Browsing by Author "Erden, Zühal"

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Citation Count: 11
Behavioural representation and simulation of design concepts for systematic conceptual design of mechatronic systems using Petri Nets
(Taylor & Francis Ltd, 2014) Araz, Macit; Erden, Zuhal; Mechatronics Engineering
The systematic representation of design concepts is an important requirement for computational support during the conceptual design stage within the process of product development. Behavioural simulation of design concepts is used as a systematic representation framework, and behavioural representation is based on modelling and simulating the behaviour of a design artefact at the conceptual level to perform an overall function, leading to behaviour-based conceptual design. The behaviour-based conceptual design approach is critical for mechatronic systems since they require synergistic integration starting from the initial conceptual design phase. The present study is focused on behavioural representation and simulation of design concepts via discrete event system specification formalism and Petri Nets so as to contribute to systematic conceptual design in mechatronic systems. The paper introduces a representation framework for the behaviour-based conceptual design of mechatronic systems and its implementation on five selected case studies, among laboratory-level educational robots. In addition to Petri Net modelling and computer simulations, the implementation also includes physical simulations of the intended operational behaviours for educational robots on a distributed physical structure called the desktop design model'. In this paper, implementation on one of these case studies, namely the frog robot', is presented in detail.
Citation Count: 4
Bioinspired conceptual design (BICD): Conceptual design of a grasshopper-like jumping mechanism as a case study
(2011) Eroglu,A.K.; Erden,Z.; Erden,A.; Department of Mechatronics Engineering; Mechatronics Engineering
The evolution process of nature creates highly effective, power efficient, and perfectly structured biological systems. These excellent systems provide an inexhaustible source for engineers and scientists who desire to inspire ideas, processes, structures, functions, and behaviors from biological domain and implement them into engineering domain. This approach is called "Bioinspired" and challenging for engineers. However, some problems of the practical approaches are observed. One of the problems is "ad hoc" nature of the process. Each bioinspired design product has resulted in a differing design process and a generalization was not possible. Another problem rises due to the terminology difference between engineers and biologists. To overcome these problems, a need for a systematic bioinspired design (BID) process was realized in early 2000s and since then, considerable research on the BID methodology has been progressed. Within the context of BID, this paper introduces a new approach on bioinspired conceptual design (BICD) procedure for hybrid bioinspired robots which can be inspired from multiple biological systems. An illustrative case study is given in the paper.
Citation Count: 1
BIOINSPIRED CONCEPTUAL DESIGN (BICD): CONCEPTUAL DESIGN OF A GRASSHOPPER-LIKE JUMPING MECHANISM AS A CASE STUDY
(design Soc, 2011) Eroglu, Aylin Konez; Erden, Zuhal; Erden, Abdulkadir; Department of Mechatronics Engineering; Mechatronics Engineering
The evolution process of nature creates highly effective, power efficient, and perfectly structured biological systems. These excellent systems provide an inexhaustible source for engineers and scientists who desire to inspire ideas, processes, structures, functions, and behaviors from biological domain and implement them into engineering domain. This approach is called "Bioinspired" and challenging for engineers. However, some problems of the practical approaches are observed. One of the problems is "ad hoc" nature of the process. Each bioinspired design product has resulted in a differing design process and a generalization was not possible. Another problem rises due to the terminology difference between engineers and biologists. To overcome these problems, a need for a systematic bioinspired design (BID) process was realized in early 2000s and since then, considerable research on the BID methodology has been progressed. Within the context of BID, this paper introduces a new approach on bioinspired conceptual design (BICD) procedure for hybrid bioinspired robots which can be inspired from multiple biological systems. An illustrative case study is given in the paper.
Citation Count: 4
Biological System Analysis in Bioinspired Conceptual Design (BICD) for Bioinspired Robots
(Romanian Soc Control Tech informatics, 2011) Eroglu, Aylin Konez; Erden, Zuhal; Erden, Abdulkadir; Department of Mechatronics Engineering; Mechatronics Engineering
Bioinspired design (BID) provides a systematic way for bioinspired applications. Although several BID approaches as well as some tools and databases are available in the literature, the studies on BID are still challenging for designers and/or engineers because of limitations of current BID approaches. There are mainly two directions related with these limitations. One of them is the representation of knowledge on biological systems and the second is the problem of transforming this knowledge into engineering domain. These limitations expose two questions; firstly, "What knowledge is required to describe biological systems?" and "How this knowledge is represented?" and secondly, "How this knowledge is transformed into the engineering domain?". This paper presents a study which aims to answer the first question about knowledge required to represent biological systems. This knowledge is obtained during "Analysis of Biological Systems" stage of a new suggested bioinspired conceptual design (BICD) procedure.
