Mechatronics & Robotics

This paper present a design and modeling for a two link robotic manipulator for grading and sorting system. The mechanical design calculation of the robotic manipulator is accomplished firstly to estimate the torques and positions of manipulator that are required to move a certain payloads from one to another position, which is resulted by choosing of the right electrical motors. The mechanical design drawings for this manipulator system are fully done using Autodesk Inventor Software which concerns the real joint of the robotic manipulator. The dynamic equation of the robotic manipulator system is derived using the Lagrange equation which is then represented in the state space method to make simple for utilization in Simulation and real-time systems.

This work presents the design and implementation of a smart and solar-powered solid waste segregation system using Arduino microcontroller interfaced with sensors, actuators. and Particle Photon cloud for wireless monitoring. The materials segregated are metal and non-metal that includes plastic, paper, and glass. Metal detection is done using inductive proximity sensor. Plastic is detected using infrared sensor based on shape and size. Laser and light dependent resistor (LDR) pair is used to detect paper. And lastly, glass bottles are detected using capacitive sensor. The prototype has an average percentage accuracy of 90.67% for sorting 30 assorted waste samples. Keywords— Waste management, automation, control design, solar energy, cloud-based monitoring, electronic sensors

This study examined the use of a low-cost Time-of-Flight (ToF) sensor to measure forces on a robotic gripper. A novel dual low-cost Gripper with changeable Fingers was designed, and 3D printed. The gripper design was combined with a set of low-cost springs and a ToF sensor. Following a calibration procedure of the elastic means, the gripper leverages on the linear elasticity of the springs to convert the ToF estimated displacement into a force measurement. Calibration was performed with a 6 Degrees of Freedom (DoF) IIT FT17S/T miniature force sensor. An Arduino Uno embedded controller was used in order to design an end-user interface between the robotic gripper and the operator: a keypad allowed the setting of specific gripping forces and the readings of the fingers’ displacement on the Arduino serial monitor. An OLCD external display was also implemented in order to improve the end-user experience.This study showed that low-cost systems can be used in order to design, manufacture and integrate robotic devices: the precision and accuracy of such a solution has been discussed with consideration on how to improve the design through the integration of a OLED 128 x 64-pixel SSD1306.

The manufacturing industry either small scale or medium scale provides varieties of products to full fill the market needs. To face the many challenges of market this industries should increase their production rate with good quality and better accuracy. This paper is the review for our final year project. As per the company present requirement the need such a technique for punching, marking, clamping operation for shock absorber damper which performs at machine named 3 point caulking machine. Caulking is considered as both process as well as material to seal joints or seams in various parts of automobile and other structures. We are focusing on what is caulking machine and its operations, what modifications we perform to improve the production.

TEKNOFEST Nedir?

TEKNOFEST Havacılık, Uzay ve Teknoloji Festivali; çeşitli kategorilerde teknoloji yarışmalarının, hava araçları sergilerinin, hava gösterilerinin, teknoloji firmalarının tanıtım yaptığı fuarların, bilim söyleşilerinin, girişim zirvesinin ve birçok sosyal etkinliğin yer aldığı büyük bir organizasyondur. TEKNOFEST teknoloji yarışmaları ile gençlerin millî teknoloji üretme ve geliştirme konusunda ilgilerinin artırılması amaçlanıyor.

Kurumların yüz yüze veya online Erasmus+ Proje eğitimler talepleri için lütfen musatokmak3@yahoo.com üzerinde talepte bulunun.
Bugüne kadar bir çok üniversite,okul,kamu kurumuna Erasmus+ proje yazma eğitimleri verdim
(Bültenimi okumak için: https://figshare.com/articles/online_resource/Musa_TOKMAK_AR-GE_B_lteni_/22257184)
Size yardımcı olacak ful doldurulmuş Erasmus+Örnek  Projeler Kitabım ve Ek Projeler Kitabım (taslak yayın) yayındadır. Kitapların PDF şeklinde talep için musatokmak3@yahoo.com adresinden temas kurabilirsiniz.

