Measuring Traffic Flow And Classifying Vehicle Types: A Surveillance Video Based Approach,
2011
TÜBİTAK
Measuring Traffic Flow And Classifying Vehicle Types: A Surveillance Video Based Approach, Erhan İnce
Turkish Journal of Electrical Engineering and Computer Sciences
The paper presents a vehicle counting method based on invariant moments and shadow aware foreground masks. Estimation of the background and the segmentation of foreground regions can be done using either the Mixture of Gaussians model (MoG) or an improved version of the Group Based Histogram (GBH) technique. The work demonstrates that, even though the improved GBH method delivers performance just as good as MoG, considering computational efficiency, MoG is more suitable. Shadow aware binary masks for each frame are formed by using background subtraction and shadow removal in the Hue Saturation and Value (HSV) domain. To determine new vehicles …
Applying The Finite Element Method To Analyze Predischarge Lightning Rods,
2011
TÜBİTAK
Applying The Finite Element Method To Analyze Predischarge Lightning Rods, Chin-Tsung Hsieh, Meng-Hui Wang, Cho-Yu Pan
Turkish Journal of Electrical Engineering and Computer Sciences
In this paper, the finite element method is applied for analyzing 4 types of lightning rods in order to select the optimal lightning rod configuration. First, software is used to calculate the 2D protective coverage of different lighting rods, and 4 kinds of typical lightning rods are simulated in different conditions. The analyzed results are then applied for the selection of the optimal lighting rod and the frame of the lighting rod. The analyzed results would be useful for electrical engineers to design lightning rods that offer the most effective lighting protection; the simulated results are also useful for the …
A New, Improved Cmos Realization Of Cdta And Its Filter Applications,
2011
TÜBİTAK
A New, Improved Cmos Realization Of Cdta And Its Filter Applications, Firat Kaçar, Hulusi̇ Hakan Kuntman
Turkish Journal of Electrical Engineering and Computer Sciences
This paper presents a high-performance current differencing transconductance amplifier (CDTA), a recently reported active element, especially suitable for analog signal processing applications. A high linearity CMOS configuration for a CDTA is made up of high linearity input and output stages. The proposed CDTA provides high output impedance at port X and excellent input/output current tracking. A biquad filter circuit was chosen as an application example in order to demonstrate the performance of the CDTA. PSpice simulation results using a TSMC 0.35-\mu m CMOS process model were included to verify the expected values.
Performance Evaluation Of Nonparametric Ica Algorithm For Fetal Ecg Extraction,
2011
TÜBİTAK
Performance Evaluation Of Nonparametric Ica Algorithm For Fetal Ecg Extraction, Yusuf Sevi̇m, Ayten Atasoy
Turkish Journal of Electrical Engineering and Computer Sciences
Fetal electrocardiograms (FECG) contain important indications about the health and condition of the fetus. In this respect, it is crucial to apply a robust algorithm to ECG data for extraction of the FECG signal. Most of the independent component analysis (ICA) algorithms used for this purpose rely on simple statistical models. Such algorithms can fail to separate desired signals when the assumed statistical model is inaccurate. Statistical models can be estimated accurately using kernel density estimation methods. Therefore, the kernel density estimation method was used in this paper for building an ICA algorithm (nonparametric ICA: NpICA) and the algorithm was …
A Fuzzy Rule-Based System For Predicting The Live Weight Of Holstein Cows Whose Body Dimensions Were Determined By Image Analysis, Şaki̇r Taşdemi̇r, Abdullah Ürkmez, Şeref İnal
Turkish Journal of Electrical Engineering and Computer Sciences
The aim of this study was to determine the body measurement of Holstein cows through image analysis (IA) and to estimate their live weight (LW) by means of a fuzzy rule-based model using the body measurements. For this purpose, a photography environment was established at a dairy cattle farm where a large number of cows were kept. First, digital photographs of each animal were synchronously taken from different directions with Canon EOS 400D cameras. At the same time, body dimensions, namely wither height (WH), hip height (HH), body length (BL), and hip width (HW), of the cows were manually measured …
Fully Parallel Ann-Based Arrhythmia Classifier On A Single-Chip Fpga: Fpaac,
2011
TÜBİTAK
Fully Parallel Ann-Based Arrhythmia Classifier On A Single-Chip Fpga: Fpaac, Ahmet Turan Özdemi̇r, Kenan Danişman
Turkish Journal of Electrical Engineering and Computer Sciences
Recognition of cardiac arrhythmias by electrocardiogram (ECG) is an important issue for diagnosis of cardiac abnormalities. Many studies on recognition of cardiac arrhythmias by ECG, using various techniques, have been performed in the past 20 years. Artificial neural networks (ANNs) are the most widely used tool in medical diagnosis systems (MDS) because of their powerful prediction characteristics. An ANN model is inspired by real biological neural networks, with a parallel structure that is potentially fast for computation. However, the suggested ANN architectures in the literature can only be run sequentially, on powerful processors, due to their complexity. Our approach enables …
Learning Control Of Robot Manipulators In The Presence Of Additive Disturbances,
2011
TÜBİTAK
Learning Control Of Robot Manipulators In The Presence Of Additive Disturbances, Enver Tatlicioğlu
Turkish Journal of Electrical Engineering and Computer Sciences
In this paper, a learning controller for robot manipulators is developed. The controller is proven to yield in a semi-global asymptotic result in the presence of additive input and output disturbances. Lyapunov-based techniques are used to guarantee that the tracking error is asymptotically driven to zero. Numerical simulation results are presented to demonstrate the viability of the proposed learning controller.
