Browsing by Author "(ORCID 0000-0003-2721-9777 & YÖK ID 43734) Bebek, Özkan"
Now showing items 21-40 of 47
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Fast and efficient terrain-aware motion planning for exploration rovers
Uğur, Deniz; Bebek, Özkan (IEEE, 2021)This paper presents a fast, energy-efficient, and low computational cost traversal solution on sloped terrain. The use of grid-based search algorithms requires high computational power and takes a long time because almost ... -
Gabor filter based localization of needles in ultrasound guided robotic interventions
Kaya, Mert; Bebek, Özkan (IEEE, 2014)This paper presents an entropy based parameter tuning method for needle segmentation, and a probability map based needle tip estimation method using Gabor-based line filter. The proposed automatic parameter tuning method ... -
Gabor filter-based localization of straight and curved needles in 2D ultrasound images
Kaya, M.; Senel, E.; Bebek, Özkan (TÜBİTAK, 2020)2D ultrasound (US) is one of the most commonly used medical imaging devices for needle localization in biopsies. However, the produced images are low-resolution and contain an excessive number of artifacts, which makes the ... -
Heart motion prediction based on adaptive estimation algorithms for robotic assisted beating heart surgery
Tuna, E. E.; Franke, T. J.; Bebek, Özkan; Shiose, A.; Fukamachi, K.; Çavuşoğlu, M. C. (IEEE, 2013)Robotic-assisted beating heart surgery aims to allow surgeons to operate on a beating heart without stabilizers as if the heart is stationary. The robot actively cancels heart motion by closely following a point of interest ... -
Improving the safety of medical robotic systems
Dibekçi, Ayşan; Bebek, Özkan (IEEE, 2018-10-09)The significance of the robots in the medical field have been increasing rapidly. Humans and robots working together increases the strengths and decreases the limitations of surgical operations. Human life makes safety the ... -
Learning medical suturing primitives for autonomous suturing
Amirshirzad, Negin; Sunal, Begüm; Bebek, Özkan; Öztop, Erhan (IEEE, 2021)This paper focuses on a learning from demonstration approach for autonomous medical suturing. A conditional neural network is used to learn and generate suturing primitives trajectories which were conditioned on desired ... -
Mars gezgini prototipi Merih-2
Balcı, Barış; Yıldırım, Mehmet Can; Bebek, Özkan (Gazi Üniversitesi, 2018-12)Merih-2, Özyeğin Üniversitesi Rover Takımı tarafından University Rover Challenge 2016 ve European Rover Challenge 2016’ya katılmak ve Mars koşullarında görev yapmak için tasarlanan gezgindir. Sürüş için Merih-2’nin 6 adet ... -
Mass flow rate control of solenoid-based injectors
Qureshi, Muhammad Sarmad; Kara, Ahmet Burhan; Ertunç, Özgür; Bebek, Özkan (Sage, 2023-09)This paper presents a mass flow rate control method for solenoid-based injectors in open-loop, i.e. without physical sensor feedback. Measuring the mass flow rate in injectors is important because the performance of the ... -
Needle localization using gabor filtering in 2D ultrasound images
Kaya, Mert; Bebek, Özkan (IEEE, 2014)In the percutaneous needle procedures using ultrasound (US) imaging, the needle should be detected precisely to avoid damage to the tissue and to get the samples from the appropriate site. Excessive artifacts and low ... -
A novel driving pattern to actualize haptic effects in mobile devices
Kirişken, Barbaros; Mansouri, Deniz; Şendur, Polat; Özkan, Bebek (IEEE, 2021-05)Haptic interactions in consumer devices have become more critical with immersive streaming content by including high-resolution video and sound as well as tactile information. Mobile devices such as tablets and smartphones ... -
Özyeğin biopsy robot: system integration architecture and motion compensation of a moving target
Ahmad, Mirza Awais; Bebek, Özkan (TÜBİTAK, 2018-05-30)This paper presents the complete system architecture of a robotic biopsy system for real-time operations. The system has individual functional blocks working simultaneously including a 5 DoF parallel robot, ultrasound (US) ... -