A)-Erasmus+ ve Tübitak Örnek Projeler Kitabı (2021-2027 Dönemi) :
Erasmus+ 2021-2027 dönemini kapsayan projelerinin yanında Tübitak Lise Öğrencileri Projelerini de kapsayan yeni “Erasmus+ ve Tübitak Örnek Projeler Kitabı (2021-2027 Dönemi) ” pdf olarak yayındadır. Kapsamında aşağıdaki proje türleri bulunmaktadır. Projeler tamamen aslına uygun olarak (proje formu üstüne) ful doldurulmuştur.
İnceleme Linki: https://figshare.com/articles/online_resource/5_rnek_Projeler_Kitab_DEMO_pdf/15730458
-2 tane Erasmus+KA210 kodlu Okul Eğitimi Alanında Küçük Ölçekli Ortaklık Projeleri
-4 tane Erasmus+KA122 SCH ve VET kodlu Okul ve Mesleki Eğitimi Öğrenci ve Personel Hareketliliği Projeleri
-1 tane Tübitak 4004 Doğa ve Bilim Okulları Projeleri
-18 tane Tübitak 4006 Bilim Fuarları Projeleri
-1 tane Tübitak Lise Öğrencileri Kutup Araştırmaları Projeleri
-3 tane Tübitak 22014 A Lise Öğrencileri Araştırma Projeleri
-1 tane Teknofest Projesi

B)- Taslak Yayın (Ek Projeler):
Erasmus+ Örnek Projeler Kitabı Ek Projeler (Taslak Yayın):
Ek projelerin inceleme linki:
https://figshare.com/articles/preprint/Erasmus_rnek_Ek_Projeler_Kitab_Taslak_Yay_n_/23617407
Kitabın içeriği:
-5 İngilizce doldurulmuş KA122SCH,2 Tane Türkçe doldurulmuş KA122 SCH ve 1 tane Türkçe doldurulmuş KA122 VET
-1 Tane İngilizce 210 ADU,2 Tane İngilizce KA210 SCH,1 Tane Türkçe KA210
-1 Tane İngilizce KA220 SCH
-3 Tane İngilizce Spor Projesi vardır.

-Kitabın ve ek projelerin elektronik kopyası (PDF Şeklinde) sizlere whatsapp üzerinden iletilecektir. e-kitap pdf formatındadır. İLETİŞİM: Musa Tokmak musatokmak3@yahoo.com whatsapp: 05365632256





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The work is about completing an existing humanoid robot called "Archie". It currently consists of low body including the legs. The main task was to develop a suitable neck and the arms, having the focus at being cost-effective (cost orientation). Following a broad study of literature on the design of different robots, three prototypes compatible to the existing part were developed. With this, the main focus was at preparing a simple construction that may be easily built and have a good dynamic movement. Key advantages of the three prototypes are as follows: Low price and good dynamic characteristics Low weight of the upper body Dimensions and the number of DOF allow the robot to carry out"advanced " tasks. The thesis begins with summarised clarifications of the existing mechanical and software structure for control and communication, necessary for the following chapters. The three versions (V1, V2, V3) developed for the neck, including the arms, have been describ...

Navigation of agricultural mobile platforms in small-scale orchards poses challenges due to narrow row-end turning spaces and the need for precise path tracking in the presence of disturbances. The objective of this study is to improve path following and rapid turning maneuvers for a double-Ackermann steering robot by employing a simulation approach for PID-based waypoint following enhanced by learning-based H∞ robust adaptive control. With the zero-speed turning radius of the robot measured at 2.85 m, the primary question to address is determining the minimum achievable turning radius using the two controllers. For this purpose, a versatile framework for fine-tuning and analyzing of the controllers is presented in MATLAB Simulink blocks interfaced with the virtual replica of the robot in CoppeliaSim. A comparative study between the controllers is carried out involving three experiments: offline path following with a fixed number of predefined waypoints, online path following with continuously updated waypoints forming paths, and path tracking with disturbance rejection using the H∞ controller to reduce the radius of row-end turnings. Results indicate that while the PID controller achieves a minimum row-end turning radius of 3.0 m, the learning-based H∞ controller surpasses it with a minimum radius of 2.9 m. It is observed that a minimum of 4 waypoints is required for the PID controller to perform effective row-end turning in the offline experiment, with a higher number of waypoints enabling the robot to navigate through complex geometries and tight turns more effectively. Moreover, by incorporating an actor-critic structure, it has been demonstrated that the learning-based H∞ controller maintains stability even when facing wheel slippage disturbances, and outperforms the PID controller in online path tracking, particularly when maneuvering along a half-circle path. The framework proposed in this study contributes to improving autonomous navigation, particularly in determining the optimal number of waypoints and path configurations required for navigating agricultural robots with varying dimensions and steering mechanisms.

