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Boğaziçi University | |||||
| Mechatronics Research Activities | ||||||
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UNESCO Chair On Mechatronics and Mechatronics Research and Application Center | [PROJECTS] |
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The research includes combination of both theoretical studies and their practical applications to robotics and nonlinear systems. Some activities of the laboratory are summarized below. Computational Intelligence The area of computational intelligence has emerged as the combination of different methodologies in need to find computationally efficient solutions to complex problems. Our laboratory is actively involved in different aspects of computationally intelligent systems research and has strong expertise in this area which has led to contribution of several publications to the relevant literature. Especially, recently developed techniques for variable structure systems (VSS) based training of intelligent architectures are very promising. The incorporation of VSS theory into learning algorithms brings together important benefits such as robustness and increase in stability, which are highly desired properties for control applications.
MPS 500
The processing station is loaded a PIC-alfa station. The work-piece receives processing, followed by testing. The PIC-alfa station returns the work-piece to the transport system. The work-piece is tested for shape tolerance in the vision station. The robot station assembles a model cylinder from a basic body.
From the commissioning station the work-pieces are not released by colour, but by the number of pieces. Each time 18 pieces are commissioned. The three upper slides are on stand-by for the work-pieces, the fourth slide is for parts storage in the adjustment process.
ABS (Anti-lock Braking System)
Description Antilock Braking Systems (ABS) are designed to optimize braking effectiveness while maintaining car controllability. The performance of ABS can be demonstrated in our lab-set (see the schematic diagram and the photo) by simulation for various road condition and transition between such conditions (e.g., when emergency braking occurs and the road switches from dry to wet or vice versa). The shortest braking distance corresponds to the slip equal to 100%. However, the car controllability is lost. The main goal of braking is to minimize the car braking distance following the rule: the less the slip the better car control.
Research On Robotic Manipulators
Autonomous Mobile Robot Project The goal of this project is to design an autonomous mobile robot, which behaves in an intelligent manner; that is it can recognize the changes in the environment and adapt to these changes, so that a given objective can be accomplished. Currently, the project is in the development phase. The final system will be composed of a mobile platform and a central computer. The sensory information will be obtained by means of virtual sensors that use fusion of the information coming from the shaft encoders and a CCD camera in order to obtain more reliable measurements. The visual feedback utilized in the system will also ease the map construction and path planning tasks in the context of dynamic obstacle avoidance. The information exchange between the mobile platform and the central computer will be provided by means of a RF communication link. Other research activities The control research conducted in the laboratory is not limited with the aforementioned activities. Three-tank experimental setup, which is a highly nonlinear system with strong couplings between states, constitutes a good test bed for nonlinear system design. Recently, a fuzzy controller is designed for control of liquid level on the tanks. Apart from that, a Java based interface is also developed for the system which increases interactivity and can be used for web-based control with minor updates. Moreover, there are additional control setups in the laboratory such as ball and the beam, inverted pendulum with car and nonlinear system simulator which can be utilized for further research.
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| Bogazici University, Dept. of Electrical and Electronic Engineering, 34342, Bebek, Istanbul/TURKEY Tel: 00 90 212 359 68 55 |
| ~Designed by Fuat Geleri - Content by Erdal Kayacan & Yeşim Öniz~ [last update : 15/07/2007] |