Motion Control of Mobile Robots Using Fuzzy Controller

In this study, a motion control based on fuzzy logic is designed so that mobile robots can make the turns they make when moving in an unknown environment more flexibly and smoothly. Fuzzy logic control is suitable for controlling mobile robots because the results can be obtained under uncertainty. Fuzzy logic control is implemented through a set of rules created using expert knowledge. The fuzzy rules created in this paper are designed to allow mobile robots to escape from obstacles, to avoid contact with walls, and to make soft turns without harming their structure. According to the obtained simulation results, the mobile robot has been shown to have successful results in fuzzy logic based motion control.


Prepared by Akif Durdu, Halil Çetin

Speed Control of a Variable Loaded DC Motor by Using Sliding Mode and Iterative Learning Control

In this paper, speed control of a DC Motor with time varying loaded is performed by using sliding mode control (SMC), classical PID control and iterative learning control (ILC) methods. SMC is a robust nonlinear control method which has insensibility against to external disturbing effects and parametric variations of system. On the other hand, a control method of ILC provides an excellent performance on tracking. In the iterative learning PID (IL-PID) controller, the parameters of PID are automatically adjusted by using the algorithm of iterative learning. In this study, firstly, a DC Motor is modeled by using real data. Secondly, controllers which are an iterative learning PID (IL-PID), SMC-based and classical PID are designed and tested. Moreover, performance analysis of these controllers is done for load changes in the time interval. According to obtained results, the output of SMCbased system converges quickly to the reference value and the system gives the fastest response when changing of load occurs. Another result of this study is that the steady state error based on the learning success of ILC is decreased by IL-PID controller. The novel part of this study is that the comparison of these types of controllers is firstly made with this study.


Prepared by Emre Hasan Dursun, M.Latif Levent, Akif Durdu, Ömer Aydoğdu

Brain Image Segmentation Using Multistable Cellular Neural Networks

This study proposes a new method on “brain image segmentation”. Algorithm is based on the Multistable Cellular Neural Networks (Multistable-CNN). Evaluations are performed on well-known BRAINWEB database. The metrics for performance evaluations of the algorithm were JACCARD, DICE, TPF and TNF. The results are compared with the SPM8, FSL FAST and Brain Suite software packages. The Multistable CNN algorithm used in this study differs from conventional CNN algorithm. The Multistable CNN’s can perform multiple segmentations in a single run. Algorithm is simple and doesn’t require complex calculations. Evaluations show that proposed algorithm’s performance is adequate. Algorithm also does not require any atlas or image registration.


Prepared by Burak Yılmaz, Akif Durdu, Güzin Özmen

Imitation and Learning of Human Hand Gesture Tasks of the 3D Printed Robotic Hand by Using Artificial Neural Networks

In this study social learning and skill acquisition of a robotic hand via teaching and imitation was aimed. The subject of Human-Robot collaboration, which includes the theme of this paper, is a common field of experiments in our age of technology. Many disabilities can be defeated or many other things, which a human being would not be able to do, can be done with the help of this technology. As an example, a robotic hand can be a light of hope of a person who does not have a hand or wants to hold an object remotely over the internet. So that in our paper it is explained how a robotic hand can learn via imitation. In the experiment a robotic hand, which was printed by a 3D printer, was used and controlled wirelessly by a computer that recognizes human hand gesture via image processing algorithms. The communication between the computer and the robot is provided with a Bluetooth module. First of all, the image processing algorithms such as filtering and background subtraction were applied to the frames of the camera and extracted the features. Secondly, the process of teaching and testing of Artificial Neural Networks (ANNs) was made for the recognition of the hand and the gestures. After that, recognized actions were imitated by the robotic-hand hardware. Eventually, the learning of the robot via imitation was achieved with some small errors and the results are given at the end of the paper.


Prepared by M. Celalettin Ergene, Akif Durdu

Position Control by Using PD Type Fuzzy Logic: Experimental Study on Rotary Servo System

In this paper, real-time position control of rotary servo system is performed by using fuzzy logic. SRV-02 DC servo system produced by Quanser is equipped with a DC motor. Servo system is loading by using various metallic weights and performance analysis are made according to international performance criteria. When making comparison of performance, it is seen that controller which is designed via fuzzy logic shows better results on position control than PID control which is a conventional control method and commonly used industrial applications.