O poveste despre butucul yalei usii apartamentului meu. Eu: Cred că ar trebui să schimb bucutul de la yală. Cu siguranță administatorul blocului are o cheie dublă și e obligat de SRI să le dea cheia lor când vor ei. Doar că in SRI sunt mai multe găști, unii vor să mă elimine de mult timp... dar fără să miroase a crimă. Cineva (cred de la SS): Ar trebui să schimbi butucul. Se face simplu, ai un șurub, îl desfaci puțin, nici măcar nu trebuie să îl scoți, înlocuiești butucul vechi cu unul nou și gata. Schimbă butucul de la yală. Indirect, o gașcă SS mi-a indicat că trebuie să schimb butucul de la yala… că e mai bine pentru mine. Nu am băgat in seamă informația prea mult, însă câteva nopți nu am putut să dorm prea bine. Până la urmă, când eram în grădină la facultate, m-am hotărât: trebuie să schimb bucutul de la yală. M-am dus imediat acasă și am urmat instrucțiunile persoanei respective: am desfăcut un singur șurub de la yală (cel care am crezut eu că e pentru butuc) și apoi am scos întradevăr butucul de la yală. Foarte grăbit, am luat-o pe scurtătură, m-am dus la Brico (care e destul de aproape de acea grădină) ca să îmi cumpăr alt butuc. La magazin, am întrebat o funcționară care ar fi butucul care se potrivește cu cel pe care tocmai l-am scos de la yală, o ușă metalică. Funcționara a mers cu mine la pavilionul unde erau butucii de yale, dar vai, câți de mulți mai erau acolo… Femeia s-a tot uitat care dintre acei butuci se potrivește cu butucul adus de mine și după vreo 7-8 minute, s-a hotarat, a ales un butuc care avea aproximativ aceași măsură ca și cel adus de mine. Repet, erau nenumarați butuci și cât de mult se asemănau intre ei, parcă erau mafioții de psdiști care taiaseră o întreagă pădure de copaci tineri și frumoși. Eu i-am zis funcțioinarei: "Cum aș fi putut sa îl aleg singur butucul potrivit?" Ea a zâmbit… iar eu m-am grabit să ajung acasă, să înlocuiesc butucul ăla "vechi" cu ăsta nou. Atât voiam. Voiam să fiu sigur că numai eu am cheia de la butucul ăsta nou care îmi închide ușa cu siguranță, să nu mai fiu ucis așa ușor. Butucul cel vechi și cheile respective le-am primit de la administrator când am cumpărat apartamentul, dar am înțeles că ei, administratorii, dețin câte o cheie, de siguranță, de la toate apartamentele din acele blocuri. Da, era adevărat, dacă voiam să nu fiu ucis prea ușor trebuia să schimb butucul vechi cu unul nou. Dacă voiam sa îmi cresc șansele să mai trăiesc, să mai supraviețuiesc cât de cât. Parcă plutea în aer uciderea mea, fusesem deja otrăvit de imperialisti, știam asta cu siguranță, acum însă voiam să îmi cresc singur șansele de supraviețuire, șanse care erau din ce în ce mai mici pentru că eu continuam sa fac scandal cu my DARK list. Războaiele din Ucraina și Gaza se desfășurau neîncetat, probabil forever, pentru că, știm deja, imperialiștii ascundeau my DARK list față de publicul larg (și prost) cu aceste războaie. Eu nu voiam să cedez, de aceea am cumpărat alt butuc de yala de la Brico și am venit, grăbit, acasă ca să îl inlocuiesc pe cel vechi cu cel nou. Stai să vezi, cititorule, ce am pățit: m-am chinuit doua-trei ore să îl înlocuiesc pe cel vechi cu ăsta nou dar nu am reușit. Ceva nu îmi ieșea și nu stiam ce și, vai, cît de mult voiam să schimb acel nenorocit de butuc vechi cu unul nou. La dracu, nu era vorba de bani, ci de nervii pe care i-am avut atunci cand m-am chinuit inutil să schimb butucul. Am tot incercat să îl schimb, ceva însă nu imi ieșea, ceva nu se potrivea acolo la yală și nu știam ce dracu' nu se potrivește. Mă gandeam dacă nu ar trebui sa mă duc să cumpar altul, dar care dintre butucuri să îl cumpăr când am văzut zeci dacă nu sute de butuci pe acel raft în Brico… aveam de unde să aleg, nu? dar ce să aleg, asta era marea problemă, înțelegi? acum ce mă fac? nu mai contează cât costă butucul asta nenorocit, da, da, nenorocit, mama lui de butuc, nu mai contează că am să cumpăr unul, doi,

