Page 1. Abstract— Estimating and reshaping human intentions are topics of research in the field o... more Page 1. Abstract— Estimating and reshaping human intentions are topics of research in the field of human-robot interaction. Although works on estimating human intentions are quite well known research areas in the literature ...
Proceedings of the 1992 IEEE International Symposium on Intelligent Control, 1992
... of a Robot Manipulator * Mert Uneri, Student Member,IEEE, and Aydan Erkmen, MemberJEEE ... 19... more ... of a Robot Manipulator * Mert Uneri, Student Member,IEEE, and Aydan Erkmen, MemberJEEE ... 1987.pp.43-53. 10)JMTTlhoipqF.RS. and MSSollmsn,'Fnctsl Control Boundaries of Driven Oscillators and tbeir Relevance to Safe Engineering kip.' Rw. R SOC. Lard.. A 428,1990,~~. ...
Proceedings of 12th IEEE International Symposium on Intelligent Control, 1997
ABSTRACT This work focuses on the generation of optimal fingertip trajectories for a given presha... more ABSTRACT This work focuses on the generation of optimal fingertip trajectories for a given preshape of a five fingered robot hand, the Anthrobot III. The hand preshape is defined in a “look ahead” manner, being related to task properties in manipulating a grasped object and to object constraints such that a performance measure in terms of stability and manipulability is used in the formulation. Stability and manipulability are defined using concepts of vortex theory. The originality of our approach resides not only in the methodology but also in the objective of optimally closing a preshaped hand on an object for a better subsequent grasp. The dual criteria of manipulability and stability are first derived in terms of: 1) vorticities generated by preshape closure and 2) hand divergences. These measures are then applied, together with contact points from possible landing areas of each finger on the object, to the generation of candidate hand-configurations using the optimal search mechanism of genetic algorithms (GAs). The effects of modifying standard crossover and mutation operators of GAs on finger trajectories are studied on illustrative examples and results are provided with discussions
Proceedings IEEE International Symposium on Intelligent Control 1988, 1989
Evidential reasoning based on a fractal model of belief is outlined. The specific focus is on the... more Evidential reasoning based on a fractal model of belief is outlined. The specific focus is on the fractal modeling of belief functions. After a qualitative justification and interpretation of this model, several concepts and tools needed for its incorporation into evidential reasoning are formally defined. A particularly important concept is that of conductivity, as it provides the basis of partial
Page 1. SMOOTHING STABILITY ROUGHNESS OF FRACTAL BOUNDARIES USING REINFORCEMENT LEARNING Burak H.... more Page 1. SMOOTHING STABILITY ROUGHNESS OF FRACTAL BOUNDARIES USING REINFORCEMENT LEARNING Burak H. Kaygisiza, Aydan M. Erkmenb, Ismet Erkmenc a Defence Industries Research and Development ...
Abstract: We analyze the stability of our novel 2-way fuzzy adaptive controller using describing ... more Abstract: We analyze the stability of our novel 2-way fuzzy adaptive controller using describing function technique. We use additivity property of fuzzy systems to develop a systematic analytical approach for the design of a multi-input single-output fuzzy controller that we use for the ...
Proceedings of the IEEE International Conference on Mechatronics, 2004. ICM '04., 2004
Abstract-In a dextrous manipulation, one of the major problems that remains to he solved is the d... more Abstract-In a dextrous manipulation, one of the major problems that remains to he solved is the determination of an appropriate preshape for grasping given the object, under a given manipulation and the task. In order to have a successful grasp execution, the system should have a ...
Knowledge-Based Intelligent Information & Engineering Systems, 1998
Proposes an escape methodology to the local minima problem of self-organizing feature maps genera... more Proposes an escape methodology to the local minima problem of self-organizing feature maps generated in the overlapping regions which are equidistant to the corresponding winners. Two new versions of the self-organizing feature map are derived equipped with such a methodology. The first approach introduces an excitation term, which increases the convergence speed and efficiency of the algorithm while increasing the
Page 1. Abstract— Estimating and reshaping human intentions are topics of research in the field o... more Page 1. Abstract— Estimating and reshaping human intentions are topics of research in the field of human-robot interaction. Although works on estimating human intentions are quite well known research areas in the literature ...
Proceedings of the 1992 IEEE International Symposium on Intelligent Control, 1992
... of a Robot Manipulator * Mert Uneri, Student Member,IEEE, and Aydan Erkmen, MemberJEEE ... 19... more ... of a Robot Manipulator * Mert Uneri, Student Member,IEEE, and Aydan Erkmen, MemberJEEE ... 1987.pp.43-53. 10)JMTTlhoipqF.RS. and MSSollmsn,'Fnctsl Control Boundaries of Driven Oscillators and tbeir Relevance to Safe Engineering kip.' Rw. R SOC. Lard.. A 428,1990,~~. ...
