Browsing by Author "Arikan, Kutluk Bilge"

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Citation - WoS: 25
Citation - Scopus: 28
Analysis of Mirror Neuron System Activation During Action Observation Alone and Action Observation With Motor Imagery Tasks
(Springer, 2018) Cengiz, Bulent; Vuralli, Doga; Zinnuroglu, Murat; Bayer, Gozde; Golmohammadzadeh, Hassan; Gunendi, Zafer; Arikan, Kutluk Bilge; Department of Mechatronics Engineering; 01. Atılım University
This study aimed to explore the relationship between action observation (AO)-related corticomotor excitability changes and phases of observed action and to explore the effects of pure AO and concurrent AO and motor imagery (MI) state on corticomotor excitability using TMS. It was also investigated whether the mirror neuron system activity is muscle-specific. Fourteen healthy volunteers were enrolled in the study. EMG recordings were taken from the right first dorsal interosseous and the abductor digiti minimi muscles. There was a significant main effect of TMS timing (after the beginning of the movement, at the beginning of motor output state, and during black screen) on the mean motor evoked potential (MEP) amplitude. Mean MEP amplitudes for AO combined with MI were significantly higher than pure AO session. There was a significant interaction between session and TMS timing. There was no significant main effect of muscle on MEP amplitude. The results indicate that corticomotor excitability is modulated by different phases of the observed motor movement and this modulation is not muscle-specific. Simultaneous MI and AO enhance corticomotor excitability significantly compared to pure AO.
Citation - WoS: 51
Citation - Scopus: 63
Cue-based aggregation with a mobile robot swarm: a novel fuzzy-based method
(Sage Publications Ltd, 2014) Arvin, Farshad; Turgut, Ali Emre; Bazyari, Farhad; Arikan, Kutluk Bilge; Bellotto, Nicola; Yue, Shigang; Department of Mechatronics Engineering; 01. Atılım University
Aggregation in swarm robotics is referred to as the gathering of spatially distributed robots into a single aggregate. Aggregation can be classified as cue-based or self-organized. In cue-based aggregation, there is a cue in the environment that points to the aggregation area, whereas in self-organized aggregation no cue is present. In this paper, we proposed a novel fuzzy-based method for cue-based aggregation based on the state-of-the-art BEECLUST algorithm. In particular, we proposed three different methods: naive, that uses a deterministic decision-making mechanism; vector-averaging, using a vectorial summation of all perceived inputs; and fuzzy, that uses a fuzzy logic controller. We used different experiment settings: one-source and two-source environments with static and dynamic conditions to compare all the methods. We observed that the fuzzy method outperformed all the other methods and it is the most robust method against noise.
Citation - WoS: 10
Design of a Robotic Bicopter
(Ieee, 2019) Albayrak, Ozge Beyza; Ersan, Yagmur; Bagbasi, Aysen Suheyla; Basaranoglu, Ahmet Turgut; Arikan, Kutluk Bilge; Department of Mechatronics Engineering; 01. Atılım University
This article presents a Bicopter type of a flying robot with two rotary-wing units which are placed in a tandem form on the chassis. The rotors are tilted by the aid of the tilt mechanism. Cascaded type of PID controllers are designed on the dynamical models for the attitude and altitude dynamics. The simulated control systems are implemented and tuned on the Naze32 flight controller which is connected to a Raspberry Pi single board computer for real-time applications. The real-time performance is monitored and evaluated during the tests and it is seen that the system is suitable for indoor type of robotic applications.
Citation - Scopus: 3
Disturbance Rejection Control of a Quadrotor Equipped With a 2 DOF Manipulator
(Springer Berlin Heidelberg, 2015) Aydemir, Mete; Arikan, Kutluk Bilge; Irfanoğlu, Bülent; Department of Mechatronics Engineering; 01. Atılım University
In this study Active Disturbance Rejection Control (ADRC) is implemented for the attitude dynamics of the quadrotor flying platform. Quadrotor model with a 2 DOF manipulator is constructed. External disturbances, manipulator dynamics and internal plant dynamics are treated as total disturbance which are estimated and rejected in simulation environment. © 2025 Elsevier B.V., All rights reserved.