Citation Count: 7
Biological system analysis in bioinspired conceptual design (BICD) for bioinspired robots
(2011) Eroǧlu,A.K.; Erden,Z.; Erden,A.; Mechatronics Engineering; Department of Mechatronics Engineering
Bioinspired design (BID) provides a systematic way for bioinspired applications. Although several BID approaches as well as some tools and databases are available in the literature, the studies on BID are still challenging for designers and/or engineers because of limitations of current BID approaches. There are mainly two directions related with these limitations. One of them is the representation of knowledge on biological systems and the second is the problem of transforming this knowledge into engineering domain. These limitations expose two questions; firstly, "What knowledge is required to describe biological systems? "and "How this knowledge is represented? "and secondly, "How this knowledge is transformed into the engineering domain? ". This paper presents a study which aims to answer the first question about knowledge required to represent biological systems. This knowledge is obtained during "Analysis of Biological Systems "stage of a new suggested bioinspired conceptual design (BICD) procedure.
Bir üretim hattında robot seçimine çok kriterli karar verme yaklaşımı
(2022) Arslan, Rasim Atakan; Erden, Zühal; Baç, Uğur; Mechatronics Engineering
Bu tezde, insan tabanlı üretim hatlarının robot tabanlı otomasyon sistemleri kullanılan üretim hatlarına dönüştürülmesinde kullanılacak en uygun mekatronik sistemlerin seçilmesi için çok kriterli karar verme (MCDM) yöntemi olarak SWARA-WASPAS yöntemini uyguluyoruz. Robotlar insanlardan daha hızlı ve daha hassas hale gelmekle kalmıyor, aynı zamanda uzun vadede genellikle daha uygun maliyetli oluyorlar. Farklı görevler için kullanılan bu robotlardan yüksek verim almak ve en uygun robotu seçmek en zor problemlerden biridir. En uygun olan sistemin seçilmesi için farklı kriterler ve farklı uzmanların görüşleri dikkate alınarak, SWARA-WASPAS hibrit karar verme yöntemi, bu sistemlerin karakteristik kriterlerine göre uygulanmış ve uygulama sonunda her seçim problemi için duyarlılık analizi yapılmıştır. Tez sonucunda her bir robot seçim probleminden en uygun robotlar belirlenmiş ve her robot sınıfı için yapılan duyarlılık analizi ile en uygun robotun değişmediği, ancak diğer alternatiflerin kullanılan optimallik katsayısı değerine bağlı olarak değişebileceği görülmüştür.
Citation Count: 0
Developing an analysis process for biological systems to design biorobots - A case study of human hand gripping motion
(2013) Eroǧlu,A.K.; Erden,Z.; Erden,A.; Mechatronics Engineering; Department of Mechatronics Engineering
The fundamental reasoning behind the use of bioinspired design (BID) is to increase creativity (novelty and usefulness) and innovation in engineering. Within the context of BID, development of systematic process for analyzing biological systems and transferring knowledge, which is obtained from the analysis of biological systems, into engineering is compulsory. This paper presents developing a process for the analysis of biological systems for design of biorobots. Preparing, collecting, and organizing are the main steps of this process and applied in a case study which involves gripping motion of a human hand. An experimental set-up with a high-speed camera is constructed to obtain the components of knowledge: morphology, function and behavior. This knowledge will be later used to design a wearable hand in prospective projects.
Kavramsal robot tasarımında davranış tabanlı modelleme ve eğitim amaçlı robotların masaüstü tasarımı
(2012) Araz, Macit; Erden, Zühal; Mechatronics Engineering
Bu tez mekatronik sistemlerin kavramsal tasarımı üzerine yapılmış bir araştırmadır. Araştırmanın temel amacı, mekatronik sistemlerin davranış tabanlı kavramsal tasarımı için, özellikle eğitim amaçlı robotlarda uygulamaya yönelik sistematik bir yaklaşım geliştirmektir. Bu araştırmada eğitim robotlarının davranış modellemesi için Ayrık Olay Sistem Spesifikasyonu (AOSS) ve Petri Ağları kullanılmıştır. Örnek olayların bilgisayar simülasyonları ArtifexTM yazılımı ile gerçekleştirilmiştir. Bu çalışmada ayrıca robot davranışlarının fiziksel simülasyonu için eğitim amaçlı bir düzenek olarak, deneysel bir masaüstü tasarım platformu da tasarlanıp üretilmiştir.
