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ROBOTICS

     Robotics is the branch of mechanical engineering, electrical engineering  and computer science that deals with the design, construction, operation, and application of robots, as well as computer systems for their control, sensory feedback, and information processing.* 

     My first encounter with the area of robotics was the image of Lena Söderberg which is mostly used in image processing exercises. I was learning Matlab and Lena was my test image. After that I got interested in various areas of engineering and become involved with IEEE, I worked as the coordinator of Robotics and Automation Society (RAS) of my branch, worked on many projects and I am still an official IEEE Global RAS member. Most of my engineering projects has some relation with this field. You can check the ENGINEERING page for the courses I took, EDUCATION page for my history and IEEE page for more information about that topic.

Senior Project: MARTIAL ARTS TRAINING GADGET

     The Martial Arts Training Gadget is a unique senior electronics project which was supervised during the nine months period of two semesters given. This project requires a certain amount of background information about martial arts and Wing Chun with the concept of it’s Wooden Dummy.


     The report explains the project’s objective, give some literature review and presents the deliverables in the first section. The second section is about the work done during the project which covers most of the deliverables. The process of designing and implementing of this device is explained in detail through the sub-sections First Sketches, Proportional Model, Experiments & Basic Device, Non-Electronic Parts, Control Panel, Schematic, Block Diagram, Circuitry, Code, and Real Product Scenario. After that there are Tools, Cost and Time sections before the Conclusion section. You can find References and Appendix at the end of the report respectively.

     You can also find the presentation link I prepared for the project to the jury below the report. The video is a short demo of the device. The diagrams at the bottom are Flow Chart of the Code, Block Diagram of the Circuitry and Gantt Chart on daily schedule. Others are the First Sketch and Last Design of the device. Details are in the report.

     I was chosen as a finalist in the IEEE Turkey Senior Projects Contest with this project. The selected fourteen projects were called to the Cyprus (TRNC) Campus of Middle-East-Technical-University (METU) to appear in a poster presentation during the annual IEEE Turkey Student and Young Professionals Congress. Unfortunately I wasn't able to rank among the top three but since mine was one of the few pojects that didn't have any industrial or university based sponsor or wasn't built by a team I believe even this is a success. You can find the poster I prepared for the presentation at the right side and the photo of the finalists below.

Finalists
Flow Chart of the Code
Block Diagram of the Circuitry
Gantt Chart
First Sketch
Last Design
REPORT
PRESENTATION
Martial Arts Training Gadget Poster

ABB YuMi Dual Arm Simulation & Co-Simulation

As a part of my Master studies, I was assigned to create a two-part project on a selected robotic arm with a partner. My choice was ABB's Yumi (IRB14000) which has two arms. The name comes from “you and me” to represent working together as in human - robot collaboration. It is designed for a new era of automation, for example in small parts assembly, where people and robots work side-by-side on the same tasks.

 

The first part of the project was to create a simulation in Matlab environment. First, we created the 3D model using SolidWorks. Then we prepared the physical model in Simulink's Simscape Multibody features. The simulation run one of the arms of YuMİ in any desired way.

The second part of the project was to create a co-simulation. By using the same model we created in previous part, we used LabVIEW to design a front panel by using it's Virtual Instruments. The result was a success and we were able to control both arms in any velocity with any resulting position.

Both parts of the project were documented and presented. You can find screenshots of the project below and the links to the reports, presentations and video on the right side.

3D Model
One arm simulaton
Front Panel

Underwater Robot μ-CAT

Programmed an underwater robot named micro-CAT to have orientation and depth control with motor movements using sensors connected to Arduino (C++) with ROS in Linux (Ubuntu)

The focus of the project was mainly on programming the existing hardware to control the depth and orientation of the robot under water. Several tasks were completed through the period of 4 months. It was completed under supervision of Centre for Biorobotics in Tallinn University of Technology IT Faculty.

Tasks included algorithms like publisher/subscriber, open/closed loop motor control, motion gaits, sensor feedback, PID controller, Fuzzy Logic, Kalman Filter etc.

All the work was done on Ubuntu Linux Operation System. Robot Operating System, or ROS, was also used with the Kinetic version. Some parts were done in Virtual Machine and some in native OS. Arduino environment was used to implement the algorithms but the code was written in C++ language. Almost every version of the code was tested with both Underwater Simulation (uwsim) and the actual robot.
 

You can find the related presentation of the project in the link. There are two options to download, one is with the videos and one is without since the size of the file might be too much for some.

micro-CAT
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