Citation - WoS: 1
Citation - Scopus: 1
Evaluation and Optimization of Nonlinear Central Pattern Generators for Robotic Locomotion
(Romanian Soc Control Tech informatics, 2018) Elbori, Abdalftah; Turan, Mehmet; Arikan, Kutluk Bilge; Department of Mechatronics Engineering; Mathematics; Department of Mechatronics Engineering; Mathematics; 02. School of Arts and Sciences; 01. Atılım University
With regard to the optimization of Central Pattern Generators (CPGs) for bipedal locomotion in robots, this paper investigates how the different cases of CPGs such as uncoupled, unidirectional, bidirectional two CPGs are used to produce rhythmic patterns for one leg with two degrees of freedom (DOF). This paper also discusses the stability analysis of CPGs and attempts to utilize genetic algorithms with the hybrid function and adapts the CPGs to robotic systems that perform one-leg movement, by utilizing the bidirectional two CPGs. The results show far greater improvement than in the other cases. CPGs not only enhance movement but also control locomotion without any sensory feedback.
Citation - WoS: 22
Citation - Scopus: 31
Modelling and Controlling of Drill String Stick Slip Vibrations in an Oil Well Drilling Rig
(Elsevier, 2022) Sadeghi, Amir Noabahar; Arikan, Kutluk Bilge; Ozbek, Mehmet Efe; Mechatronics Engineering; Department of Mechatronics Engineering; Department of Electrical & Electronics Engineering; 15. Graduate School of Natural and Applied Sciences; 06. School Of Engineering; 01. Atılım University
Mitigating of drill string vibrations, plays a distinctive role in increase of rate of penetration and consequently decrease of the operation costs, prevent of severe damages to drill string and bit, increase of drilling operation quality and safety, and enhance the performances of the controllers. This study deals with modelling and controlling of drill string vibrations with focus on stick slip vibrations in vertical wells. The approach taken to subdivide the drill string into smaller torsional sections and model the complete system dynamically and employ the extracted torsional model to model the stick slip vibrations mathematically. To mitigate and or active control of stick slip vibrations, three architectures are developed and proposed, manipulation of the rotational speed, manipulation of the weight on bit, and increasing of the damping in the bottom of the drill string. The performance of each strategy is analysed individually as well as relative to each other, using a mathematical measure when the drill string length is divided into smaller torsional sections. By the aid of the simulations and mathematical measures, it is shown that manipulation of rotational speeds at the surface may not be an effective solution to reduce the stick slip vibrations, however manipulation of weight on bit and increasing of damping at the bottom of string can be two effective solutions to mitigate these kinds of vibrations. As a general conclusion, it is proved that the manipulation of bottom side drilling parameters is more effective than the manipulation of surface drilling parameters.
Citation - WoS: 19
Citation - Scopus: 27
Modelling and Optimisation of an 8 X 8 Heavy Duty Vehicle's Hydro-Pneumatic Suspension System
(inderscience Enterprises Ltd, 2016) Kucuk, Kahraman; Yurt, Hunkar Kemal; Arikan, Kutluk Bilge; Mrek, Huseyin; Department of Mechatronics Engineering; 01. Atılım University
In this paper, modelling of the hydro-pneumatic suspension (HPS) system of a heavy duty vehicle that has all-wheel steering and driving capability is studied. The prototype vehicle of concern is a mobile telescopic crane. The spring and damper effects of the HPS, which is used generally in heavy commercial vehicles and in military vehicles, have been modelled separately. First, HPS dynamics is studied on 1/8 vehicle model and then vehicle dynamics is examined on the MSC ADAMS/Car model. HPS of the prototype vehicle is assessed by some objective functions. In addition, simulation-based optimisation is performed using a 1/8 vehicle model. Various designs are obtained and their performances are compared with that of the prototype vehicle's HPS by the ADAMS/Car model simulations. Modelling and optimisation studies reveal a sound background to improve the prototype vehicle and to design active HPS system.