Seiring dengan perkembangan zaman, kepadatan kendaran di jalan menjadi sangat meningkat, dipacu oleh kebutuhaan masyarakat akan kendaraan yang sangat mempermudahkan mereka menuju kesuatu tempat dengan cepat. Penggunaan lampu jauh dan dekat menjadi salah satu penyebab terjadinya kecelakaan yang mana pada saat kecelakaan tinggi dan membutuhkan penerangan jarak jauh, tetapi justru lampu yang di gunakan dalam kondisi dekat. Di karenakan factor kelalaian dalam menggunakan fungsi dari lampu jauh dan dekat tersebut. Berdasarkan hal tersebut maka akan dirancang suatu alat yang melakukan pengaturan kondisi cahaya lampu pijar pada kendaraan melalui perbedaan kecepatan. Dengan bertujuan mengurangi resiko kecelakaan pada malam hari, yang kebanyakan kondisi jalan yang berlubang dan penerangan. Ragkaian yang dibuat adalah suatu rangkaian alat yang dapat melakukan pengaturan kondisi cahaya lampu pijar pada kendaraan melalui perbedaan kecepatan. Dalam alat ini kondisi lampu pijar pada kendaraan dia...

A self-balancing two-wheel Segway is a multivariable, nonlinear, coupled and unstable personal transport that is among the benchmarks of under-actuated systems to test different control schemes. The proper operation of the system needs stable and robust controllers for the balancing and direction of the Segway. Stable and robust performance of such systems can be achieved using adaptive, optimal and non-linear control schemes. A conventional sliding mode controller is a nonlinear controller, considered a robust controller except for the chattering problem that can be solved using higher order sliding mode controllers such as a supper twisted sliding mode controller (STSMC). In this research, STSMC is proposed for balancing and PID controller for direction control of a self-balancing Segway. To solve the impacts of design technique, skill, and experience of the designer on the control schemes, controllers are tuned using metaheuristic optimization algorithms, namely Grey wolf algorithm (GWO), Genetic Algorithm (GA), and Particle Swarm Optimization (PSO) technique. The overall system has been implemented in MATLAB/Simulink, and performance evaluations have been executed for the time domain specifications of settling and rise times as comparison criteria for the Segway operating conditions of variable driver mass and tilt angles. The results show relatively quick responses - for initial pitch angel of 0.3 rad, and initial yaw angle of 0.1 rad – of GWO-STSMC and GWO-PID controllers. For variable driver mass and constant initial tilt angles, the pitch response is found to be less sensitive to the increase in mass of the driver for GWO-STSMC, while the yaw angle response shows a slight sensitivity decrease for GWO-PID controller. For variable initial tilt angles and constant mass of the drive, both GWO-STSMC and GWO-PID controllers show the capability of tracking the reference pitch and yaw angles.

