Development of capacitive rotary encoder for robotic applications

Bu projede, endüstriyel uygulamalarda yaygın bir şekilde kullanılan rotary enkoderlere uygulamaya özel değiştirilebilir darbe/tur esnekliği kazandırılmıştır. Genellikle endüstriyel uygulamalarda yüksek çözünürlüklü sensörler tercih edilmekte ve bu sensörler genellikle kapasitelerinin çok altında kullanılmaktadır. Bu proje; düşük maliyetle yapılabilecek uygulamaların, esnek olmayan ve maliyetli ürünlerle gerçekleştirilmesinden dolayı ortaya çıkmıştır. Bu şekilde esnek olmayan kullanımı önlemek adına; düşük maliyet ve yüksek hassasiyetli kapasitif rotary enkoderlere değişken darbe/tur özelliği eklenerek, sayısal elektronik tabanlı kontrol algoritması geliştirilmiştir. Kapasitif rotary enkoder geliştirilmesinde sayısal elektronik tabanlı teknikler denenmiştir. TÜBİTAK projesinde analog elektronik tabanlı tasarım sonuçları değerlendirildikten sonra; çift yan bant demodülasyon ve arctan fonksiyonu gibi aşamalar sayısal elektronik tabanlı olarak gerçekleştirilmiştir. Belirtilen süreçler mikrodenetleyiciye uygulanmadan önce MATLAB ortamında simüle edilmiştir. Algoritmanın her aşaması birbirinden bağımsız olarak test edildikten sonra mikrodenetleyiciye aktarılmıştır. Gerçekleştirilen testler sonucunda, açısal pozisyon bilgisini analog olarak çıkışa aktarabilen ve enkoderin bir turdaki darbe/tur oranı değiştirilebilen opsiyonel bir tasarım geliştirilmiştir. Bu tasarım sayesinde kullanıcı, uygulamasına göre bir turda kaç darbe çıkışı alması gerekiyorsa o değerlere set etmesine imkan sağlanmıştır. Bu esneklik başta robotik olmak üzere pek çok endüstriyel alanda kullanım kolaylığı sunmuştur.In this project, customized pulse/rotation flexibility is provided for application to rotary encoders which are widely used in industrial applications. Generally, high resolution sensors are preferred in industrial applications and these sensors are usually used far below their capacities. This project has emerged due to the fact that applications that can be done at low cost are realized with products with inflexible and cost. In this way, a digital electronic based control algorithm has been developed by adding variable pulse/rotation characteristics to low cost and high precision capacitive rotary encoders to prevent the use of inflexible. In the development of capacitive rotary encoders, digital electronics based techniques have been tried. After evaluating which in the TUBITAK project analogue electronics based design results, steps such as double side-band demodulation and arctan function were realized with digital electronics based. The specified processes were simulated in the MATLAB environment before the microcontroller was implemented. Each stage of the algorithm is tested independently of each other, and then the microcontroller is transferred. As a result of the tests carried out, an optional design has been developed in which the angular position information can be analog generated and the encoders pulse / turn ratio can be changed. This design allows the user to determine the number of pulse required for a turn based on the application. This flexibility offers ease of use in many industrial fields, especially robotic

Modelling and control of dynamics stability of an electric driven caravan systems