A Multi-Lateral Rehabilitation System,
2011
TÜBİTAK
A Multi-Lateral Rehabilitation System, Aykut Ci̇han Satici, Ahmetcan Erdoğan, Volkan Patoğlu
Turkish Journal of Electrical Engineering and Computer Sciences
This paper proposes a multi-lateral shared control concept for robot assisted rehabilitation. In particular, a dual-user force-feedback teleoperation control architecture is implemented on a forearm-wrist rehabilitation system consisting of two kinematically dissimilar robotic devices. The multi-lateral rehabilitation system allows for patients to train with on-line virtual dynamic tasks in collaboration with a therapist. Different control authority can be assigned to each agent so that therapists can guide or evaluate movements of patients, or share the control with them. The collaboration is implemented using a dual-user force-feedback teleoperation control architecture, in which a dominance factor determines the authority of each agent …
Design And Control Of The Humanoid Robot Suralp,
2011
TÜBİTAK
Design And Control Of The Humanoid Robot Suralp, Kemaletti̇n Erbatur, Utku Seven, Evri̇m Taşkiran, Özer Koca, Meti̇n Yilmaz, Mustafa Ünel, Güllü Kiziltaş Şendur, Asif Sabanovic, Ahmet Onat
Turkish Journal of Electrical Engineering and Computer Sciences
SURALP is a 29 degrees-of-freedom full-body walking humanoid robot designed and constructed at Sabanci University - Turkey. The human-sized robot is actuated by DC motors, belt and pulley systems and Harmonic Drive reduction gears. The sensory equipment consists of joint encoders, force/torque sensors, inertial measurement systems and cameras. The control hardware is based on a dSpace digital signal processor. This paper reviews the design of this robot and presents experimental walking results. A posture zeroing procedure is followed after manual zeroing of the robot joints. Controllers for landing impact reduction, early landing trajectory modification, foot-ground orientation compliance, body inclination and …
Design And Development Of A Tilt-Wing Uav,
2011
TÜBİTAK
Design And Development Of A Tilt-Wing Uav, Ertuğrul Çeti̇nsoy, Efe Sirimoğlu, Kaan Taha Öner, Cevdet Hançer, Mustafa Ünel, Mahmut Faruk Akşi̇t, İlyas Kandemi̇r, Kayhan Gülez
Turkish Journal of Electrical Engineering and Computer Sciences
In this paper, the mechanical and aerodynamic design, carbon composite production, hierarchical control system design and vertical flight tests of a new unmanned aerial vehicle (UAV), which is capable of VTOL (vertical takeoff and landing) like a helicopter and long range horizontal flight like an airplane, are presented. Real flight tests show that the aerial vehicle can successfully operate in VTOL mode. Kalman filtering is employed to obtain accurate roll and pitch angle estimations.
