Browsing by Author "Bebek, Özkan"
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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 ... -
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 ... -
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 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 ... -
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 ... -
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 ... -
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 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 ... -
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 ... -
A solenoid injector based drop-on-demand system for generating large droplets
Coşar, Veli Can; Şen, Onur; Ertunç, Özgür; Qureshi, Muhammad Sarmad; Bebek, Özkan (American Institute of Physics Inc., 2023-09-01)This paper proposes a drop-on-demand (DOD) system that can produce single droplets of highly repeatable size in the order of 2 mm. This system utilizes an on-the-shelf solenoid injector used in automotive applications. The ... -
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 ... -
Topology optimization-based design and development of a compact actuator with a high torque-to-weight ratio for quadrupeds
Akın, Barış; Özçınar, Erim Can; Balcı, Barış; Emre, Sinan; Şendur, Polat; Bebek, Özkan; Ünal, Ramazan; Uğurlu, Regaip Barkan (IEEE, 2022)This paper presents the design, development, and testing procedures for a compact actuator with a high torque-to-weight ratio, generally aimed to actuate legged robots, e.g., quadrupeds. The main goal of designing the ...
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