Doktora TeziBu tez çalışmasında elektrik tahrikli bir karavan sisteminin modellenmesi ve kontrolü gerçekleştirilmiştir. Taşıt-karavan (TK) sistemleri kayma, osilasyona girme ve katlanma gibi kararsız durumları içermektedir. Belirtilen kararsız durumlardan dolayı aktif şasi kontrol tekniklerine ihtiyaç duymaktadır. Bu çalışmada TK sistemlerinde oluşan kararsız durumları engellemek için bulanık mantık (BM) kontrolcüsü geliştirilmiştir. TK sisteminin hareket denklemleri çıkartılmış ve 3 serbestlik derecesi ile modellenmiştir. MATLAB/Simulink ortamında modellenen sistem CarSim eş zamanlı simülasyonu ile doğrulanmıştır. Simülasyon ortamında doğrusal karesel regülatör (DKR) ve BM kontrolcülerinin performansı çift şerit değiştirme testi ile incelenmiştir. BM kontrolcüsünün üyelik fonksiyonları, giriş ve çıkış parametrelerinin belirlenmesi simülasyon ortamında gerçekleştirilmiştir. Simülasyon ortamındaki çalışmalar tamamlandıktan sonra geliştirilen kontrolcü karavan elektronik kontrol ünitesine (EKÜ) aktarılmıştır. Ardından TK sistemi için saha testleri uygulanmıştır. Elektrik tahrikli karavan için geliştirilen bulanık mantık tabanlı kontrolcü saha testlerinde yanal kararlılığı başarılı bir şekilde sağladığı deneysel olarak gösterilmiştir. Literatürdeki çalışmalar incelendiğinde tez kapsamında gerçekleştirilen aktif karavan kontrol yöntemi elektrikli tahrikli bir sisteme uygulanmasıyla çalışmanın özgünlüğünü oluşturmaktadır.In this thesis, modeling and control of an electrically driven caravan system is carried out. Vehicle-caravan (VC) systems include instability modes such as sway, oscillating and jackknifing. It needs active chassis control techniques due to the stated instability conditions. In this study, a fuzzy logic (FL) controller has been developed to prevent instability situations in VC systems. The equations of motion of the VC system are derived and modeled with 3 degrees of freedom. The system modeled in MATLAB/Simulink environment has been validated with CarSim simultaneous simulation. In the simulation environment, the performance of linear quadrature regulator (LQR) and FL controllers is investigated by double lane change test. Membership functions, input and output parameters of the FL controller are determined in the simulation environment. After the studies in the simulation environment are completed, the developed controller is implemented to the caravan electronic control unit (ECU). Then, field tests are applied for the VC system. The fuzzy logic-based controller developed for the electric drive caravan has been experimentally shown to provide lateral stability in field tests successfully. When the studies in the literature are examined, the active caravan control method carried out within the scope of the thesis creates the originality of the study by applying it to an electrically driven system

Investigation of hematological findings by determining the spatial distribution of infections of ehrlichia canis, anaplasma phagocytophilum, borrelia burgdorferi, dirofilaria immitis in Aksaray Malakli dogs