Delay-Dependent Stability Criteria For Interval Time-Varying Delay Systems With Nonuniform Delay Partitioning Approach,
2011
TÜBİTAK
Delay-Dependent Stability Criteria For Interval Time-Varying Delay Systems With Nonuniform Delay Partitioning Approach, Mehmet Nur Alpaslan Parlakçi
Turkish Journal of Electrical Engineering and Computer Sciences
This paper investigates the conservatism reduction of Lyapunov-Krasovskii based conditions for the stability of a class of interval time-varying delay systems. The main idea is based on the nonuniform decomposition of the integral terms of the Lyapunov-Krasovskii functional. The delay interval is decomposed into a finite number of nonuniform segments with some scaling parameters. Both differentiable delay case and nondifferentiable delay case and unknown delay derivative bound case are taken into consideration. Sufficient delay-dependent stability criteria are derived in terms of matrix inequalities. Two suboptimal delay fractionation schemes, namely, linearization with cone complementary technique and linearization under additional constraints are …
Spoiler Effects Reduction With Using Active Power Filter On A Direct Torque Controlled Induction Machine,
2011
TÜBİTAK
Spoiler Effects Reduction With Using Active Power Filter On A Direct Torque Controlled Induction Machine, İbrahi̇m Alişkan, Kayhan Gülez, Yusuf Altun
Turkish Journal of Electrical Engineering and Computer Sciences
Harmonics, which may be placed in electrical systems, have important effects on performance parameters of electrical motors. In this paper, effects of electrical power system voltage harmonics on torque position of induction motors are dealt with. System modeling with Pulse Width Modulation (PWM) type Active Power Filter (APF) is used for reducing these effects. APF, as a subsystem, is placed into torque control system entrance to save the control system and induction motor output torque. Motor outputs, that are before-after APF connections, are handed for understanding effects of voltage harmonics. Since APF design was based on voltage harmonics, Electromagnetic Interference …
Semi-Active H_{\Infty} Robust Control Of Six Degree Of Freedom Structural System Using Mr Damper,
2011
TÜBİTAK
Semi-Active H_{\Infty} Robust Control Of Six Degree Of Freedom Structural System Using Mr Damper, Şaban Çeti̇n, Seli̇m Si̇vri̇oğlu, Erkan Zergeroğlu, İsmai̇l Yüksek
Turkish Journal of Electrical Engineering and Computer Sciences
In this study, H_{\infty} robust control is designed for vibration attenuation of six DOF structure using MR damper. A semi-active seismically excited, nonlinear structural system is modelled. The controller is designed for a reduced order model and applied to the full order model. The controller performance is verified experimentally. It is shown that the H_{\infty} controller performance is satisfactory to suppress the vibration of the structure despite the presence of uncertainties.
Vibrations Control Of Light Rail Transportation Vehicle Via Pid Type Fuzzy Controller Using Parameters Adaptive Method,
2011
TÜBİTAK
Vibrations Control Of Light Rail Transportation Vehicle Via Pid Type Fuzzy Controller Using Parameters Adaptive Method, Muzaffer Meti̇n, Rahmi̇ Güçlü
Turkish Journal of Electrical Engineering and Computer Sciences
In this study, a conventional PID type fuzzy controller and parameter adaptive fuzzy controller are designed to control vibrations actively of a light rail transport vehicle which modeled as 6 degree-of-freedom system and compared performances of these two controllers. Rail vehicle model consists of a passenger seat and its suspension system, vehicle body, bogie, primary and secondary suspensions and wheels. The similarity between mathematical model and real system is shown by comparing uncontrolled simulation results and vibration measurements. For carrying a comfortable travel, rail vehicle body and passenger seat vibrations are minimized by adding a controller between rail vehicle body …
Self-Tuning Fuzzy Pd-Based Stiffness Controller Of A 3 \Times 3 Stewart Platform As A Man-Machine Interface,
2011
TÜBİTAK
Self-Tuning Fuzzy Pd-Based Stiffness Controller Of A 3 \Times 3 Stewart Platform As A Man-Machine Interface, Vasfi̇ Emre Ömürlü, İbrahi̇m Yildiz
Turkish Journal of Electrical Engineering and Computer Sciences
Stewart Platform (SP) mechanism has wide application area on aerospace and manufacturing industry with its nonlinear structure allowing spatial motion capabilities. However, nonlinearities in the structure of the mechanism lead to complications in the dynamics of the system and result in complex control algorithms for dexterity in motion and force/torque feedback. Therefore, this paper aims to represent stiffness control by means of independent joint fuzzy-PD control algorithm with gain scheduling on an experimental 3 \times 3 SP parallel robotic mechanism to be used as a fly-by-wire flight control unit. Model and real system responses are compared employing stiffness control so …