Karyawan merupakan bagian yang sangat penting pada setiap lembaga terlebih pada rumah makan, agar kinerja karyawan semakin baik pada sebagian perusahaan akan memberikan penghargaan terhadap karyawan terbaik, seperti rumah makan saung Bu Mansur juga setiap tahun dilakukan pemilihan karyawan terbaik digunakan untuk memotivasi para karyawan. Penilaian karyawan sebelumnya berdasarkan presensi, jumlah order dan pengamatan langsung dari pihak manajer, manajer memiliki kendala karena tidak bisa langsung mengawasi kinerja semua karyawan sehingga dikhawatirkan hasil penilaiannya kurang objektif. Sehingga pada penelitian ini akan dibuatkan sistem untuk pemilihan karyawan menggunakan metode S imple A dditive W eighting (SAW) dengan kriteria kemampuan kerjasama, presensi, kedisiplinan, penjualan, lembur. Hasil penelitian ini adalah sebuah sistem pendukung keputusan berbasis website untuk pemilihan karyawan dan dari sistem tersebut dapat memberikan alternatif-alternatif solusi untuk membantu pen...

Il rifiuto del lavoro tra "miserie del presente e ricchezza del possibile" Volerelaluna.it 27/06/2022 di: Giovanni Modica Scala Dal 2019 ad oggi sono circa un milione le persone che in Italia hanno deciso di lasciare il proprio lavoro, mentre negli USA è stata registrata la cifra più alta dal 2000 (25 milioni negli ultimi sei mesi dello scorso anno). Secondo quanto riportato dall'Ansa, il 49% degli under 34 italiani si è dimesso almeno una volta per preservare la propria salute psicologica. L'AIDP ha pubblicato i dati secondo cui le dimissioni volontarie fra i giovani in Italia toccano il 60% delle aziende; i settori principali in cui si annidano i dimissionari sono quello Informatico e Digitale (32%), Produzione (28%), Marketing e Commerciale (27%). A scegliere di cambiare lavoro sono soprattutto le persone nella fascia d'età compresa fra i 26 e i 35 anni, che costituisce il 70% del campione analizzato; perlopiù impiegati in aziende del Nord Italia. Questa tendenza viene ricondotta a tre fattori principali: la ripresa del mercato, la ricerca di condizioni economiche più soddisfacenti e la speranza di trovare altrove un miglior equilibrio fra vita privata e lavoro. (...)

The article analyzes the kinematic scheme of the Wankel mechanism . It is shown that the mechanism consists of two links and three kinematic pairs and has one degree of freedom. Formulas describing the laws of motion of the links are derived.

Este estudio se centra en el diseño, desarrollo y evaluación de un robot móvil educativo, denominado Robot-T2, para ser utilizado en actividades educativas dentro de una escuela técnica. El objetivo principal fue crear una plataforma versátil que permita a los estudiantes explorar conceptos de programación, ingeniería y ciencia de manera práctica y colaborativa. La metodología incluyó un enfoque iterativo de diseño y pruebas, donde se incorporaron retroalimentaciones de estudiantes y profesores para mejorar continuamente la funcionalidad del robot. Las pruebas abarcaban navegación autónoma, seguimiento de líneas y manipulación de objetos, utilizando el software de programación OnBotJava y el Control-Hub como interfaz principal. Los resultados demostraron que el Robot-T2 es altamente eficiente y adaptable en diversos contextos educativos, mostrando una precisión notable en la navegación y la manipulación de objetos. Las iteraciones de diseño mejoraron significativamente el rendimiento del robot, enriqueciendo la experiencia educativa y promoviendo el aprendizaje activo. En conclusión, la robótica educativa, representada por el Robot-T2, tiene un gran potencial para enriquecer el proceso de enseñanza y aprendizaje en las escuelas técnicas, fomentando el trabajo en equipo, la resolución de problemas y la integración de tecnología en el aula. Se espera que este proyecto inspire futuros desarrollos en robótica educativa.

