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CMP 755 Robotics / BİL 755 Robotik
Dersle İlgili Personel
Duyurular
- Dersin Künyesi
- Bir ya da iki sayfadan oluşan proje önerilerinin Ekim ayı sonuna kadar basılı olarak teslim edilmesi gereklidir.
- Projeler tek kişilik olacaktır.
- Proje raporu İngilizce yazılmalıdır.
- Proja raporu olarak 2 sütun IEEE konferans bildirisi formatı kullanılabilir, örnek için tıklayınız
Dersin Amacı
- Robot türlerinin tanınması, kinematik ve dinamik ilişkilerin elde edilmesi. Doğrusal kontrol ve doğrusal olmayan kontrol yöntemlerinin irdelenmesi.
Dersin İçeriği
- Robotik bilimine giriş, robot türleri, UGV, UAV, manipulatörler, sensörler, eyleyiciler
- Dönme matrisleri ve homojen transformasyon matrisleri
- Kinematik ve ters kinematik
- Denavit-Hartenberg parametrizasyonu (video)
- Hız ve Jacobian konusu
- Euler-Lagrange yöntemi ile robot dinamiğinin elde edilmesi
- Doğrusal kontrolün özeti
- Robot kontrolü, PID kontrol, hesaplanmış tork kontrol, kayan kipli kontrol, bulanık kontrol
- Yörünge planlama
Plan
- Ders Saatleri: Salı 13:00 - 16:00, D9 Sınıfı
Notlandırma
- Final Katkısı %60
- Proje Katkısı %40 (Proje sözlü sunumu %20, Proje raporu %20)
Kaynak Kitaplar
- John Craig, Introduction to Robotics -- Mechanics and Control, Third Edition, Prentice Hall, 2005.
- Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani , Giuseppe Oriolo, Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing) , Springer; February 11, 2011ISBN 978-1846286414
- Reza N. Jazar, Theory of Applied Robotics: Kinematics, Dynamics, and Control, Springer; 2nd ed. edition (June 21, 2010), ISBN-13: 978-1441917492
- Dario Floreano, Jean-Christophe Zufferey, Mandyam V. Srinivasan, Charlie Ellington, Flying Insects and Robots, Springer;(December 3, 2009) ISBN-13: 978-3540893929
Video Dersler
- MIT'den
- Stanford'dan
Proje Konusu Seçmede Yardımcı Olabilecek Dergilerin Bazıları
Bazı Robotik Dergileri
- GAIT & POSTURE
- JOURNAL OF MUSCLE RESEARCH AND CELL MOTILITY
- IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
- JOURNAL OF TELEMEDICINE AND TELECARE
- INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
- IEEE TRANSACTIONS ON ADVANCED PACKAGING
- ARTIFICIAL ORGANS
- IEEE ROBOTICS & AUTOMATION MAGAZINE
- AUTONOMOUS ROBOTS
- IEEE-ASME TRANSACTIONS ON MECHATRONICS
- ROBOTICS AND AUTONOMOUS SYSTEMS
- JOURNAL OF ROBOTIC SYSTEMS
- LABORATORY ROBOTICS AND AUTOMATION
- JOURNAL OF INVESTIGATIVE SURGERY
- JOURNAL OF ELECTRONIC PACKAGING
- ADVANCES IN SPACE RESEARCH
- ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
- CYBERNETICS AND SYSTEMS
- ROBOTICA
- INSECT SYSTEMATICS & EVOLUTION
- PACKAGING TECHNOLOGY AND SCIENCE
- JOURNAL OF APPLIED BIOMECHANICS
- JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
- JOURNAL OF HUMAN MOVEMENT STUDIES
- ADVANCED ROBOTICS
- INDUSTRIAL ROBOT
- IEEE TRANSACTIONS ON COMPONENTS AND PACKAGING TECHNOLOGIES
- ASSEMBLY AUTOMATION
- ADVANCES IN INSECT PHYSIOLOGY
- ...