Linear Motor For Multi--Car Elevators: Design And Position Measurement,
2011
TÜBİTAK
Linear Motor For Multi--Car Elevators: Design And Position Measurement, Çağri Gürbüz, Ender Kazan, Ahmet Onat, Sandor Markon
Turkish Journal of Electrical Engineering and Computer Sciences
Multi-car elevator is an emerging technology consisting of two or more elevator cars moving independently in an elevator hoistway, which has become more appealing as building heights increase. In this paper, the design and drive methodologies for a linear motor driven multi-car elevator system with independently moving cars is introduced together with experimental results. Additionally, a safety method developed for the linear motor elevator and the conditions necessary for its proper operation are discussed. The new results introduced in this paper are in the areas of the design method of the linear motor for multi-car elevator system, and the preliminary …
Active Vibration Control Of Seismic Excited Structural System Using Lmi-Based Mixed H_2/H_{\Infty} State Feedback Controller,
2011
TÜBİTAK
Active Vibration Control Of Seismic Excited Structural System Using Lmi-Based Mixed H_2/H_{\Infty} State Feedback Controller, Hakan Yazici, Rahmi̇ Güçlü
Turkish Journal of Electrical Engineering and Computer Sciences
This paper is concerned with the active vibration control of a four-degree-of-freedom structure, which is effected by earthquake. To obtain desired time history and frequency responses for solution of active vibration control problem, Linear Matrix Inequality (LMI) based state-feedback mixed H_2/H_{\infty} controller is designed in this study. The time history of ground motion of the Kobe earthquake in 1995, which is a disturbance input, is applied to modeled structure. At the end of the study, the time history of the storey displacements, velocities and frequency responses of both controlled and uncontrolled cases are presented and results are discussed. Performance of …
Delay Compensation In Bilateral Control Using A Sliding Mode Observer,
2011
TÜBİTAK
Delay Compensation In Bilateral Control Using A Sliding Mode Observer, Tuğba Leblebi̇ci̇, Berk Çalli, Mustafa Ünel, Asif Sabanovic, Seta Bogosyan, Meti̇n Gökaşan
Turkish Journal of Electrical Engineering and Computer Sciences
In bilateral control applications, time delays in the communication channel have destabilizing effects and cause degradations in the performance of the system. In this paper, a sliding mode observer is used in conjunction with a disturbance observer to predict states of the slave system. Predicted states are then used in control formulation. Simulation and experimental results show that the proposed method avoids instability due to time delays in bilateral operation and provides satisfactory performance.
Induction Motor, State Estimation, Extended Kalman Filtering, Recurrent Neural Networks,
2011
TÜBİTAK
Induction Motor, State Estimation, Extended Kalman Filtering, Recurrent Neural Networks, Saadetti̇n Aksoy, Aydin Mühürcü
Turkish Journal of Electrical Engineering and Computer Sciences
This study presents a recurrent neural network (RNN)-based nonlinear state estimator that uses an Elman neural network structure (ENN) for state estimation of a squirrel-cage induction motor. The proposed algorithm only uses the measurements of the stator currents and the rotor angular speed, and it learns the dynamic behavior of the state observer from these measurements through prediction error minimization. A squirrel-cage induction motor was fed from sinusoidal, 6-step, and pulse-width modulation (PWM) supply sources at different times in order to observe the performance of the proposed estimator for different operation conditions. Estimation results showed that the proposed algorithm is …
A Stationary, Variable Dof Flight Control System For An Unmanned Quadrocopter,
2011
TÜBİTAK
A Stationary, Variable Dof Flight Control System For An Unmanned Quadrocopter, Vasfi̇ Emre Ömürlü, Ahmet Kirli, Utku Büyükşahi̇n, Şeref Naci̇ Engi̇n, Sedat Kurtoğlu
Turkish Journal of Electrical Engineering and Computer Sciences
Unmanned air vehicles (UAV) and especially quadrocopters have drawn great attention in recent years because of their maneuverability and nonlinear control problem. Most of the related research concentrate on control; yet, design and communication are also some sub-topics. In this paper, a stationary, four rotor air vehicle with limited/controlled degree of freedom is constructed so that various control algorithms and their changing effects with varying vehicle dynamics can be studied on the ground for safety purposes. Ascending/descending, pitch/yaw/roll motions can be limited by setting the vehicle's degree of freedom mechanically, resulting better net observability of the control algorithms on the …
