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Yayın A global optimal control methodology and its application to a mobile robot model(Elsevier B.V., 2016) Dinçmen, ErkinA global optimal control algorithm is developed and applied to an omni-directional mobile robot model. The aim is to search and find the most intense signal source among other signal sources in the operation region of the robot. In other words, the control problem is to find the global extremum point when there are local extremas. The locations of the signal sources are unknown and it is assumed that the signal magnitudes are maximum at the sources and their magnitudes are decreasing away from the sources. The distribution characteristics of the signals are unknown, i.e. the gradients of the signal distribution functions are unknown. The control algorithm also doesn't need any position measurement of the robot itself. Only the signal magnitude should be measured via a sensor mounted on the robot. The simulation study shows the performance of the controller.Yayın A gain-switched self-optimizer for braking controller(John Wiley and Sons Ltd, 2017-06) Dinçmen, ErkinAn emergency braking controller is developed with improved operation characteristics near the maximum friction zone. The methodology is based on self-seeking a-priori unknown optimum operation point to maximize a performance function representing the optimal behavior of the considered dynamic system. Sliding mode with uncertain direction of control vector approach is utilized in the algorithm. An adaptive variable gain is utilized in the algorithm to improve its performance. Via the variable gain, both fast convergence to the a-priori unknown optimum operation point and reduced magnitude of oscillations in the braking moment inputs resulting less aggressive control action are achieved.Yayın Integrated opto-dynamic modeling of the 4-m DAG telescope image quality performance(SPIE-Int Soc Optical Engineering, 2016) Zago, Lorenzo; Guex, Benjamin; Yeşilyaprak, Cahit; Yerli, Sinan Kaan; Keskin, OnurThe Turkish DAG 4-m telescope is currently through the final design stage. It is to be located on a 3170 m mountain top in Eastern Anatolia. The telescope will be a state-of-The art device, alt-Az mount with active primary and adjustable secondary and tertiary mirrors. Its optics design is specially aimed at being compatible with advance adaptive optics instrumentation. The ultimate performance of such a telescope results of multiple concurrent effects from many different components and active functions of the complex system. The paper presents a comprehensive integrated (end-To-end) model of the telescope, comprising in one computational sequence all structural, electrodynamics and oactive optics performance that produce the image quality at the focal plane. The model is entirely programmed in Matlab/Simulink and comprises a finite element model of structure and mirrors, dynamics modal reduction, deformation analyses of structural and optical elements, active optics feedback control in the Zernike modal space.Yayın A thermo-mechanical model of drill margin-borehole surface interface contact conditions in dry drilling of thick CFRP laminates(Elsevier Ltd, 2020-04-23) Karpat, Yiǧit; Karagüzel, Umut; Bahtiyar, OnurDry drilling of thick carbon fiber reinforced polymer (CFRP) laminates requires careful selection of process parameters in order to obtain acceptable borehole surface quality. Complex contact conditions between the drill margin and the borehole surface determine the integrity of the borehole surface depending on the process parameters and temperature-dependent viscoelastic material properties. Temperature rise during dry drilling reduces the elastic modulus of the CFRP and causes thermal expansion of the drill, resulting in considerable contact length at the drill margin and borehole surface interface. Manufacturers need a better understanding of the interaction among contact pressure, sliding velocity, temperature at the interface, and temperature-dependent material properties to develop predictive models for drilling CFRPs. To examine this complex interaction, this study develops a novel, hybrid model that combines a time-based analytical modeling of drilling process with a finite element-based modeling of temperature rise. Drilling experiments were performed in which thrust force, torque, and temperature were measured as a function of feed, and these measurements were used to identify unknown hybrid model parameters. The results revealed that a significant change in friction conditions occurs when increased temperatures at the margin and borehole surface interface approach and exceed the glass transition