Citation Count: 1
Kavramsal tasarım otomasyonunda Petri Net ve Melez Otomat sentezi
(2001) Erden, Zühal; Erkmen, Aydan M.; Erden, Abdülkadir; Mechatronics Engineering; Department of Mechatronics Engineering
Bu çalışmada, mühendislik tasarımındaki kavramsal tasarım aşamasının otomasyonu için Petri Net ve Melez Otomat (Hybrid Automata) sentezine dayanan PNDN adlı bir tasarım ağı modeli geliştirilmiştir. PNDN, tasarımı yapılacak ürünün mantıksal davranışını ürünün alt işlevleri arasındaki kesin ve belirsizlik içeren bilgi akışı ile iki tarzda modellemektedir. Bilgi akışındaki belirsizliklerin modellenmesinde Sezgisel Bulanık Önermeler yaklaşımı kullanılmıştır. Genel amaçlı ve işlevsel düzeyde geliştirilen model, tümleşik bir tasarım felsefesi olan mekatronik tasarımda uygulanmıştır. Bu makalede tasarım ağının yapısı ve kesin bilgi akışı modeli anlatılmaktadır.
Mekatronik mühendisliği için bir modüler eğitim düzeneği tasarımı
(2013) Ayhan, Emre; Erden, Zühal; Mechatronics Engineering
Bu tez modüler mekatronik ürün tasarımı üzerine yapılmış bir araştırmadır. Araştırmanın temel amacı, modüler ürün tasarım metotlarından biri olan sezgisel modüler ürün tasarım metodunun bir mekatronik ürün ailesi tasarımına uygulanmasıdır. Sezgisel metot mekanik ürünler için geliştirilmiş ve bu ürünlere uygulanmış bir yöntemdir. Bu tezde sunulan araştırmanın literatüre katkısı, şimdiye kadar mekanik ürünler için kullanılan bir yöntemin bir mekatronik ürün ailesi tasarımına uygulanmasıdır. Bu çalışmada modüler mekatronik ürün (ürün ailesi) olarak, Atılım Üniversitesi Mekatronik Mühendisliği Bölümü ikinci sınıfında verilmekte olan mekatronik tasarım dersinde kullanılacak bir mekatronik eğitim düzeneği seçilmiştir. Sunulan tez çalışması, seçilen mekatronik ürünün sezgisel yöntem kullanılarak kavramsal modüler tasarımının yapılmasını, ayrıca ürünün fiziksel tasarımını ve üretimini kapsamaktadır.
Citation Count: 0
A Novel Approach to Systematic Development of Social Robot Product Families
(Springer, 2022) Ozer, Ilayda; Erden, Zuhal; Mechatronics Engineering
In this paper, behavioural modules for social robots are developed by using the 3D Design Structure Matrix (DSM) model. Behavioural modules are the building blocks for the systematic design of social robot families, which are composed of personalized social robots, to satisfy the diverse needs of individuals or small groups. The 3D DSM is independent of any physical solution principle and is based on 3 different behavioural elements among robots, namely 'perception', 'cognition' and 'motoric action'. In this study, the data for these elements are extracted from 45 different social robots existing in the literature. Sixteen behavioural modules are developed by defining the mutual interactions among these three types of behavioural elements. Among them, 6 sample modules are designed and manufactured in the laboratory. A model social family of two robots which uses different combinations of these 6 modules is developed for technology demonstration. This study is a first attempt to establish a behaviour, modularity-oriented and physical solution-independent infrastructure in the systematic conceptual design of personalized social robots for alternative purposes; hence, a starting point for future research toward further integration of social robots into everyday life.
