cepstral Coefficients) and Mel filter banks. These novel filter banks are considered to have a great impact and pave the way for great developments and improvements over speech emotion recognition applications. Many filter banks have been proposed to model speech recognition applications but these models either contain too many banks or need some cumbersome mathematical operations to compute. MFCC requires the calculation of DCT (Discrete Cosine Transform), and it is also too difficult to interpret the MFCC coefficients. Mel filters are easy to interpret but they contain too many filters. The novel filter banks are faster and easier to compute. Moreover, they can be interpreted better compared to the MFCC and Mel filters. We apply these filter banks with NVIDIA's CNN and ResNet deep convolutional networks. We also implement feature selection, data augmentation, and various techniques to combat problems of imbalanced datasets to show the effectiveness of proposed filter banks.

Mathematical Problems in Engineering, Oct 19, 2021

In this article, a novel pitch determination algorithm based on harmonic differences method (HDM)... more In this article, a novel pitch determination algorithm based on harmonic differences method (HDM) is proposed. Most of the algorithms today rely on autocorrelation, cepstrum, and lastly convolutional neural networks, and they have some limitations (small datasets, wideband or narrowband, musical sounds, temporal smoothing, etc.), accuracy, and speed problems. ere are very rare works exploiting the spacing between the harmonics. HDM is designed for both wideband and exclusively narrowband (telephone) speech and tries to find the most repeating difference between the harmonics of speech signal. We use three vowel databases in our experiments, namely, Hillenbrand Vowel Database, Texas Vowel Database, and Vowels from the TIMIT corpus. We compare HDM with autocorrelation, cepstrum, YIN, YAAPT, CREPE, and FCN algorithms. Results show that harmonic differences are reliable and fast choice for robust pitch detection. Also, it is superior to others in most cases.

Düzce Üniversitesi bilim ve teknoloji dergisi, Jan 31, 2020

Teknolojik gelişmeler ve bu zamana kadar biriken bilgilerin ışığında otonom sistemlerde muazzam b... more Teknolojik gelişmeler ve bu zamana kadar biriken bilgilerin ışığında otonom sistemlerde muazzam bir ilerleme kaydedilmiştir. Bu sayede otonom sistemler çarpışmadan kaçınma, trafik işareti tespiti, haritalama vb. sayısız akıllı işlevleri gerçekleştirebilmektedir. Gerçek zamanlı otonom araçların en zorlu problemi aracın kendi kendine haritalandırma ve lokasyon işlemlerini yapabilmesidir. Genetik Algoritma (GA) kullanarak optimize edilmiş lokasyon uygulaması ile otonom araçlar için sürüş güvenliğinin artması beklenmektedir. Bu çalışma da lazer tabanlı bir lokalizasyon ve haritalama tekniğinin üzerine odaklanılmıştır. Gerçekleştirilen sistemde sanal bir test ortamı kurulmuş ve bir otonom araç üzerinde denemeler yapılmıştır. Çalışma kapsamında sanal makineler oluşturularak üzerlerine Linux işletim sistemi kurulmuştur. Sonra bu sanal makinelere ROS ortamında TurtleBot3 kurulmuş ve iç mekân lokalizasyonu yapılarak bir harita elde edilmiştir. Bu harita genetik algoritma ile en kısa mesafelerin bulunmasını sağlamak için kullanılmaktadır. Gözlemler neticesinde simülasyon ortamındaki robot yüksek başarımla istenilen konuma gidebildiği sonucuna ulaşılmıştır.

Arabian Journal for Science and Engineering

In this study, a novel filter bank design is proposed for speech emotion recognition to replace c... more In this study, a novel filter bank design is proposed for speech emotion recognition to replace current state-of-the-art MFCC (Mel Filter Cepstral Coefficients) and Mel filter banks. These novel filter banks are considered to have a great impact and pave the way for great developments and improvements over speech emotion recognition applications. Many filter banks have been proposed to model speech recognition applications but these models either contain too many banks or need some cumbersome mathematical operations to compute. MFCC requires the calculation of DCT (Discrete Cosine Transform), and it is also too difficult to interpret the MFCC coefficients. Mel filters are easy to interpret but they contain too many filters. The novel filter banks are faster and easier to compute. Moreover, they can be interpreted better compared to the MFCC and Mel filters. We apply these filter banks with NVIDIA’s CNN model and SVM-SMO classifier to compare them with MFCC and Mel filter banks. We a...

Balıkesir Üniversitesi Fen Bilimleri Enstitüsü, 2008

Mathematical Problems in Engineering, 2021

In this article, a novel pitch determination algorithm based on harmonic differences method (HDM)... more In this article, a novel pitch determination algorithm based on harmonic differences method (HDM) is proposed. Most of the algorithms today rely on autocorrelation, cepstrum, and lastly convolutional neural networks, and they have some limitations (small datasets, wideband or narrowband, musical sounds, temporal smoothing, etc.), accuracy, and speed problems. There are very rare works exploiting the spacing between the harmonics. HDM is designed for both wideband and exclusively narrowband (telephone) speech and tries to find the most repeating difference between the harmonics of speech signal. We use three vowel databases in our experiments, namely, Hillenbrand Vowel Database, Texas Vowel Database, and Vowels from the TIMIT corpus. We compare HDM with autocorrelation, cepstrum, YIN, YAAPT, CREPE, and FCN algorithms. Results show that harmonic differences are reliable and fast choice for robust pitch detection. Also, it is superior to others in most cases.