Prepared by Emre Hasan Dursun and Akif Durdu

Modeling a Distributed Control System With Fuzzy Logic in Wireless Sensor Network Based Industrial Environments

Today, there are many problems in control applications. The most important one of them is the problem of the construction of a mathematical model for control unit. Complex algorithms without mathematical model are required traditionally to control the systems. The fuzzy logic which is one of the methods of intelligent control allows us to control the system according to the rules which are written by the system specialist. Wireless sensor networks are used in the applications such as target tracking and monitoring. In recent years, sensors are produced as cheap, small and smart. These types of sensors can communicate with each other by using the wireless networks. The design of a wireless system depends on the goals of the application, cost and system constraints. In this study, a distributed control system is modeled and controlled by fuzzy logic in the wireless sensor networks based industrial environments.


Prepared by Üzeyir İlbay Bozkurt and Akif Durdu

Detection of Vortex at the Deep Well Submersible Pumps by Using Fuzzy Logic Controller and Impacts on Pump Operating Characteristics

Today, submersible deep well pumps are the most commonly used type of pump purpose of irrigation from groundwater sources. For these pumps, one of the major factors affecting the performance is the dynamic water level changing in wells. Changes of input water-speeds of pump are tracked according to water level in the well. Different types of vortex which is based on water movements may occur in entrance of the pump. The resulting vortex and types depend on submergence, well diameter and pump parameters such as flow rate, diameter, suction inlet-section and shape.
In this study, the test unit equipped for research purposes was used in a deep well. According to the dynamic water level of submersible pump, changes in pressure, flow rate and noise were automatically saved. Fuzzy logic controller as a method of intelligent control methods was applied in this study in order to determine the consisting of the vortex.
At the end, it is shown that the vortex in the well is automatically detected by depending on the value of submergence, pressure, flow rate and noise.


Prepared by Akif Durdu, Nuri Orhan, Sedat Çalışır

Real-Time Target Tracking Using Fast Object Detection

In this study, Mean-shift, Cam-shift and Color Tracking algorithms which all be used in object tracking are compared in a real-time robotic application. The environment in which the robot and the object followed by robot is recorded by a camera and that data is sent to a computer through cables. To identify this object by using appropriate image process tracking, the location of the robot and the object is could be monitored at the same time. According to the results, the most effective method is shared at the discussion of the outcomes. The robot used in this application has omni-wheel and were designed in our own laboratory.

Keywords — Target tracking, Mean-Shift, Cam-Shift, image processing, remote control, omni wheel


Prepared by M. Mustafa Kelek, M. Fatih Aslan and Akif Durdu

Intention Recognition Using Leap Motion Controller and Artificial Neural Networks

Abstract—Intention recognition has an important topic in the field of Human Robot Interaction. If the robot is wanted to make counter movements just in time according to human’s actions, a robotic system must recognize the intention of the human necessarily. In this paper, the robotics system designed to recognize the human’s intention is presented. In our robotic system, the information is provided from the sensor called as leap motion controller device. The decision about the human intention is made by artificial neural network. A scenario has been designed that a human subject tries to pile the boxes on each other. The main point for this robotic system and the scenario is to recognize the intention as which box would be held by the subject.

Keywords– artificial neural network (ANN); human robot interaction (HRI); intention estimation; intention recognition; leap motion

Prepared by Kemal Erdoğan, Nihat Yılmaz and Akif Durdu

Speed Control of a DC Motor with Variable Load Using Sliding Mode Control

Abstract— Sliding mode control method (SMC), which is built on Variable structure control (VSC) theory, is a robust nonlinear control method creating insensibility against to modeling errors, external disturbing effects and parametric change of the system. In this paper, control of a DC Motor used in particularly robots and countless industrial applications is carried out by using SMC and analysis are also performed under load changes. It is desirable that motors operating under load in robotic applications must not be affected by changes depending on loading condition. In this paper, SMC Method is used against to this situation which is affected stability of system and performance of motor. Modeling of a DC motor, designing of its controller and overall analyses are performed by using actual data. When comparisons between proposed method and commonly used PID control are made in terms of performance analyses, it is seen that SMC method produces more successful results.

 Index Terms— control of DC motor, nonlinear control method, PID, robust control, sliding mode control

Prepared by Emre Hasan Dursun and Akif Durdu