temperature of the CFRP laminate at a large feed rate. These findings show the benefit of increasing feed during dry drilling, which is nonetheless limited by the temperature-dependent material properties of the work material.Yayın Design of a global extremum seeking algorithm for an omni-directional robot model(Romanian Soc Control Tech Informatics, 2017-06) Dinçmen, ErkinA global extremum seeking algorithm is developed for a mobile robot model where the aim is to find the location of the most powerful signal source among the others. In other words, the control problem is to seek the global extremum point of a performance function when there are local extremas. The locations of the signal sources and signal distribution characteristics are unknown, i.e. the gradient of the performance function is unknown. The control algorithm also doesn't use any position measurement of the mobile robot itself. Henceforth, the controller is suitable for the missions where the robot moves in an unknown terrain with no GPS signal and no inertial measurements. Only the signal magnitude should be measured via a sensor mounted on the robot during the motion. A gradient estimator is designed to determine the motion direction towards the extremum point. When a local extremum is found, the robot will continue its search for another extremum points. Once each extremums have been visited, the robot will compare the signal levels on each source and identify the global extremum i.e. the most powerful signal source. In the absence of any position measurements, the robot can move towards the global extremum by repeating its motion history backwards. In the literature, this is the first global extremum seeking algorithm that has been developed for an omni-directional mobile robot model. Via the simulation studies it has been shown that the control algorithm can seek and find both stationary and non stationary signal sources and it can find the global extremum point when there are local extremas.Yayın DAG-SLODAR (SLOpe Detection And Ranging) Teleskobu(Türk Astronomi Derneği, 2020-12-11) Şatır, Onur; Yeşilyaprak, Cahit; Keskin, OnurAtmosferin astronomik gözlemlere olan olumsuz etkilerini alt etmek üzere geliştirilmiş ve DAG teleskobunda da kullanılacak olan Adaptif Optik (AO) sistemleri, türbülansın ayrıntılı bir şekilde karakterize edilmesine ihtiyaç duyar. SLODAR, atmosferik optik türbülansın dikey profilini, iki yakın yıldızın Shack-Hartmann dalgacephesi algılayıcısı (SH-WFC) ile yapılan dalgacephesi eğimi ölçümlerinin çapraz korelasyonundan elde eden bir yöntemdir. SLODAR sistemi, küçük çaplı (?50cm) bir teleskobun odak düzlemine yerleştirilen, iki SH-WFC barındıran SLODAR aygıtından oluşur. Paranal, La Palma, Mauna Kea ve SAAO gözlemevlerinde kurulan SLODAR teleskopları "yer katmanı (ground layer)" olarak adlandırılan ve yerleşkenin üzerindeki ilk kilometre içindeki türbülansı ölçmek amacıyla kullanılmışlardır. Bu sunumda DAG yerleşkesinde kurulmakta olan SLODAR sisteminden bahsedilecektir.Yayın OPAM tarafından üretilen derotator sistemi ve TROIA (Turkish Adaptive Optics System for Infrared Astronomy) adaptif optik sistemi(Türk Astronomi Derneği, 2020-12-11) Keskin, OnurDAG teleskopu için FMV Işık Üniversitesi Optomekatronik Uygulama ve Araştırma Merkezi’nde (OPAM) son tasarımı başarıyla bitirilerek, üretim aşamasına geçilen derotator ve adaptif optik (TROIA) sistemleri tanıtılacaktır.Yayın The DAG project and its management(Türk Astronomi Derneği, 2020-12-11) Zago, Lorenzo; Keskin, OnurThe DAG Project and managerial issues related to call for tenders, determination of technical specifications both for the telescope, the dome and the observatory building will be presented.Yayın Extremum seeking dead-zone pre-compensator for an industrial control system(Walter De Gruyter GMBH, 2018-06-26) Dinçmen, ErkinPID type industrial controllers such as PI, PD, PID are mature control algorithms and they are intensively used in industry due to their simplicity and easily implementability. However, they start to fail when there is an unknown or unpredictable nonlinear behavior in the plant or actuator. In this paper, a novel compensation algorithm is proposed for PD type industrial control systems, which possess an unknown dead-zone nonlinearity. An extremum-seeking technique is utilized in the compensation algorithm. The aim is to propose a new, effective and robust compensator which can be added easily to an existing industrial controller without any need to change/retune the controller settings/parameters. It is shown that by adding the compensator to an existing PD control system, the sensitivity of the controller to the dead-zone nonlinearity is removed.Yayın