Bu calisma kara araclari icin yol tutusu ve yolcu konforu bakimindan cok onemli bir yere sahip ol... more Bu calisma kara araclari icin yol tutusu ve yolcu konforu bakimindan cok onemli bir yere sahip olan aktif suspansiyon sisteminin kontrolunu sunar. Kontrol sistemi icin literaturde ceyrek tasit modeli olarak bilinen ve aracin dortte bir kutlesiyle tek teker sisteminden olusan model kullanilmistir. Oncelikle pasif ve aktif suspansiyon sistemlerinin matematiksel modelleri ortaya konulmus ve aktif suspansiyon sistemi icin kontrolorler tasarlanmistir. Kontrolor tasarimlari lineer matris esitsizlikleri (LMI) ile optimizasyon yapilarak elde edilmistir. Calismada lineer quadratik regulator (LQR) kontrol ile lineer quadratik integral (LQI) kontrol tasarimlari yapilmis ve yol bozucularina karsi performanslari kiyaslanmistir.

Humanoid robots have been used in several scientific areas as a research and development tools. I... more Humanoid robots have been used in several scientific areas as a research and development tools. In addition to research, humanoid robots have been developed to perform different human tasks like a human. They are reprogrammable repeatedly for fulfilling various tasks expected from them. With the advancements in technology, humanoid robots have been widely used in industrial applications due to their reducing costs. In this study, artificial neural network application has been implemented on images which taken from NAO’s camera instantly. Segmentation and feature extraction methods have been used to find characters. NAO robot has been satisfied to search for and say characters on images after training robot with training dataset. The results show that using neural network algorithms gives good results on character recognition applications.

Bu calismada, tekil olmayan descriptor (tanimlayici) belirsiz sistemler icin kestirim yapilabilir... more Bu calismada, tekil olmayan descriptor (tanimlayici) belirsiz sistemler icin kestirim yapilabilir yâda sensorle olculebilir bozuculari bastirmak icin ayni anda statik ileri beslemeli ve geri beslemeli kontrol tasarimi onerilmektedir. Geri beslemeli ve ileri beslemeli kontrol, dogrusal zamanla degismeyen belirsiz sistemler icin bozuculari bastirmak ve etkisini ortadan kaldirmak icin gelistirilmistir. Kontrol dizayni, dogrusal matris esitsizlikleri yardimiyla H ∞ kontrol teorisine dayanilarak gerceklestirilmistir. Robot kolu gibi cogu mekanik sistemler tekil olmayan belirsiz descriptor sistemler seklinde modellenir. Bu yuzden bu calismada tekil olmayan belirsiz sistemler ele alinmistir. Onerilen tasarimin basarimi simulasyon orneklerinde sunulmaktadir.

The Journal of Engineering Research, 2016

The aim of this study is to make fatigue analysis of electrical vehicle chassis which was designe... more The aim of this study is to make fatigue analysis of electrical vehicle chassis which was designed previously and is to determine the fatigue damage components in advance and to find the critical life of these parts. Then to compare the obtained data with the values taken during the road tests.To ensure smooth operation CAD model which was prepared in Solidworks is provided in .stp format and simplifications that are deemed necessary are made in the program Catia V5 R20.The prepared solid model has been transferred to the Ansys Static Structural Programmer in .stp format for finite element models. Here, static analysis is performed via on-vehicle weight. After that, fatigue analysis is performed in nCode DesignLife software with the data received from testing tracks. Within the scope of this plan, firstly static analysis will be performed with 1 driver and 2 passenger weights on the chassis, than fatigue analysis with data collected from 4 different ways during road tests will be ca...

PMSM motor are getting more common each day in industrial applications due to their superiorities... more PMSM motor are getting more common each day in industrial applications due to their superiorities such as lacking physical parts such as brushes or commutators, higher reliability and high efficiency and better life expectancy. Another advantage of a pmsm is that it can operate at speeds above 10,000 rpm in bot loaded and unloaded conditions. It is also capable of operating with less noise and electromagnetic interference than a brushed motor. Only disadvantage of a PMSM is that it needs for a control system which is complex. One of the common ways to control a PMSM is the field oriented control method. PMSM is used for the hydraulic servo motor systems. In this study, a PMSM is controlled with FOC method by using Simulink model and the Kp and KI coefficients of PI have been determined by using ZieglerNichols method.

In this study, the aim is to combine the goalscoring with the robotics and it was also discussed ... more In this study, the aim is to combine the goalscoring with the robotics and it was also discussed that one-on-one positions in detailed. When a forward player is one-on-one with a goalkeeper, in such limited time and space, it was observed that there are many ways that a forward player could use. When there is a one-on-one position between a striker and a goalkeeper, the simulation of the forward player's dribbling and crossing process had been aimed to be combined with the robotics. The aim of the project is that, when the robot encounter with an obstacle in the way of goalscoring; having the robot enable to calculate the distances between the right and left sides and the distance between the goalkeeper and itself so as to cross the goalkeeper and score the goal. Thanks to this study, different options of goalscoring have been introduced in real life football competitions. This shows that there may be alternative ways to finish positions with more goals, in a real football match...