Browsing by Author "Arikan,K.B."
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Conference Object Citation Count: 0Development of a single degree of freedom inertial measurement system(2013) Arıkan, Kutluk Bilge; Golmohammedzadeh,H.; Arikan,K.B.; Department of Mechatronics EngineeringA test bench is designed to develop an inertial measurement unit. Micro electromechanical system (MEMS) type gyro and accelerometer sensors are placed on a rotating platform. Actual angular position is measured by an encoder. This paper presents design of various estimators to estimate the orientation of the test platform. Basically complementary and Kalman filter based estimators are designed and implemented on the test bench. Parameters of the estimators are optimized by using experimental data. Satisfactory results are achieved.Conference Object Citation Count: 0Disturbance rejection control of a quadrotor equipped with A 2 DOF manupilator(2013) Arıkan, Kutluk Bilge; Arikan,K.B.; Irfanoǧlu,B.; Department of Mechatronics EngineeringIn 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.Article Citation Count: 1Evaluation and optimization of nonlinear central pattern generators for robotic locomotion(Control Engineering and Applied Informatics Journal, 2018) Turan, Mehmet; Arıkan, Kutluk Bilge; Arikan,K.B.; Department of Mechatronics Engineering; MathematicsWith 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. © 2018 Control Engineering and Applied Informatics Journal.Conference Object Citation Count: 1Experimental and numerical results of a flapping wing four bar mechanism(American Institute of Aeronautics and Astronautics Inc., 2017) Arıkan, Kutluk Bilge; Arikan,K.B.; Kurtulus,D.F.; Department of Mechatronics EngineeringThis paper explores the design and testing of a flapping wing four-bar mechanism. A four-bar linkage system kinematic analysis is introduced for flapping wing motion. Four-bar mechanism is activated by a servo motor which is driven by microcontroller. The wing undergoes a pure flapping motion at a fixed pitch angle. Force measurements are performed for hover mode by using a force transducer. In addition, 3D numerical analyses are performed and the results are compared with the experimental measurements. Overall, CFD results show good agreement with the experimental data. © 2017 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.Article Citation Count: 6A test bench to study bioinspired control for robot walking(2011) Arıkan, Kutluk Bilge; Irfanoǧlu,B.; Department of Mechatronics EngineeringTest bench to study robot walking within the predicted structures of biological control systems is discussed. Physical system is briefly presented with components. Kinematic model and evolutionary way of gait generation for the leg structure in test bench is discussed. Different forms of gaits can be found by genetic optimization using patterns formed by central pattern generators.