Browsing Master's Theses by Author "Bebek, Özkan"
Now showing items 1-18 of 18
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Design and development of torsion spring based series elastic actuator with nested encoders for wearable exoskeleton robot
his thesis proposes a series elastic actuator design to power an assistive exoskele ton for the paraplegic or stroke patient whom incapable to walk or provide any motion at lower extremity portion of the body. Commonly, ... -
Design and implementation of a robust control scheme for a smart joint
Jabeen, Saher (2017-01)The invention of biomedical tools has made medical treatments more convenient; however, manual insertion of these tools requires years of practice and erroneous insertion into the body may cause ruptures and bleeding. ... -
Design and modeling of a parallel robot for ultrasound guided percutaneous needle interventions
Orhan, Sabri Orçun (2015-08)Percutaneous needle operations need precise positioning in order to collect samples for diagnosis. Due to their robustness, accuracy robotic systems started to take place in medical procedures. Research that have been done ... -
Development and control of a parallel endoscopic surgical robot platform for beating heart procedures
Ersoy, Onur (2021-06-16)Minimally Invasive Robotic Surgery focuses on performing surgeries using advanced robotic tools through small incisions. Taking advantage of these advanced tools and control methods, challenging surgeries such as ... -
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 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, ... -
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 ... -
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 ... -
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 ... -
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 ... -
Mechatronic design and analysis of a solenoid based injector
Yağcı, Ayhan (2019-08-19)Injectors are devices for producing spray, namely, for creating small liquid droplets. In the automotive industry, generally, the injectors are used to inject fuel into the combustion chamber. In recent years, systems are ... -
A new method for data association in 3-D localization: one-point RANSAC with epipolar constraint
Kılıç, Selçuk (2014-08)The problem of Localization or Simultaneous Localization and Mapping has received a great deal of attention within the robotics literature, and the importance of the solutions to this problem has been well documented for ... -
Real-time robust control of a series elastic actuator subject to uncertainties
Kansızoğlu, Ahmet Talha (2018-12-24)Humans are able to perform highly complicated tasks in their daily activities by interacting with the environment. However, for a robotic system, these tasks are quite challenging. To overcome these problems, robotic systems ... -
Sliding mode control of a solenoid actuator for SCR system
Küntüz, Mehmet Polat (2019-08-19)Electromechanical solenoid actuators are widely used in industrial applications that require fast and linear motion. High velocities can be achieved in small stroke lengths consequently the motion results with high-velocity ... -
Tele-operation and control of robotic surgical assistants for suturing task
In a robot-assisted surgical systems, optimizations in tele-operation can lower the surgeon's physical and mental exhaustion and cognitive load, as well as the operation's completion time. As a result, it can considerably ...
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