The raised complicatedness of the dynamics of a robot manipulator considering joint elasticity makes conventional model-based control strategies complex and hard to synthesize. This paper presents investigations into the development of hybrid intelligent control schemes for the trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a collocated proportional-derivative (PD)-type Fuzzy Logic Controller (FLC) is first developed for the tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated Fuzzy Logic Controller, a non-collocated proportional-integral-derivative (PID) and an input-shaping scheme for the vibration reduction of the flexible joint system. The positive zero-vibration-derivative-derivative (ZVDD) shaper is designed based on the properties of the system. The implementation results of the response of the flexible joint manipulator with the controller...

Penggunaan sistem informasi (SI) pada saat ini dapat membantu organisasi untuk meningkatkan daya saing. Namun sebelum mengimplementasikannya, akan lebih efektif jika dilakukan proses perencanaan SI. Hingga saat ini perencanaan strategis menjadi masalah yang diakibatkan karena elemen yang terlibat dalam proses perancanaan hanya pada bagian manajemen tinggi tanpa melibatkan elemen lainnya dibawahnya. Oleh karena itu, salah satu metode untuk merencanakan SI adalah dengan melakukan pengukuran tingkat kematangan keselarasan strategi SI/TI di lingkungannya. Model penentuan keselarasan strategi SI/TI organisasi yang akan diterapkan, bisa digunakan sebagai tindakan evaluasi awal sebelum proses penyelarasan perencanaan strategi bisnis dan SI/TI. Maka dari itu, tingkat keselerasan renstra SI dengan renstra organisasi menjadi bahasan utama dalam penelitian ini. Penelitian ini menggunakan kerangka kerja Strategic Alignment Maturity Model (SAMM) untuk menilai capaian organisasi. Melalui penilaia...

Bu calismada lityum karbonat (Li 2 CO 3 ), lantan oksit (La 2 O 3 ) ve zirkonyum oksit (ZrO 2 ) maddelerine mekaniksel karisim ve ardindan isil islem uygulanarak Li 7 La 3 Zr 2 O 12 Li-iyon iletkeni sentezlenmistir. Sentez sirasinda uygulanan farkli ogutme surelerinin kristal yapidaki faz olusumlarina, morfolojik ozelliklere ve parcacik boyutlarina etkisi X-isini kirinimi deseni (XRD) ve taramali elektron mikroskobu (SEM) ile incelenmistir. Elde edilen yapiya ait XRD goruntusunun MAUD yazilimi ile yapilan ayrintili kristal yapi analizi, ilk ogutme suresinin Li 7 La 3 Zr 2 O 12 kristalinin yuksek iyonik iletken faz sentezinde etkili oldugunu gosterirken son ogutme suresinin ise kristalite boyutunda etkili oldugunu gostermistir.

The multiphysics field is a branch of physics whose objective is to couple at least two physical systems. Each is governed by its own principles of evolution or equilibrium such as balance laws or constitutive laws. Many engineering problems can only be described correctly by coupling fields of physics that have historically been developed and taught separately. These problems require on the one hand a good understanding of each physical domain, but above all an analysis of the coupling mechanisms of these physical domains, in order to propose a relevant model capable of solving the problem. A challenge in the multiphysics (mechatronics) field is the construction of coupled multiphysics models from experimental observations, as well as the analysis of their mathematical properties. The mathematical analysis of the coupled model must be able to show the well-posedness of the problem at the defined boundary and initial values. For this reason, we have identified several coupling metho...

ABSTRACT. The temporal reasoning in cooperating agents of RoboCup Simulation League is very complicated due to the imposed unreliability of the network. “No packets ” does not necessarily mean that nothing happened. This paper introduces a layered design for the simulation league agents (virtual soccer players) to have a better communication in terms of hiding the unreliability of the network for upper layers. The heart of this achievement is the Synchronization Layer (SL). This layer estimates the average send/receive delay, Tdelay. The amount of delay is to be determined by a voting mechanism, and then broadcast to other agents. SL itself generates packets, which should be received 2 X Tdelay later. These will be passed to upper layers in the agent as well as real packets. Only the responses to these early packets, could be delivered on time. The elements of each layer in the architecture, timing of the messages passed from one layer to the other, types of the messages exchanged b...