Proceedings of 12th IEEE International Symposium on Intelligent Control, 1997
ABSTRACT This work focuses on the generation of optimal fingertip trajectories for a given presha... more ABSTRACT This work focuses on the generation of optimal fingertip trajectories for a given preshape of a five fingered robot hand, the Anthrobot III. The hand preshape is defined in a “look ahead” manner, being related to task properties in manipulating a grasped object and to object constraints such that a performance measure in terms of stability and manipulability is used in the formulation. Stability and manipulability are defined using concepts of vortex theory. The originality of our approach resides not only in the methodology but also in the objective of optimally closing a preshaped hand on an object for a better subsequent grasp. The dual criteria of manipulability and stability are first derived in terms of: 1) vorticities generated by preshape closure and 2) hand divergences. These measures are then applied, together with contact points from possible landing areas of each finger on the object, to the generation of candidate hand-configurations using the optimal search mechanism of genetic algorithms (GAs). The effects of modifying standard crossover and mutation operators of GAs on finger trajectories are studied on illustrative examples and results are provided with discussions
Proceedings IEEE International Symposium on Intelligent Control 1988, 1989
Evidential reasoning based on a fractal model of belief is outlined. The specific focus is on the... more Evidential reasoning based on a fractal model of belief is outlined. The specific focus is on the fractal modeling of belief functions. After a qualitative justification and interpretation of this model, several concepts and tools needed for its incorporation into evidential reasoning are formally defined. A particularly important concept is that of conductivity, as it provides the basis of partial
Page 1. SMOOTHING STABILITY ROUGHNESS OF FRACTAL BOUNDARIES USING REINFORCEMENT LEARNING Burak H.... more Page 1. SMOOTHING STABILITY ROUGHNESS OF FRACTAL BOUNDARIES USING REINFORCEMENT LEARNING Burak H. Kaygisiza, Aydan M. Erkmenb, Ismet Erkmenc a Defence Industries Research and Development ...
Abstract: We analyze the stability of our novel 2-way fuzzy adaptive controller using describing ... more Abstract: We analyze the stability of our novel 2-way fuzzy adaptive controller using describing function technique. We use additivity property of fuzzy systems to develop a systematic analytical approach for the design of a multi-input single-output fuzzy controller that we use for the ...
Proceedings of the IEEE International Conference on Mechatronics, 2004. ICM '04., 2004
Abstract-In a dextrous manipulation, one of the major problems that remains to he solved is the d... more Abstract-In a dextrous manipulation, one of the major problems that remains to he solved is the determination of an appropriate preshape for grasping given the object, under a given manipulation and the task. In order to have a successful grasp execution, the system should have a ...
Knowledge-Based Intelligent Information & Engineering Systems, 1998
Proposes an escape methodology to the local minima problem of self-organizing feature maps genera... more Proposes an escape methodology to the local minima problem of self-organizing feature maps generated in the overlapping regions which are equidistant to the corresponding winners. Two new versions of the self-organizing feature map are derived equipped with such a methodology. The first approach introduces an excitation term, which increases the convergence speed and efficiency of the algorithm while increasing the
Wavelet transformations of images have the valuable properties of providing robust data compressi... more Wavelet transformations of images have the valuable properties of providing robust data compression and image details that can be used for discerning signal features at different resolutions. With the approach presented here, such features, represented by wavelet coefficients, are extracted from the variations of blood velocity waveforms obtained from Doppler ultrasound images of fetal umbilical arteries. The reliability of these features are tested and proven by image reconstruction from wavelet coefficients thresholded according to the required resolution. The obtained reliable features form the training samples of an artificial neural network to be used in intelligent diagnostics for fetal surveillance
We introduce a hybrid intelligent karyotyping system based on two different types of artificial n... more We introduce a hybrid intelligent karyotyping system based on two different types of artificial neural networks (ANNs) and chromosome's features obtained by digital image processing techniques. A microscope equipped with a CCTV camera and a microcomputer including a frame grabber are the basic components of our hardware set-up. The inputs to the ANN structure are obtained directly from digital chromosome images by using two recently developed object detection and object skeletonizing algorithms. Moreover, the band patterns of chromosomes are represented by applying wavelet transform techniques on the gray level profiles of chromosomes. The network parameters are determined by using the results of many training and testing experiments in order to reach an optimal state from the classification performance point of view
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