Citation Count: 0
Petri net modeling and simulation of walking behaviour for design of a bioinspired robot dog
(SciTePress, 2016) Erden,Z.; Araz,M.; Mechatronics Engineering
Research in behavior-based design faces many challenges regarding the AIDS in conceptual design of biorobots, representation of a biological system,s behavior in a well formed modeling tool and therefore providing systematic transformation of this behavior into robot design. This paper reports a research that focuses on the development of a Petri Net model to represent a biological system,s behavior. The model is based on real time data collected from an experiment in which a dog is walking on a treadmill with a speed of 1km/h. The model has the ability of simulating the real time rhythm of dog's walking behavior utilizing colors and numbers as well as the step-by-step simulation. The aim is to observe the behavior of a walking dog in time domain as an early stage of conceptual design of a bioinspired robot dog. Main challenge is to develop a methodology to guide designer towards more creative designs based on bioinspired design ideas. The presented work is an early attempt to initiate a systematic approach towards the stated goal. © Copyright 2016 by SCITEPRESS - Science and Technology Publications, Lda. All rights reserved.
Citation Count: 0
Robot Tasarımı İçin Geliştirilen Petri Ağları ile Davranış Modellemesi Yaklaşımının Bir Malzeme Taşıma Robotu Modeline Uygulanması
(2019) Araz, Macit; Erden, Zühal; Mechatronics Engineering
Bu makalede sunulan çalışmada, mekatronik ürünlerin ve robotların davranışlarının kavramsal tasarım aşamasındamodellenmesi, bilgisayarda benzetimi ve fiziksel olarak gerçeklenmesinden oluşan sistematik bir yöntemin geliştirilmesi,böylece bilgisayar destekli kavramsal robot tasarımına katkı sağlanması amaçlanmıştır. ‘Davranış Tabanlı Kavramsal Tasarım(DTKT)’ olarak adlandırılan bu yöntemde, tasarlanacak robotun istenen davranışı öncelikle fiziksel elemanlardan bağımsızolarak Petri ağları ile modellenmekte ve bilgisayarda benzetimi yapılmaktadır. Daha sonra robot davranışı, “masa üzeri tasarımmodeli” adı verilen dağıtık bir fiziksel yapıda da benzetilmektedir. Böylece tasarımın erken aşamasında istenen davranışıngerçeklenmesi mümkün olmaktadır. Geliştirilen yöntem laboratuvarda beş adet robot modelinin davranış tabanlı kavramsaltasarımına uygulanmış olup, makalede bu uygulamalardan biri olan malzeme taşıma robotu örneği sunulmuştur.
Sosyal robot ürün aileleri için davranış modüllerinin geliştirilmesi
(2021) Özer, İlayda; Erden, Zühal; Mechatronics Engineering
Bu tezde, sosyal robotlar (SoBOT'lar) için davranış modülleri, 3 boyutlu (3B) Tasarım Yapı Matrisi (TYP) modeli kullanılarak geliştirilmiştir. Davranış modülleri, bireylerin veya küçük grupların çeşitli ihtiyaçlarını karşılamak için geliştirilen kişiselleştirilmiş sosyal robotlardan oluşan sosyal robot ailelerinin sistematik tasarımında kullanılabilecek yapı taşlarıdır. 3B TYP fiziksel gerçeklemeden bağımsız olup, robotların 'algılama', 'muhakeme' ve motorik hareket' olmak üzere 3 farklı davranış elemanına dayanır. Bu elemanlar, literatürde bulunan makalelerden 45 farklı sosyal robota ait veriler kullanılarak elde edilmiştir. Sosyal robotların bu üç çeşit davranışsal elemanı arasındaki karşılıklı etkileşimler tanımlanarak modüller oluşturulmuştur. Geliştirilen davranış modüllerinden 6 örnek modül ve bu modüller kullanılarak oluşturulan 2 robottan meydana gelen bir model sosyal robot ailesinin fiziksel tasarımı ve imalatı, teknoloji gösterimi amacıyla gerçekleştirilmiştir.
Sosyal robotlar için davranış modüllerinin otomatik kümelenmesi
(2023) Al-zuabıdı, Muneer Mohammed Adnan; Erden, Zühal; Mechatronics Engineering
Bu tezde, sosyal robotların davranış modüllerinin kümeleme algoritmaları kullanılarak otomatik oluşturulması için bir yöntem sunulmuştur. Davranış modülleri, kişiselleştirilmiş sosyal robotların tasarımında büyük önem taşımaktadır. Sunulan araştırmada, sosyal robotların 'algı', 'biliş' ve 'motorik eylem' olarak adlandırılan davranış öğelerini kümelemek için K-means, Aglomerative Clustering ve BRICH gibi farklı kümeleme tekniklerinin uygulanabilirliği incelenmiştir. Bu amaçla, daha önce yapılan bir çalışmada elde edilen 28x3 boyutunda ve yukarıdaki üç davranış için dilsel değerlerden oluşan bir veri listesi kullanılmıştır. Geliştirilen bir haritalama yöntemi ile sayısal olarak temsil edilen verilerle sekiz farklı kümeleme algoritması kullanılarak oluşturulan çeşitli davranış modülleri değerlendirilmiş ve üç algoritma başarılı kabul edilmiştir. Kümeleme algoritmalarıyla otomatik olarak elde edilen davranış modüllerinin 3 boyutlu gösterimi de yapılmıştır. Elde edilen modüller maliyet, hareketlilik, karmaşıklık ve güç tüketimi olmak üzere dört farklı ölçüt kullanılarak değerlendirilmiştir. Bu çalışmanın sonuçları kişiselleştirilmiş sosyal robotların sistematik tasarımı alanındaki araştırmalarda ve uygulamalarda kullanılabilir.