Personal inertial navigation system assisted by mems ground reaction sensor array and interface ASIC for GPS-denied environment
Guo, Q.; Deng, W. H.; Bebek, Özkan; Cavusoglu, M. C.; Mastrangelo, C. H.; Young, D. J. (IEEE, 2018-11)A personal inertial navigation system (PINS) assisted by a microelectromechanical systems (MEMS)-based 13 × 26 ground reaction sensor array (GRSA) and a low-power interface application-specified integrated circuit (ASIC) ... -
Personal inertial navigation system employing MEMS wearable ground reaction sensor array and interface ASIC achieving a position accuracy of 5.5m over 3km walking distance without GPS
Guo, Q.; Deng, W.; Bebek, Özkan; Çavusoglu, C.; Mastrangelo, C.; Young, D. (IEEE, 2018)An accurate personal inertial navigation system under GPS-denied environment is highly critical for demanding applications such as firefighting, rescue missions, and military operations. Location-aware computation for ... -
A personal navigation system using mems-based high-density ground reaction sensor array and inertial measurement unit
Guo, Q.; Bebek, Özkan; Çavuşoğlu, M. C.; Mastrangelo, C. H.; Young, D. J. (IEEE, 2015)This paper describes a prototype personal navigation system developed for position tracking under GPS denied environments by employing a commercial inertial measurement unit (IMU) and a MEMS-based ground reaction sensor ... -
Real-time needle tip localization in 2D ultrasound images for robotic biopsies
Kaya, Mert; Şenel, Enes; Ahmad, Mirza Awais; Orhan, Orçun; Bebek, Özkan (IEEE, 2015)In this paper, real-time needle tip tracking method using 2D ultrasound (US) images for robotic biopsies is presented. In this method, the needle tip is estimated with the Gabor filter based image processing algorithm, and ... -
Reducing charging costs for electric vehicles with bi-directional charging
Zincircioğlu, Emircan; Bebek, Özkan (IEEE, 2023)Electric vehicles (EVs) have gained popularity as eco-friendly and energy-efficient modes of transportation. How-ever, the high cost of charging infrastructure remains a significant barrier to the widespread adoption of ... -
Sensorless position control of solenoid actuators for soft landing using super-twisting sliding mode control
Qureshi, Muhammad Sarmad; Bebek, Özkan (SAGE, 2022-07-24)This article presents an open-loop control methodology to achieve lower seating velocities (i.e. soft-landing) for solenoid-based injector systems which are widely used in automotive as fuel injection valves or gas exchange ... -
Simulation-based design and locomotion control implementation for a lower body exoskeleton
Derman, Mustafa; Soliman, Ahmed Fahmy; Kuru, Alihan; Çevik, Süleyman Can; Ünal, Ramazan; Bebek, Özkan; Uğurlu, Regaip Barkan (IEEE, 2022)This paper proposes a simulation-based design and locomotion control methodology for an exoskeleton that is aimed at providing assistance to users with ambulatory difficulties. To increase the power-to-weight ratio while ... -
Sliding mode control of an electromechanical solenoid actuator for soft landing
Küntüz, Mehmet Polat; Qureshi, Muhammad Sarmad; Bebek, Özkan (IEEE, 2018-10-08)Electromechanical solenoid actuators are widely used in industrial applications that require fast and linear motion. High velocities can be achieved in small stroke lengths; in turn the motion results with high-velocity ... -
A soft+rigid hybrid exoskeleton concept in scissors-pendulum mode: A suit for human state sensing and an exoskeleton for assistance
Uğurlu, Regaip Barkan; Acer, M.; Barkana, D. E.; Gocek, I.; Kucukyilmaz, A.; Arslan, Y. Z.; Basturk, H.; Samur, E.; Ugur, E.; Ünal, Ramazan; Bebek, Özkan (IEEE, 2019-06)In this paper, we present a novel concept that can enable the human aware control of exoskeletons through the integration of a soft suit and a robotic exoskeleton. Unlike the state-of-the-art exoskeleton controllers which ...
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