Bazı Mekatronik Dergileri
- ARCHIVE FOR RATIONAL MECHANICS AND ANALYSIS
- VIBRATIONAL SPECTROSCOPY
- INTERNATIONAL JOURNAL OF SOLIDS AND STRUCTURES
- MECHANICS OF MATERIALS
- COMPUTATIONAL MECHANICS
- COMPUTER METHODS IN APPLIED MECHANICS AND ENGINEERING
- INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES
- JOURNAL OF SOUND AND VIBRATION
- MECHANICAL SYSTEMS AND SIGNAL PROCESSING
- INTERNATIONAL JOURNAL OF NON-LINEAR MECHANICS
- JOURNAL OF STRUCTURAL ENGINEERING-ASCE
- MECHANICS OF STRUCTURES AND MACHINES
- JOURNAL OF APPLIED MECHANICS-TRANSACTIONS OF THE ASME
- ENGINEERING FRACTURE MECHANICS
- MATHEMATICS AND MECHANICS OF SOLIDS
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART J-JOURNAL OF EN
- CONTINUUM MECHANICS AND THERMODYNAMICS
- PROBABILISTIC ENGINEERING MECHANICS
- STRUCTURAL AND MULTIDISCIPLINARY OPTIMIZATION
- JOURNAL OF STRAIN ANALYSIS FOR ENGINEERING DESIGN
- JOURNAL OF MECHANICAL DESIGN
- QUARTERLY JOURNAL OF MECHANICS AND APPLIED MATHEMATICS
- JOURNAL OF HYDRAULIC RESEARCH
- COMPUTERS & STRUCTURES
- ENGINEERING STRUCTURES
- JOURNAL OF VIBRATION AND CONTROL
- MECHANICS RESEARCH COMMUNICATIONS
- MECHANISM AND MACHINE THEORY
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF ME
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART F-JOURNAL OF RA
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART A-JOURNAL OF PO
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AU
- PMM JOURNAL OF APPLIED MATHEMATICS AND MECHANICS
- SOUND AND VIBRATION
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART E-JOURNAL OF PR
- STRUCTURAL ENGINEERING AND MECHANICS
- APPLIED MATHEMATICS AND MECHANICS-ENGLISH EDITION
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART L-JOURNAL OF MA
- MECHANICAL ENGINEERING
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SY
- HYDRAULICS & PNEUMATICS
- PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AE
- JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE CONTROL
- CHINESE JOURNAL OF MECHANICS-SERIES A
- ...
Bazı Kontrol Dergileri
- CHAOS
- IEEE CONTROL SYSTEMS MAGAZINE
- AUTOMATICA
- MOTOR CONTROL
- IEEE TRANSACTIONS ON AUTOMATIC CONTROL
- MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS
- SYSTEMS & CONTROL LETTERS
- JOURNAL OF NONLINEAR SCIENCE
- IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
- STOCHASTIC PROCESSES AND THEIR APPLICATIONS
- INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
- CHAOS SOLITONS & FRACTALS
- INTERNATIONAL JOURNAL OF BIFURCATION AND CHAOS
- IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
- JOURNAL OF PROCESS CONTROL
- IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
- DYNAMICS AND STABILITY OF SYSTEMS
- INTERNATIONAL JOURNAL OF CONTROL
- IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND RE
- OPTIMIZATION METHODS & SOFTWARE
- JOURNAL OF NONLINEAR MATHEMATICAL PHYSICS
- IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS
- SET-VALUED ANALYSIS
- IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS
- JOURNAL OF OPTIMIZATION THEORY AND APPLICATIONS
- NONLINEAR DYNAMICS
- DYNAMICS AND CONTROL
- CONTROL ENGINEERING PRACTICE
- MODELING IDENTIFICATION AND CONTROL
- EUROPEAN JOURNAL OF CONTROL
- JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
- NONLINEAR ANALYSIS-THEORY METHODS & APPLICATIONS
- JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
- ENGINEERING OPTIMIZATION
- PROCESS CONTROL AND QUALITY
- IEE PROCEEDINGS-SCIENCE MEASUREMENT AND TECHNOLOGY
- DIFFERENTIAL GEOMETRY AND ITS APPLICATIONS
- LECTURE NOTES IN CONTROL AND INFORMATION SCIENCES
- MECHATRONICS
- JOURNAL OF DIFFERENCE EQUATIONS AND APPLICATIONS
- DYNAMICS OF CONTINUOUS DISCRETE AND IMPULSIVE SYSTEMS
- JOURNAL OF DIFFERENTIAL GEOMETRY
- INTEGRAL TRANSFORMS AND SPECIAL FUNCTIONS
- TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
- AUTOMATION AND REMOTE CONTROL
- INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING
- PRODUCTION PLANNING & CONTROL
- COMPUTING & CONTROL ENGINEERING JOURNAL
- DISCRETE DYNAMICS IN NATURE AND SOCIETY
- OPTIMAL CONTROL APPLICATIONS & METHODS
- CONTROL AND CYBERNETICS
- JOURNAL OF INTELLIGENT & FUZZY SYSTEMS
- CONTROL SOLUTIONS
- CONTROL ENGINEERING
- MEASUREMENTS & CONTROL
- MEASUREMENT & CONTROL
- I&CS-INSTRUMENTATION & CONTROL SYSTEMS
- CONTROL AND INSTRUMENTATION
- AUTOMATIC CONTROL AND COMPUTER SCIENCES
- DYNAMICAL SYSTEMS-AN INTERNATIONAL JOURNAL
- ...
Prof. Dr. Mehmet Önder Efe
Bilgisayar Mühendisliği Bölümü
e-posta: onderefe at gmail dot com
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