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    The Effect of Rotor Plates on Capacitive Measurement in Capacitive Encoders
    (IEEE, 2020) Yavsan, Emrehan; Karali, Mehmet; Gokce, Baris; Erismis, Mehmet Akif
    The moving plates of the capacitive encoders are called rotors and the fixed plates are called stators. In this study, the effects of the rotor plates on capacitive measurement for capacitive encoders are analyzed. Encoders are used in angular position measurement. They can be preferred especially in most applications where rotational motion occurs in the robotic application areas. The application areas of the encoders can be further extended with the capacitive encoder technology. The capacitive encoder technology is based on measuring the capacitances between the encoder plates. As the capacitances vary depending on the overlapping areas of the encoder plates, the shapes and the patterns of the encoder plates directly affect the capacitive measurement. Therefore, the capacitive encoder plate selections must be made correctly. There are very few studies on the selection of the capacitive encoder plates. It is seen that the current studies generally continue on a similar type rotor patterns. Various rotor plates are proposed in this study for the capacitive encoder that we are in the development process. After the rotor patterns are expressed mathematically and the capacitive encoders using rotors with these patterns are compared. The comparison process was made by calculating the equivalent capacitance between the proposed capacitive encoder plates. The effects of rotors with different materials and patterns on the capacitive measurement were investigated. Thus, a contribution was made to the effective development of similar capacitive sensors.
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    A NEW GRADIENT-BASED FEATURE EXTRACTION METHOD FOR REAL-TIME DETECTION OF MOVING OBJECTS USING STEREO CAMERAS
    (Publ House Bulgarian Acad Sci, 2022) Sonugur, Guray; Gokce, Baris
    In this study, a gradient-based feature extraction method has been developed that can be used to detect moving objects in real-time applications such as unmanned ground or air vehicles. Feature extraction methods should produce fast results in real-time applications, as results need to be obtained between successive frames of video sequences within a limited time. For this reason, various sized image blocks were used in the developed method. The arithmetic mean (AM), geometric mean (GM), median (MD), and local contrast (LC) methods were used to calculate block intensities. In the stereo video stream, depth maps were also divided into blocks along with successive frames' R, G, and B channels. A novel feature extraction method was developed by calculating gradient-based relationships between adjacent blocks around the centre block. In experimental studies, the features extracted from stereo video frames using the proposed method were compared with Surf, Fast and Brisk methods according to their quantity, accuracy, and processing times, and more successful results were obtained. In addition, the moving object detection performance of the method was tested in real-time using an Unmanned Ground Vehicle.
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    A novel high resolution miniaturized capacitive rotary encoder
    (Elsevier Science Sa, 2021) Yavsan, Emrehan; Kara, Muhammet Rojhat; Karali, Mehmet; Gokce, Baris; Erismis, Mehmet Akif
    In this paper, design and prototyping of a novel, high resolution, and low-cost capacitive encoder were presented. Detailed analysis showed that the number of poles on the rotor should be as high as possible to keep the gain high and to reduce the non-linearity. Moreover, contrary to the common intuition, inter electrode gap is found to have an optimum non-zero value, corresponding to a particular number of poles, in order to maximize the gain. However, increasing number of poles brings practical problems due to manufacturing limits and digital electronic frequency load. As the electronics, micro-controller based digital signal processing is used to keep the cost as low as possible. With miniaturizing the encoder geometry as a design target, the number of plates were increased to three to increase the capacitances. One prototype, which is around 3 cm in diameter could be successfully mounted to an industry oriented DC motor and tested. The tests of this miniaturized encoder showed non-linearity error of 0.12% and resolution of 0.02 degrees. One source of the non-linearity error is the DC motor itself, and we believe that with a better setup, the error could be measured to be even better. (C) 2021 Elsevier B.V. All rights reserved.
