Person: AK, AYÇA
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AK
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AYÇA
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Publication Open Access Visual Servoing Application for Inverse Kinematics of Robotic Arm Using Artificial Neural Networks(NATL INST R&D INFORMATICS-ICI, 2019-01-07) AK, AYÇA; Ak, Ayca; Topuz, Vedat; Ersan, EmregulThis paper presents novel approach for a visual servoing application of six axis robotic arm. Basic image-processing techniques were used for object recognition and position determination of robotic arm. The inverse kinematics solution of the robot arm was performed with artificial neural networks. Afterwards the robot's inverse kinematics solution was completed, the determined joint-angle values were used to control the robot arm. Performance of radial basis function network (RBF) and multilayer perceptron (MLP) were also compared.Publication Open Access Field Programmable Gate Arrays Based Real Time Robot Arm Inverse Kinematic Calculations and Visual Servoing(ISTANBUL UNIV, FAC ENGINEERING, 2018-07-29) AK, AYÇA; Celik, Baris; Ak, Ayca; Topuz, VedatReliability and precision are very important in space, medical, and industrial robot control applications. Recently, researchers have tried to increase the reliability and precision of the robot control implementations. High precision calculation of inverse kinematic color based object recognition, and parallel robot control based on field programmable gate arrays (FPGA) are combined in the proposed system. The precision of the inverse kinematic solution is improved using the coordinate rotation digital computer (CORDIC) algorithm based on double precision floating point number format. Red, green, and blue (RGB) color space is converted to hue saturation value (HSV) color space, which is more convenient for recognizing the object in different illuminations. Moreover, to realize a smooth operation of the robot arm, a parallel pulse width modulation (PWM) generator is designed. All applications are simulated, synthesized, and loaded in a single FPGA chip, so that the reliability requirement is met. The proposed method was tested with different objects, and the results prove that the proposed inverse kinematic calculations have high precision and the color based object recognition is quite successful in finding coordinates of the objects.Publication Open Access Controlling of Five Axis Manipulator with Turkish Voice Commands Using Microcontrollers(2018-12-31) AK, AYÇA; Ayça AK;Vedat TOPUZ;Musa AYDINThe interaction between human beings and machines has been increasing in conjunction with the development of computer technology.Controlling a system with voice-based commands is one of the most popular applications in this area. In this study, the main goal is to builda system, which is able to control a robotic arm comprised of five controllable axes with certain voice commands.The robotic arm controlling process starts with the matching of sounds taken from the user. Then sounds processed in voice recognitioncard. After the command recognized by voice recognition card, then index number is sent to a microcontroller. Consequently, this operationprovides a communication between voice recognition module and servo motor drive card. Finally, the microcontroller calculates therequired angles by using the data provided by the previous process and sends this data to the servo motor drive card in order to realize therobotic arm action.Publication Open Access Development of a Remote Laboratory Infrastructure and LMS for Mechatronics Distance Education(2018-04-15) AK, AYÇA; Ak, Ayça; Topuz, Vedat; Altıkardeş, Aysun; Oral, Bekir