Gonca Ozmen Koca

Estimation of solar radiation using artificial neural networks with different input parameters for Mediterranean region of Anatolia in Turkey

An artificial neural network (ANN) model was used to estimate the solar radiation parameters for seven cities from Mediterranean region of Anatolia in Turkey. As well known that Turkey is a bridge between Asia and Europe and it lies in a sunny belt, between 36^o and 42^oN latitudes. Indeed, the country has sufficient solar radiation intensities for solar applications. In order to make estimation of solar radiation, the data from the Turkish State and Meteorological Service were used. Data of 2006 were used for testing and data of 2005, 2007, and 2008 were estimated. Effects of number of input parameters were tested on solar radiation that was output layer. With this aim, number of input layer parameters changed from 2 to 6. The obtained results indicated that the method could be used by researchers or scientists to design high efficiency solar devices. It was also found that number of input parameters was the most effective parameter on estimation of future data on solar radiation.

Type-2 Fuzzy Sliding Mode Control of A Four-Bar Mechanism

Abstract This paper describes a new control scheme for the robust crank angular speed control of a four-bar mechanism driven by a DC motor. The proposed control method is based on type-2 fuzzy logic and sliding mode control (SMC) technique. Type-2 fuzzy control (FC) systems are characterized by type-2 membership functions which are useful in circumstances where it is difficult to determine an exact membership function. They are also very effective to handle uncertainties because type-2 fuzzy systems can model them and minimize their effects. SMC is a robust control method against parameter variations and external disturbances. Type-2 fuzzy logic and SMC can be combined to use the advantages of both methods and thus to improve the effectiveness of the controllers. One of the most important advantages of the use of SMC with type-2 FC is to reduce the number of fuzzy rules and thus to obtain a simpler and more practical control algorithm to use in real applications. To show the effectiveness of the proposed controller, simulation results of the Type-2 FC and Type-2 FSMC systems are presented in the paper.

DYNAMIC MODEL AND SIMULATION OF ONE ACTIVE JOINT ROBOTIC FISH

This study considers the dynamic model of one active joint robotic fish by using Lagrange method and simulation of the robotic fish model in MATLAB/SimMechanics environment. Compared results of these two different models are given in the study. The mathematical model of the system is derived from Lagrange energy equations of the robotic fish inspired from a real carangiform fish. The Computer Aided Design (CAD) model of the robotic fish is designed by using SolidWorks and it is transferred to the SimMechanics environment. The hydrodynamic effects, which are linear and nonlinear drag force, are also adapted and head motion, one active joint, and one passive joint angles found by using MATLAB Simulink environment. Obtained results for joint angles from both dynamic and SimMechanics models are compared and proved with animation video of the robotic fish.

Design and Control of Diving Mechanism for the Biomimetic Robotic Fish

This paper focuses on generating nonlinear mathematical model of the robotic fish and design a novel diving mechanism for the robotic fish prototype. For this purpose, diving behavior of a real fish is analyzed by using Kineova 8.20. The designed diving mechanism model is constructed by using moving of the sliding mass and dynamic model of robotic fish behavior is performed completely. The diving mechanism is also rearranged by adapting to the robotic fish prototype in order to obtain simple and better design performance. Hence, three dimensional motions results are obtained by using the nonlinear mathematical model and diving mechanism of the robotic fish with different diving angles.

A Dynamic Feedback Neural Model for Identification of the Robot Manipulator

Robot manipulators are very powerful industrial systems. These systems are used in many different industrial applications. Since the derivation of the mathematical model of a robot manipulator has complex processing load, a suitable neural model can be designed. In this paper, both inverse and forward kinematics equations of a six degree of freedom (DoF) robot manipulator are given and also adapted to MATLAB environment with a graphical user interface to identify behaviors of the robot manipulator. At the same time, a multilayer artificial neural model is proposed to provide the robot manipulator identification. Back-propagation learning algorithm is used to train dynamic feedback neural model based on NARX network structure. The experimental results are presented to show the performance of the dynamic feedback neural model.

Robust Control of a Robot Arm Using an Optimized PID Controller

In this study, Scorbot ER-V Plus robot arm is drawn on SolidWorks environment. The 3D solid model of the robot arm is converted into SimMechanics form. The electric motor actuating the system is controlled by using a PID controller with a low pass filter. The controller parameters are optimized by using sinusoidal reference and external disturbances corresponding to total uncertainties including parameter variations and load torque. The inverse kinematic is used to obtain joint angels from determined trajectory. Desired trajectory is achieved by applying the obtained joint angles. The proposed optimized controller provides a robust control performance and the simulation results are presented in the paper.

FARKLI KUYRUK MODELLERİNE SAHİP BİR ROBOT BALIĞIN FSI ANALİZİ

Bu calismada, akiskan icerisinde hareket edebilen ve farkli kuyruk yapilarina sahip olan robot baliga akiskan tarafindan etki eden hiz, basinc, kinetik enerji ve girdap degerlerinin bulunmasi amaclanmistir. Belirtilen amaca ulasmak icin Hesaplamali Akiskanlar Dinamigi (HAD) yazilimlarindan biri olan ANSYS paket programi kullanilmistir. Analizler icin carangiform yuzus moduna sahip baliklar ornek alinarak bir robot balik modeli ve 3 farkli kuyruk modeli SolidWorks paket programinda tasarlanmistir. Olusturulan robot balik modelleri icin Akiskan-Yapi Analizi (FSI) yontemi tercih edilmistir. Analizlerin sonuclarina gore kuyruklarin yuzey alanlarinin akiskanda olusturdugu hiz, basinc, kinetik enerji ve girdap degerlerini nasil etkiledigi incelenmistir. FSI analizlerindeki basinc, girdap ve kinetik enerji degerlerine bakildiginda olusturulan robot balik modeli icin en uygun kuyruk yapisinin girintili kuyruk yapisi oldugu sonucuna varilmistir.

Link length optimization of a biomimetic robotic fish based on Big Bang — Big Crunch algorithm

This paper is concerned with the link length optimization method of a biomimetic Carangiform robotic fish with multi-link propulsion mechanism. Motion characteristic of a real fish depends on the body traveling wave and propulsion mechanism of the robotic fish should imitates the traveling wave function. In order to imitate the body traveling wave with minimum error, intersection method is used and Big Bang - Big Crunch (BB-BC) optimization algorithm is adapted to this method. BB-BC algorithm is a heuristic and evolutionary optimization method. BB-BC is preferred in many nonlinear engineering problems because of the low computation time and very fast convergence speed. As a results, optimum link lengths and endpoints of the each joint are determined by using this combined method. Numerical results show that precise fitting effects and link length optimization can improve the propulsion efficiency of the robotic fish. Also, optimum links are proportioned according to actual size of a real Carangiform carp fish in the main axis and free swimming gaits of the real carp are proved.