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    PARTICLE SWARM OPTIMIZATION-BASED OPTIMAL PID CONTROL OF AN AGRICULTURAL MOBILE ROBOT
    (Publ House Bulgarian Acad Sci, 2021) Gokce, Baris; Koca, Yavuz Bahadir; Aslan, Yilmaz; Gokce, Celal Onur
    This study involved the motion control of a four-wheel drive robot for use in agriculture. A mathematical model was used to perform a systematic kinematic and dynamic analysis of a four-wheel skid-steer agrobot. The dynamic model of the agrobot was based on a kinematic analysis of its non-holonomic structure. Polar space kinematic and dynamic control methods were proposed for both trajectory tracking and stabilization of the mobile agrobot, which incorporated four equally-spaced skid-steer wheels. Particle swarm optimization (PSO) was used to optimize the parameters of a proportional-integral-derivative (PID) controller. The aim of the control strategy was to solve the problem using control elements. The system was implemented in a simulation program, and a system performance analysis was performed. Simulation results demonstrated the robustness and stability of the motion control system under various conditions. The proposed routing control strategy was found to possess the advantage of smooth path-tracking.
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    Recognition of dynamic objects from UGVs using Interconnected Neural network-based Computer Vision system
    (Taylor & Francis Ltd, 2022) Gokce, Baris; Sonugur, Guray
    In this study, moving object recognition is performed by using images from a camera mounted on an unmanned ground vehicle. A GPS coordinate-based algorithm has been developed to obtain moving object silhouettes. In order to classify these silhouettes, an interconnected artificial neural network (ICANN) architecture consisting of two stages has been developed. The method consists of two phases. In the first phase, real-time images are converted to binary images at the end of the GPS-assisted image registration process. Then, the silhouettes are extracted from the background of the images using connected component labelling. In the second phase, two interconnected neural networks are used. The first neural network classifies silhouettes as objects or noise. The second neural network divides objects into seven subclasses as pedestrians, potholes, cars, etc. Compared to CNN-based techniques, a simpler NN architecture was employed in the research, and better accuracy rates were achieved with fewer samples. Another contribution of the research is simultaneous localization and mapping (SLAM) applications can be performed in non-GPS environments using pre-recorded images containing GPS information. In experimental studies, maximum success rates of 96,1% in object classification were obtained. The results obtained were compared to YOLO, the recently popular algorithm for object recognition.
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    Speed Control Based PID Configuration of a DC Motor for An Unmanned Agricultural Vehicle
    (IEEE, 2021) Koca, Yavuz Bahadir; Aslan, Yilmaz; Gokce, Baris
    DC motors are used in many areas with their high starting torques and speed regulation features. In particular, the operation of DC motors must control their speed accurately in order to obtain the desired efficiency. Traditional PID control algorithm is preferred for its simplicity and usability in most industrial applications. This article describes the design and implementation of a PID control strategy using a simulation software to control the speed of a DC motor whose parameters are unknown. The mathematical model of the control system is obtained through a system identification by applying an input signal. Using obtained the mathematical model and Bode diagram techniques, a single input / single output configurator was designed. The PID control algorithm parameters P, I and D values are obtained by auto tuning methods. Here, an online identification system is used to set new control parameters. This study, PID controller is implemented using a simulation software and microcontroller integrated control board. The accuracy of the work is verified by the results of the experiments made with motor parameters.
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    The wear and microstructural characterization of copper surface coated with TiC reinforced FeAl intermetallic composite by ESD method
    (Iop Publishing Ltd, 2019) Mertgenc, Ersan; Talas, Sukru; Gokce, Baris
    Iron aluminides, as a technological material, are a member of multicomponent alloys, that contains other alloying elements besides iron and aluminium. Due to superior anti-corrosion properties at high temperatures, these alloys are used as coating materials in many surface development processes. Copper is widely used in industry because of its commercially desired properties such as high thermal and electric conductivity. However, copper cannot be used for special applications where an excellent strength and/or good wear resistance are required due to a lower tensile strength and poor wear resistance. In this study, 1 wt% TiC reinforced iron aluminide intermetallic composite electrode was initially produced and used to coat the copper surface in order to increase the surface hardness and improve the wear rate by forming a hard structure using ESD coating method. It has been observed that surface hardness increased by about 11 times at the end of experimental studies. Wear rate of the coated material increased compared to the uncoated material while the uncoated sample exhibits adhesive wear, also the coated sample exhibits both adhesive and abrasive wear. The wear rate of the coated material was intially lower due to intrinsic low deformation capacity of aluminide coating and later increased substantially because of removal of this aluminide layer.