The aim of this paper is to recall and analyze often ignored fact that progress in artificial intelligence (AI) has elicited significant reflection within theological discussions, apart from all other technological and psychological consequences, triggering debates on the interface between technology and spirituality. The intersection of AI and spirituality introduces intricate ethical and philosophical questions that contest traditional views of faith and human-divine relationships. With AI technologies evolving swiftly, both scholars and theologians are scrutinizing the nuanced links between AI and religious thought. The notion of AI surpassing basic computational tasks to engage in profound spiritual interactions necessitates a reassessment of theological constructs. This confluence of technology and spirituality initiates a discussion on the transformative capacity of AI and its ability to redefine human interactions with the divine. Examining the complex relationship between AI and theology unveils possibilities that compel scholars to explore the uncharted territories of technological innovation and spiritual evolution, leading to profound reflections on the idea of a ´new religion´ for AI. The goal is to expose the possible implications of the development of AI on the selfhood and dignity of the human person in respect to the socialethical teachings of the Christianity in case a new ´artificial religion´ would appear.

Gelisen teknolojiye paralel olarak endustride robotlarin kullanimi her gecen gun artmaktadir. Robotik uygulamalarda robot kollari ilk sirayi almaktadir. Robot kollari, kaynak, urun tasima, capak temizleme, taslama, boyama, montaj vb. islemlerde yaygin olarak kullanilmaktadir. Avrupa, Amerika ve uzak dogu ulkeleri robot kolu uretiminde oldukca ileridirler. Bu ulkeler bircok sektorde cogu faaliyetlerin yurutulmesi icin robot kollari degisik sistemlerle entegre etmislerdir. Ulkemizde de robot kol tasarim ve imalatina baslanmis ve bircok calisma yapilmistir. Ancak endustriyel uygulama orneklerinin istenilen duzeyde yayginlasmis oldugu soylenemez. Bu mevcut calismalarin cogu genel amacli tasima ve dizme(pick&place) faaliyetlerini amaclamaktadir. Oysa bircok sektorde manuel olarak yurutulen cogu faaliyet robot kol kullanilarak daha verimli yurutulebilecek niteliktedir.

The stress concentration factors for transmission roller chain link plates made of isotropic and orthotropic composite materials have been calculated used the finite element method. The stress concentration factors investigated for three different composite materials (fiber-glass, boron-epoxy, graphite-epoxy) and isotropic roller chain link plate and three different geometry. The composite materials of reinforcement angles are fixed 0 and 90 degree. The stress concentration factors the made of different composite materials and several geometry have been compared and controlled by the fotoelastic experiment.

Being able to control aspects of our houses, and for having the feature to respond automatically to events, it is becoming more and more popular and necessary due to security and cost purposes. We propose to implement an integrated home automation and security system. Our project proposes a low cost solution using off the shelf components to reduce cost and open source software to get around licensing requirements of software. Zeus controls sensors and actuators that monitor a defined location and take action based on specified parameters like ambient light, temperature etc. The Zeus can also send alerts if it detects an abnormality. The voice recognition schema allows the user to use voice commands to control his house. Zeus refers to combined hardware of Personal Computer with Raspberry Pi and Arduino.

Özet: Bu çalışmada İlerletilmiş Kalman Filtresi ve onun bazı düzenlemeleri tanıtılmaktadır. Bir yayın ucuna bağlı bir cismin salınımını etkileyen çevrenin sürtünme katsayısının tahmin edilmesi problemi üzerine bir simülasyon çalışması yapılmaktadır. İlerletilmiş Kalman Filtresi ve onun bir düzenlemesi ile elde edilen tahmin sonuçları grafiksel olarak karşılaştırılmaktadır. Anahtar kelimeler: Durum-uzay modeli, Sistem belirleme, İlerletilmiş Kalman Filtresi. Abstract : In this study the Extended Kalman Filter and some of it's modifications are introduced. A simulation study is carried out on the estimation of the coefficient of friction of the medium, which affects the oscillation of a body tied to the end of a spring. The estimation results obtained by the Extended Kalman Filter and the Modified Extended Kalman Filter are compared grafically.