Citation Count: 1
Systematic generation of a 3D DSM by extracting social robot behaviors from literature
(Cambridge University Press, 2019) Ozer,I.; Erden,Z.; Mechatronics Engineering
Social robots are in direct communication and interaction with people, thus it is important to design these robots for different needs of individuals or small groups. This has revealed the need to develop design methods for personalized or mass-individualized social robots, which are expected to respond to many different needs of people today and in the future. In this paper, a previously developed 3D DSM model is implemented in the systematic conceptual design of social robot families. The model is independent of any physical elements and based on behavioural elements as perception, cognition and motoric action. The data regarding 45 different social robots from 80 articles in the literature is used to identify these three behaviours of the existing social robots and the mutual relationships among these different behaviours are defined in order to develop a 3D DSM structure to be used as a basis for designing social robot families. The resulting novel 3D DSM is a general-purpose, basic model that can be used to identify behavioural modules to design social robot families. © 2019 Design Society. All rights reserved.
Citation Count: 2
A team-oriented course development experience in distance education for multidisciplinary engineering design
(Wiley, 2022) Say, Bilge; Erden, Zuhal; Turhan, Cihan; Energy Systems Engineering; Mechatronics Engineering; Software Engineering
Based on the multidisciplinary needs of today's complex and innovative technology, accreditation bodies of engineering demand proof of multidisciplinary teamwork in undergraduate engineering curricula. This article reports the design and conduct of a Multidisciplinary Engineering Design (MED) course initiated as a result of accreditation process requirements. The course, which consists of multidisciplinary lectures, practice sessions, and various phases of a multidisciplinary team project, was conducted online because of the COVID-19 pandemic by a multidisciplinary team of instructors using multiple software tools to enhance collaboration. In general, the course outcomes were satisfied under the current design, and several points for further improvement and elaboration were collected via quantitative and qualitative evaluations. Accordingly, the results show that the project-based and team-based MED course, in terms of multidisciplinary course management and its outcomes, can benefit from the use of software tools in creating a multidisciplinary team in distance education by means of enhanced cooperation and motivation among the participants.
Citation Count: 0
What To Consider at the Development of Educational Programs and Courses About Next-Generation Cyber-Physical Systems?
(Asme, 2024) Horvath, Imre; Erden, Zuhal; Mechatronics Engineering
We live in an age in which new things are emerging faster than their deep understanding. This statement, in particular, applies to doing research and educating university students concerning next-generation cyber-physical systems (NG-CPSs). The fast evolution of this system paradigm would have expected a rapid and comprehensive paradigmatic change in research and education concerning this family of systems. However, this has not happened yet. Seeking a sufficient explanation, this paper reviews the current literature and attempts to cast light on the most significant recent developments in the field of NG-CPSs. The main assumptions of the authors are that research and education should appear in harmony in academic knowledge acquisition and distribution processes and that the academic education of NG-CPSs should be organized and conducted according to a defendable future vision. Combining the results of a broadly based study of the literature with prognostic critical thinking and personal experiences, this review-based position paper first discusses the current socio-techno-scientific environment, the involved stakeholders, and the demands and two approaches of truly systems-oriented education. Then, it concentrates on (i) the recognized limitations of mono- and interdisciplinary research, (ii) supradisciplinary organization of research, and (iii) transdisciplinary knowledge generation for NG-CPSs. As main contributions, the paper (i) identifies and analyzes the latest theoretical, engineering, and technological developments, (ii) reveals the major trends and their presumably significant implications, and (iii) presents several thought-provoking findings and makes propositions about the desirable actions.