Department of Mechatronics Engineering
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Browsing Department of Mechatronics Engineering by Author "ERDEN, Zühal"
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thesis.listelement.badge AUTOMATED CLUSTERING OF BEHAVIOUR MODULES FOR SOCIAL ROBOTS(2023-01-27) AL-ZUABIDI, Muneer Mohammed Adnan; ERDEN, ZühalThis thesis presents a method for automatically generating behaviour modules for social robots using clustering algorithms. Behavioural modules are considered a vital element of social robot family design which falls in the benefit of individual’s needs. The work includes the implementation of different clustering techniques such as K means, Agglomerative Clustering, and BRICH to cluster behavioural elements of social robot which are categorized as "perception", "cognition" and "motoric action". In this thesis, a previously generated data list consisting of linguistic values from these elements in size of 28 by 3 is used. A mapping method is developed to represent the data in numeric form. Also, a 3D graphical representation of the data is obtained. In addition, a variety of behavioural modules are generated and evaluated using right clustering algorithms, three algorithms of which are decided as successful. The generated modules are evaluated based on four criteria as, cost, mobility, complexity, and power consumption. The results of this work can be used by researchers and engineers in the field of social robotics particularly during the conceptual design of personalized social robots. Additionally, the proposed criteria and visualization techniques can be used as a starting point for future research in this area.Item DESIGN OF A MODULAR EDUCATIONAL SET-UP FOR MECHATRONICS ENGINEERING(2013-03-22) AYHAN, Emre; ERDEN, ZühalThis thesis is a study on modular mechatronic product design. The main purpose of this study is to implement heuristic approach to the modular design of a mechatronic product family. The heuristic method has been developed and applied for the design of mechanical product families. Thus, main contribution of this thesis is the application of the method in the mechatronic design field. In this study, the selected product family is an educational mechatronic set-up which will be used for the sophomore mechatronics design course in the Mechatronics Engineering Department of Atılım University. This research includes implementation of the heuristic design methodology and conceptual design for the mechatronics educational set-up, as well as its physical design and manufacturing.Item DEVELOPMENT OF BEHAVIORAL MODULES FOR SOCIAL ROBOT PRODUCT FAMILIES(2022-01-14) ÖZER, İlayda; ERDEN, ZühalIn this thesis, behavioral modules for social robots (SoBOTs) are developed by using the 3D Design Structure Matrix (DSM) model. Behavioral modules are the building blocks for systematic design of social robot families, composed of personalized social robots to satisfy diverse needs of individuals or small groups. The 3D DSM is independent of any physical solution principle and is based on 3 different behavioral elements of robots, namely "perception", "cognition" and "motoric action". In this thesis, data for these elements are extracted from 45 different social robots existing in the literature. Sixteen behavioral modules are developed by defining the mutual interactions between these three types of behavioral elements of social robots. Among them, six sample modules are designed and manufactured in the laboratory. A model social robot family of two robots, which uses different combinations of these 6 modules is developed for technology demonstration.