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KAPLANOĞLU, ERKAN

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KAPLANOĞLU

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2012 - 20194
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End date: 2019 × Start date: 2012 ×

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Now showing 1 - 4 of 4
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    PublicationOpen Access
    Real-Time Implementation of Data-Driven Predictive Controller for an Artificial Muscle
    (NATL INST R&D INFORMATICS-ICI, 2019-07-03) KAPLANOĞLU, ERKAN; Ulkir, Osman; Akgun, Gazi; Kaplanoglu, Erkan
    This study presents a position tracking control method, with reference to Data-Driven Predictive Controller (DDPC), for a Pneumatic Artificial Muscle (PAM) system. The design of predictive controller is created from the subspace identification matrices acquired by input/output data. The control scheme is entirely data-based without explicit use of a model in the control application that can rectify the nonlinearity and uncertainties of the PAM. Firstly, subspace matrices are developed employing the identification method as a predictor by using open-loop experiments. Secondly, the estimated subspace matrices are used to design the so-called DDPC. In this instance, the quadratic programming (QR) decomposition method is used to obtain the prediction matrices. Consequently, experiments are carried out by the PAM actuator with different testing and loading conditions. The real-time experimental results demonstrate the feasibility and efficiency of the suggested control approach for nonlinear systems.
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    PublicationOpen Access
    Design of Shape Memory Alloy-Based and Tendon-Driven Actuated Fingers Towards a Hybrid Anthropomorphic Prosthetic Hand
    (SAGE PUBLICATIONS INC, 2012-09-19) KAPLANOĞLU, ERKAN; Kaplanoglu, Erkan
    This paper presents the design of tendon-driven actuated fingers using a shape memory alloy for a hybrid anthropomorphic prosthetic hand. The ring and little (pinky) fingers are selected for shape memory activation due to their lower degree of movement during multiple grasping configurations. The fingers' tendon system is based on shape memory alloy (SMA) wires that form artificial muscle pairs for the required flexion/extension of the finger joints. The finger has four degrees of freedom such that three of them are active. An experimental setup was developed to evaluate the performance of the ring and little fingers. An electromyography (EMG) controlled Pulse Width Modulated (PWM) technique is preferred for the actuation of joint motions using a high speed microcontroller.
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    Evaluation of Sensory Feedback from a Robotic Hand: A Preliminary Study
    (SPRINGER INTERNATIONAL PUBLISHING AG, 2018) KAPLANOĞLU, ERKAN; Karakus, Ipek; Sahin, Hasan; Atasoy, Ahmet; Kaplanoglu, Erkan; Ozkan, Mehmed; Guclu, Burak; Prattichizzo, D; Shinoda, H; Tan, HZ; Ruffaldi, E; Frisoli, A
    In this study, a robotic hand was equipped with force and bend sensors. Sensors were modified to fit the robotic hand and for more efficient utilization. A cylindrical grasping task was performed for three conditions, namely no object, soft object and hard object. Features were formed using the outputs of the sensors and their first and second derivatives. A multinomial logistic regression model was fitted to the data. Classification was done according to both object type (no object, soft object and hard object classes) and movement type (no movement, flexion, contact/release and extension classes). Results have shown that the information from the force sensors do not adequately contribute to the feature space because of poor coupling and this affects discrimination of soft object and contact/release classes. More sensors and a better actuation protocol need to be used in future work.
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    PublicationOpen Access
    An application for fundamental computer programming learning
    (ELSEVIER SCIENCE BV, 2015-02) KAPLANOĞLU, ERKAN; Aki, Ozan; Gullu, Aydin; Kaplanoglu, Erkan; Isman, A
    Applied computer laboratory lessons could be unproductive because of many students in there. Correcting students' mistakes one by one is wasting lesson time. Especially for beginners, most of these mistakes caused by complex integrated development environments. In this study, we develop a client server application for computer laboratories. Developed application is able to compile programming language source code remotely. Thus, students don't need to make something out of the writing source code. Furthermore, instructors don't need to install compiler to the each computer in laboratory. For start lesson, it is enough that server has just been configured. (C) 2015 The Authors. Published by Elsevier Ltd.