Department of Mechatronics Engineering
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Browsing Department of Mechatronics Engineering by Author "ERDEN, Zuhal"
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Item A MULTI-CRITERIA DECISION MAKING APPROACH FOR ROBOT SELECTION IN A MANUFACTURING ENVIRONMENT(2022-06-10) ARSLAN, Rasim Atakan; ERDEN, Zuhal; BAÇ, UğurIn this thesis, we apply SWARA-WASPAS method as a multi-criteria decision making (MCDM) method for selecting the most suitable mechatronic systems to be used for the conversion of human-based production lines to production lines with robot-based automation systems. Robots are becoming not only quicker and more precise than people, but they are also frequently more cost-effective in the long term. Getting high efficiency from the robots used for different missions and choosing the most suitable robot are among the most difficult problems. To select the most suitable systems among different alternatives, SWARA-WASPAS hybrid decision making method, which suggest making the most appropriate choice among different alternatives by considering different criteria and the opinions of different experts, is applied according to the characteristic criteria of these systems, and a sensitivity analysis was carried out. As a result of the thesis, the most suitable robots from each robot selection problem are determined and it is seen that the most suitable robot is not change with the sensitivity analysis made for each robot class, but the other alternatives could change depending on the combined optimality coefficient value used.Item SYSTEM DESIGN AND PROTOTYPE DEVELOPMENT OF A GUIDE – GUARD ROBOT FOR THE DEPARTMENT OF MECHATRONICS ENGINEERING LABORATORIES(2015-10-25) SADEGHİ, Amir Nobahar; ERDEN, Abdülkadir; ERDEN, ZuhalThe goal of this thesis is designing, constructing and manufacturing an autonomous, intelligent, mobile guide - guard robot and enable it to safe navigate through the indoor environments such as the laboratories of the department of Mechatronics Engineering in Atilim University. Based on the main concern of the thesis, an integrated system was designed and implemented. To accomplish the navigation task, our presented control architecture composes of localization, obstacle avoidance, path planning and robot control for steering the robot from any initial pose to arbitrary asigned pose. Our navigation architecture is a behavior-based and a mapless navigation, which the robot‟s locations are determined by observing and extracting useful features in the environment based on the onboard sensors.