Person: KAPLANOĞLU, ERKAN
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KAPLANOĞLU
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ERKAN
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Publication Open 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, ErkanThis 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.Publication Open 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, ErkanThis 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.Publication Metadata only 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, AIn 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.Publication Open Access EMG sinyallerinin derin öğrenme ile hareket sınıflandırması(2022-09-18) AKGÜN, GAZİ; YILDIRIM, ALPER; DEMİR, UĞUR; KAPLANOĞLU, ERKAN; Akgün G., Yıldırım A., Demir U., Kaplanoğlu E.Bu çalışmada EMG sinyalleri üzerinde öznitelikler hesaplanmıştır. Bu öznitelikler ile el hareketlerini sınıflandırmak için derin öğrenme algoritmaları kullanılmıştır. Bir zaman serisi olarak toplanan EMG sinyalleri üzerinde zaman alanında hesaplanan öznitelik vektörleri belirli boyutlarda simetrik matrisler olarak kaydedilmiştir. Yeniden oluşturulan ve resim dosyası formatında kaydedilen veri seti ile Evrişimsel Sinir Ağı eğitilmiştir. Bu eğitim sonucunda tüm veriler ile %93, test verileri ile %79 başarı ile hareket sınıflandırması gerçekleştirilmiştir.Publication Open Access An application for fundamental computer programming learning(ELSEVIER SCIENCE BV, 2015-02) KAPLANOĞLU, ERKAN; Aki, Ozan; Gullu, Aydin; Kaplanoglu, Erkan; Isman, AApplied 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.Publication Metadata only Exoskeleton design and adaptive compliance control for hand rehabilitation(SAGE PUBLICATIONS LTD, 2020) KAPLANOĞLU, ERKAN; Akgun, Gazi; Cetin, Ahmet Emre; Kaplanoglu, ErkanAn adaptive robotic system has been developed to be used for hand rehabilitation. Previously developed exoskeletons are either very complex in terms of mechanism, hardware and software, or simple but have limited functionality only for a specific rehabilitation task. Some of these studies use simple position controllers considering only to improve the trajectory tracking performance of the exoskeleton which is inadequate in terms of safety and health of the patient. Some of them focus only on either passive or active rehabilitation, but not both together. Some others use EMG signals to assist the patient, but this time active rehabilitation is impossible unless different designs and control strategies are not developed. The proposed mechanical structure is extremely simple. The middle and the proximal phalanxes are used as a link of consecutively connected two 4-bar mechanisms, respectively. The PIP and MCP joints are actuated by a single electro mechanical cylinder to produce complex flexion and extension movements. It is simpler than similar ones from aspect with the mechanical structure and the biodynamic fit of the hand, making it practicable in terms of production and personal usage. Simple design lets to implement adaptive compliance controller for all active and passive rehabilitation tasks, instead of developing complex and different strategies for different rehabilitation tasks. Furthermore, using the Luenberger observer for unmeasured velocity state variable, an on-line estimation method is used to estimate the dynamic parameters of the system. This makes possible to estimate the force exerted by the patient as well, without a force sensor.