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Design and kinematics of a 5-DOF parallel robot for beating heart surgery
(IEEE, 2019)
In this paper, mechanical and electronics design of a lightweight 5-DOF robot, Ozyegin Surgery Robot I (OSI), and it's performance of tracking the heart motion for coronary artery bypass procedure (CABG) are presented. The ...
A soft+rigid hybrid exoskeleton concept in scissors-pendulum mode: A suit for human state sensing and an exoskeleton for assistance
(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 ...
Optimal stiffness tuning for a lower body exoskeleton with spring-supported passive joints
(IEEE, 2018-10-09)
This paper presents a framework to optimally tune the stiffness values of spring-supported passive joints that are included in lower body exoskeletons. First, a dynamic model of a combined human-exoskeleton system was ...
Static and dynamic analyses for the exergetic, exergoeconomic and environmental assessment of a high-performance building
(Inderscience Enterprises Ltd., 2018)
This paper presents an exergetic, exergoeconomic and environmental assessment of an existing high-performance building using both static and dynamic analyses. The IEA ECBCS framework is adopted for exergy analysis, whereas ...
Flow visualization and LES simulations inside a chevron type plate heat exchanger
(Begell House Inc., 2018)
An up-scaled model of a single channel of CPHE was used under dynamically similar conditions for the experiments. In experiments, pressure drop measurements and flow visualizations were conducted with aluminum flitter and ...
Free simulation software and library
(Springer, 2018-01-01)
With the advent of powerful computation technologies and efficient algorithms, simulators became an important tool in most engineering areas. The field of humanoid robotics is no exception; there have been numerous simulation ...
Improving the safety of medical robotic systems
(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 ...
Determination of the critical reynolds number for flow over symmetric NACA airfoils
(American Institute of Aeronautics and Astronautics Inc, AIAA, 2018)
The determination of the critical Reynolds number is of practical importance in many engineering applications, particularly in determining the aerodynamic characteristics of air vehicles. In this study, we numerically ...
Özyeğin biopsy robot: system integration architecture and motion compensation of a moving target
(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) ...
Visual tracking of multiple moving targets in 2D ultrasound guided robotic percutaneous interventions
(IEEE, 2017)
Percutaneous needle procedures are mostly carried out with the guidance of 2D ultrasound (US) imaging. US images are inherently noisy and their resolutions are low. Hence, target tracking can be challenging. Image based ...
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