Browsing by Author "Ayten, K.K."

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Design and Control of Intelligent Cooling System for IC Engine
(Institute of Electrical and Electronics Engineers Inc., 2017) Kaleli, A.; Kaltakkıran, G.; Dumlu, A.; Ayten, K.K.
The engine cooling systems in the commercial vehicles have not developed as the other control systems despite the technological improvements. Additionally, researchers in the automotive industry and the universities have focused on the power production and the combustion. Therefore, the thermal management of internal combustion engines, which has the same importance, does not taken into consideration sufficiently. However, optimum management of heat transfer system in the engines has an important effect on many parameters such as the engine performance, lubrication quality, exhaust emissions and fuel efficiency. It is necessary to define the engine cooling fluid temperature and flow rate profiles, and to follow them sensitively by a controller system to be designed. In this paper, it is aimed to design and to produce a thermal management system for internal combustion engines in order to ensure optimal distribution of the heat transfer. The electrically driven coolant pump and DC motor controlled valve is considered as control inputs. Additionally, robust control approach based on lumped parameter control-oriented model of engine cooling system is presented. Finally, the proposed and traditional engine cooling systems are compared by means of exhaust emission values. © 2017 IEEE.
Model-Based Sliding Mode Control Technique for the Stewart Platform Mechanism
(Institute of Electrical and Electronics Engineers Inc., 2017) Dumlu, A.; Kaleli, A.; Erentürk, K.; Ayten, K.K.
In this study; design, analysis and real time trajectory tracking control of a six-degree of freedom revolute spherical-spherical (RSS) type parallel manipulator, actuated by six electrical motors, has been studied. A nonlinear sliding mode controller method has been utilized to take dynamic approximation model of the manipulator into account and to improve tracking performance of the manipulator. Real-Time experimental results for the control technique have been verified. Finally, according to the results, the nonlinear sliding mode controller method has improved the tracking performance of the designed manipulator. © 2017 IEEE.
Real Time Parameter Estimation and Experimental Validation of Adaptive Self-Tuning Regulator for the Liquid Level Control Process
(Institute of Electrical and Electronics Engineers Inc., 2017) Ayten, K.K.; Dumlu, A.; Kaleli, A.; Kaplan, N.H.
This paper presents self-tuning control design problem for a coupled tank liquid level system that often used in industry. An auto regressive with exogenous (ARX) model has been used as the liquid process model with the self-tuning control implementation due to the flow between tank problem and varying system dynamics. The parameters of designing model have been calculated by using on-line recursive least square method with the forgetting factor algorithm. Additionally, to verify the effectiveness of the proposed model and control algorithm, detailed experimental was realized. © 2017 IEEE.
Real-Time Dehazing via Multiscale Products for Vision Control
(Institute of Electrical and Electronics Engineers Inc., 2017) Kaplan, N.H.; Ayten, K.K.; Dumlu, A.
In this study, a dehazing algorithm based on multiscale product (MSP) prior is presented. In this method, first, the observed hazy image is decomposed into its approximation and detail subbands by undecimated Laplacian decomposition. Then the MSPs of the approximation subbands for each band of the image is calculated to obtain the MSP prior. This prior keeps the significant information of the image, whereas it is capable of detecting the haze in the image. By the use of this prior and the hazy image model, a fast and robust dehazing algorithm is obtained. The proposed method is compared with commonly used methods. The results demonstrate that the proposed algorithm is better than the former methods. Being a fast and robust algorithm, the proposed method has also been applied to a real time robotic vision control system. © 2017 IEEE.
Real-Time Speed Control of an Electrically Powered Wheelchair by Using Fractional Order Model Reference Adaptive System Control
(Kauno Technologijos Universitetas, 2018) Ayten, K.K.
In this study, speed and direction angle control technique based on the fractional order model reference adaptive system (FO-MRAS) are proposed for controlling an electrically powered wheelchair (EPW) system for the first time in the literature. The model reference adaptive system (MRAS) technique has been used to achieve the estimated value of any system's velocity information. In general, the control of the MRAS technique is usually performed by the PI based controller. However, the classical PI controllers are unable to meet the demands of high precise trajectory control during the motion. In this study, to increase the effectiveness of the PI based MRAS controller, this technique is combined with a fractional-order (FO) calculus to obtain an accurate and a robust trajectory tracking performance for an EPW. The proposed FO-MRAS controller has been compared experimentally with the conventional PI based MRAS method to show the effectiveness of using FO-MRAS method in terms of trajectory tracking accuracy and error levels. The experimental outcomes demonstrate that the proposed FOMRAS controller gives a better trajectory tracking performance as well as having a smaller speed error. © 2018 Kauno Technologijos Universitetas. All right reserved.
Real-Time Trajectory Tracking Control for Electric-Powered Wheelchairs Using Model-Based Multivariable Sliding Mode Control
(Institute of Electrical and Electronics Engineers Inc., 2017) Ayten, K.K.; Dumlu, A.; Kaleli, A.
In this paper, real-time trajectory tracking control of an electric-powered wheelchair (EPW), actuated by two DC motors, has been designed, analysed and studied. Two different control approaches such as nonlinear SMC and the classical proportional-integral-derivative (PID) are employed to increase the tracking performance of the electric-powered wheelchair. A nonlinear SMC technique has been presented in order to consider the complete dynamic model of the EPW and so as to increase trajectory tracking performance of the EPW. In this study, realtime experimental application of the two different control methods has been realized. Lastly, in terms of the results, the nonlinear SMC technique has improved the trajectory tracking performance of the designed EPW. © 2017 IEEE.
Sensorless Model Reference Adaptive System Control for Mobile Robot
(Institute of Electrical and Electronics Engineers Inc., 2017) Dumlu, A.; Ayten, K.K.
In this paper, a robust and an efficient tracking controller based on model reference adaptive system (MRAS) technique is performed for mobile robot in order to get the accurate trajectory tracking performance. The model reference adaptive system (MRAS) technique has been presented so as to achieve the estimated value of system's speed information. To estimate the rotor position and speed of the mobile robot system, the MRAS technique is one of the best methods which can be applied to the mobile robot system due to its performance in terms of decrease computational complexity, increase robustness, easy to implement to the systems. In addition, the control scheme of the mobile robot also performs the perfect speed tracking during the motion. All the simulations have verified that the proposed control algorithm is indeed feasible and effective. © 2017 IEEE.