Citation - WoS: 1
Citation - Scopus: 1
Performance Assessment of Tripping and Drilling Operations Controllers on an Experimental Drilling Rig Prototype
(Elsevier, 2023) Nobahar, Amir; Arikan, Kutluk Bilge; Ozbek, Mehmet Efe; Naseri, Babek; Mechatronics Engineering; Department of Mechatronics Engineering; Department of Electrical & Electronics Engineering; 15. Graduate School of Natural and Applied Sciences; 06. School Of Engineering; 01. Atılım University
Oil well drilling towers have different operating modes during a real operation, each mode involves certain external disturbances and uncertainties. Performance evaluation of robust or adaptive Cascade PID, Active Disturbance Rejection, Loop Shaping, Feedback Error Learning, and Sliding Mode torque controllers, during the tripping and drilling operations, and their practical comparison are studied and evaluated by constructing a drilling rig prototype. The modeling of the experimental setup is extracted by mathematical modeling, and system identification. The practical performance of the controllers and their stabilities against the uncertain forces including the parametric uncertainties and the external disturbances are studied during the operations, by loading and unloading a disturbance weight. It has been shown that the effects of uncertain forces are successfully eliminated by the controllers. The Loop Shaping controller has the best performance among all the designed controllers, and all of them roughly consume the same control energy. A desired speed profile is designed to shape the vertical speed reference during the tripping operation, then its effect on the system behavior is analyzed to prevent the slackening problem in the drilling cable. Also, the behavior of control architectures in two modes of autonomous drilling is studied and analyzed. By analyzing and optimizing the performance efficiency in a controlled environment, along with enhancing the performances of the controllers, what we learn in this research could presumably be applicable in the field to have an accurate and safe operation.
Citation - WoS: 7
Citation - Scopus: 8
Robust and Adaptive Control Design of a Drilling Rig During the Operating Modes
(Sage Publications Ltd, 2019) Sadeghi, Amir Nobahar; Arikan, Kutluk Bilge; Ozbek, Mehmet Efe; Baranoglu, Besim; Mechatronics Engineering; Department of Mechatronics Engineering; Department of Electrical & Electronics Engineering; Manufacturing Engineering; 15. Graduate School of Natural and Applied Sciences; 06. School Of Engineering; 01. Atılım University
Oil well drilling towers have different operating modes during a real operation, like drilling, tripping, and reaming. Each mode involves certain external disturbances and uncertainties. In this study, using the nonlinear model for the modes of the operation, robust and/or adaptive control systems are designed based on the models. These control strategies include five types of controllers: cascaded proportional-integral-derivative, active disturbance rejection controller, loop shaping, feedback error learning, and sliding mode controller. The study presents the design process of these controllers and evaluates the performances of the proposed control systems to track the reference signal and reject the uncertain forces including the parametric uncertainties and the external disturbances. This comparison is based on the mathematical performance measures and energy consumption. In addition, three architectures are presented to control the weight on bit during drilling process, and also to maintain a preset constant weight on bit, two control approaches are designed and presented.
Citation - WoS: 6
Citation - Scopus: 6
Torsional Model of the Drill String, and Real-Time Prediction of the Bit Rotational Speed and the Torque on Bit, in an Oil Well Drilling Tower
(Elsevier, 2020) Sadeghi, Amir Noabahar; Arikan, Kutluk Bilge; Ozbek, Mehmet Efe; Mechatronics Engineering; Department of Mechatronics Engineering; Department of Electrical & Electronics Engineering; 15. Graduate School of Natural and Applied Sciences; 06. School Of Engineering; 01. Atılım University
In an oil well drilling tower, the Bottom Hole Assembly (BHA) data is needed to optimize the controllable variables such as weight on bit and bit rotational speed for obtaining the optimum drilling rate. In order to acquire the data of the BHA, a simple and low-cost method, can be predicting of these parameters. In this study, first the torsional modelling of the drill string is implemented by dividing its length to some equal sections, then the effects of dividing on the estimation accuracy are evaluated. Using an ADRC (Active Disturbance Rejection Controller) in the vertical and rotational motions dynamics, some proper observers to predict the bit rotational speed, rock stiffness and torque on bit, in real-time are designed and presented. Dividing the drill string length to more sections, leads to design high order observer, so the performance of the designed observers with different orders, are compared and analysed. Employing the integral square error analysis, it is revealed, dividing the drill string length to more sections, leads more accurate in the prediction of bit rotational speed, but not more effect on the estimated rock stiffness, and torque on bit. Also it is shown that increasing of the observer bandwidth, leads to more accurate in the estimation, but concludes the estimation be more sensitive to the sensor noise. Employing the presented observers in this study to estimate the BHA data, in addition to enhance the drill quality and safety, the controllable variables are optimized, and consequently the whole drilling process can be robustly controlled, with no needs to the expensive measurement systems at the BHA.