Browsing by Author "Bebek, Özkan"
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Development of a torque-controllable upper limb exoskeleton for industrial applications
Chronic upper body pain and injuries are undesirable physical disorders that result from regular exposure to external forces that strain the musculoskeletal system. These symptoms reduce both the quality of life and ... -
Development of an antagonistically actuated smart joint
Vahidyeganeh, Ali; Şimsek, Görkem Muttalip; Jabeen, Saher; Bebek, Özkan; Yapıcı, Güney Güven (Trans Tech Publications, 2017)Shape memory alloys with their phase transformation properties; have been broadly implemented in smart structures. In this study, a functional design is presented where two wires actuate antagonistically to achieve motion ... -
Development of antagonistically actuated active joints with shape memory aloys
Vahidyeganeh, Ali (2017-01)The focus of this research work is the development of an active joint antagonistically actuated by shape memory alloys (SMA). Due to their high force to mass ratio these identified as excellent actuator candidates for ... -
Development of the calibration scheme and system integration of the Ozyegin biopsy robot (OBR)
Ahmad, Mirza Awais (2016-08)Imaging systems can fail to visualize cancerous tissues for proper diagnosis. Needle based procedures, like biopsies, increase the chances of accurate diagnosis of tumors. These procedures also have applications in minimally ... -
Dexterous manipulation with a robotic hand
Kaya, Osman (2017-06)In robotics, flexible and the dexterous manipulation are one of the most desired type of skills. To this end, we investigate dexterous manipulation skills on an anthropomorphic robot hand. In the first part of the study, ... -
Discrete-time integral sliding mode control of a smart joint for minimally invasive surgeries
Jabeen, Saher; Yeganeh, Ali Vahid; Şimsek, Görkem Muttalip; Yapıcı, Güney Güven; Abidi, K.; Bebek, Özkan (IEEE, 2016)In this work, a shape memory alloy(SMA) actuator based joint (smart joint) is controlled using a discrete-time integral sliding mode (DISM) control to guide the motion of an active catheter. Controller is designed on the ... -
Discussing modernizing engineering education through the Erasmus + Project Titled "Open Educational Resources on Enabling Technologies in Wearable and Collaborative Robotics (WeCoRD)
Kılıç-Bebek, Ebru; Nizamis, K.; Karapars, Gülhis Zeynep; Gökkurt, Muharrem Ali; Ünal, Ramazan; Bebek, Özkan; Vlutters, M.; Vander Poorten, E.; Borghesan, G.; Decré, W.; Aertbelien, E.; Borisova, O.; Borisov, I.; Kolyubin, S.; Kodal, M. I.; Uğurlu, Regaip BarkanThe Erasmus + project titled “Open Educational Resources on Enabling Technologies in Wearable and Collaborative Robotics (WeCoRD)", can serve as a model to establish strategic international and multidisciplinary partnerships ... -
Efficient methodologies for actualizing haptic feedback in consumer electronics
Kirişken, Barbaros (2021-06-11)There are significant limitations to creating effective haptic illusions in mobile devices such as tablets and smartphones. The main limitations are that these devices are too small in size to accommodate complex actuators ... -
Electrochemical evaluations of TiO2 nano films for advanced engineering applications
Yagan, Rawana (2018-05)This study evaluates the performance TiO2 nano-film for engineering applications, both in biomedicine and microelectronics, were Chemical Mechanical Planarization (CMP) is a main process used for planarizing the metal ... -
Environmental force estimation for a robotic hand : compliant contact detection
Kaya, Osman; Yıldırım, Mehmet Can; Kuzuluk, Nisan; Çiçek, Emre; Bebek, Özkan; Öztop, Erhan; Uğurlu, Regaip Barkan (IEEE, 2015)This paper presents a model based compensation method to enable environmental force estimation for a robotic hand with no tactile or force sensors. To this end, we utilize multi-joint robot dynamics and disturbance observer ... -
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 ... -
Gallium nitride chemical mechanical planarization development through tool set-up, process and post CMP cleaning optimization
Özbek, Şebnem (2018-07)In this thesis, a new Chemical Mechanical Planarization (CMP) process and a complementary tool set-up are introduced to enhance Gallium Nitride (GaN) material removal rates while controlling the post planarization surface ... -
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 ... -
Investigation of the refrigerator bottom cabinet cavity acoustic behavior
Öztürk, Anıl (2013-08)This thesis investigates the computational and experimental analysis for the acoustic behavior of a bottom cabinet cavity in a refrigerator. The finite element and analytical approaches are used in order to determine the ... -
Key design features to improve the safety of surgical robotic systems and evaluation and improvement of a surgical-assistant test-bed robotic system
Dibekçi, Ayşan (2020-01-17)The signi cance of the robots in the medical eld 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 ... -
Localization of biopsy needles in 2D ultrasound images using gabor filter
Kaya, Mert (2015-06)Needle Biopsies are common medical procedures to remove tissue samples from the body to be examined for diseases. During these procedures, the needle and its tip are tracked using medical imaging devices to avoid damage ...
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