*Haydardedeoğlu, Ali Evren ( Aksaray, Yazar ) *Aksoy, Neşe Hayat ( Aksaray, Yazar ) *Karaşahin, Tahir ( Aksaray, Yazar )Enfeksiyöz hastalıklar hayvan sağlığı açısından büyük önem arz etmektedir. Ekonomik değeri olan hayvanlardaki hastalıklar yanında, diğer evcil hayvanlardaki enfeksiyöz hastalıklar da hem hayvan sağlığı hem de bazılarının zoonoz olmalarından dolayı önem taşımaktadır. Evcil hayvanlar içerisinde insanla en yakın ilişkisi olan köpeklerdeki enfeksiyöz hastalıklar üzerinde yapılan çok sayıda çalışma vardır. Köpeklerde hastalığa neden olan etkenler arasında Borrelia burgdorferi, Ehrlichia canis, Anaplasma phagocytophilum ve Dirofilaria immitis önemli yer tutmaktadır. Her dört etkende kene ve sinekler aracılığıyla nakledilmekte ve vektörlüklerini yapan kene ve sinek türlerine ülkemizde sıklıkla karşılaşılmaktadır. Yaptığımız bu sero-epidemiyolojik çalışmada her dört enfeksiyon etkeni olan B. burgdorferi, E. canis, A. phagocytophilum ve D. immitis yönünden 40 olgunun negatif (-) olduğunu tespit ettik; çalışmaya aldığımız 20 erkek ve 20 dişi köpeğin daha önceden kene ile enfeste olduğu anamnezi hasta sahiplerinden alınmıştı. Köpeklerin hematolojik incelemelerinde birçoğunun kan tablosunda eozinofili olduğu görüldü. Bu dört hastalığın bölgemizde olmaması ya da subklinik olarak seyretmediği kanısı oluşmuş olmakla birlikte % 64-97 duyarlılık ile çalışan test kitlerinin kesin tanı koymaması da mümkün olabilir. Bununla birlikte hastalıkların Aksaray ilinde olmadığı da düşünülebilir.Infectious diseases are very important in terms of animal health. In addition to economically important animals diseases infectious diseases of domestic animals (cats, dogs, some birds, etc), are related with animal health and human health in due to being zoonosis. There are many studies on the infections of dogs which are the closest friend to human. Among the reasons that cause disease in dogs are Borrelia burgdorferi, Ehrlichia canis, Dirofilaria immitis, Anaplasma phagocytophilium is the most important in the each of these four factors are transmitted through ticks and flies. Ticks and flies that are the vectoring species are frequently encountered in our country. In this sero-epidemiological study, we found that four of the four infectious agents (B. burgdorferi, E. canis, A. phagocytophilum and D. immitis) were negative (-) in 40 cases of; 20 males and 20 females were previously infected with ticks. Blood tests revealed that most of the hematological examinations of dogs revealed eosinophilia in the blood table. Although it is believed that these four diseases do not appear subclinically in our region or, 64-97% of the test kits working with specificity

The Effect of Epidural Application of FSH on Superovulatory Response in Eastern Anatolian Red Cow

This study aimed to evaluate the superovulation response in Eastern Anatolian Red (EAR) cows treated with a single epidural injection or traditional administration of follicle stimulating hormone (FSH). Eight cows were randomly divided into two groups, as control (CG) and experiment (EG). Four replications were applied for each animal in the groups. A total of 16 studies were carried out in each group. In this study,300 mg intramuscular (i.m) FSH injection was applied with decreasing doses twice daily for four days to the cows in the CG. (70:70, 50:50, 20:20, 10:10 mg). On the other hand, 300 mg FSH was administered as 150 mg epidural and 150 mg intramuscular injection to the cows in EG. The number of untransferable embryos and the total CLs were found statistically significant (p<0.05). However, the number of transferable embryos and unfertilized oocyte (UFO)were found statistically insignificant among the groups (p>0.05). According to the obtained data, it was observed that the epidural administration of FSH for superovulation in EAR cows did not provide sufficient follicle and oocyte development. In conclusion, different studies with different superovulation protocols and FSH doses in local breed EAR cows will be needed for further studies

Effects of age and sex on some hematological and biochemical parameters in Hair goats

This study was performed to determine the blood reference values of hematological and biochemical parameters in Hair goats at different ages. For this aim, clinically healthy Hair goats (n = 180, ages of six month and 1-3 years male and female) were used to collect blood samples. In whole blood, white blood cell (WBC), red blood cell (RBC), hemoglobin (HGB), hematocrit (HCT), mean corpuscular volume (MCV), mean corpuscular hemoglobin (MCH), mean corpuscular hemoglobin concentration (MCHC)and red cell distribution width (RDW) were evaluated. The levels of, albumin, total protein, globulin, glucose, total bilirubin, urea, creatinine, phosphorus, magnesium, calcium, aspartate aminotransferase (AST), alkaline phosphatase (ALP), gamma-glutamyl transferase (GGT), creatine kinase (CK), alanine aminotransferase (ALT) and iron levels were investigated in sera. Age and sex had no effect on the cell structures of blood. In the either sex (male or female), age had no effect. However, sex had a significant effect on the blood cell structures except for WBC, HGB, and HCT. Albumin, protein, calcium, AST, ALT, ALP and magnesium values were not different among groups. Both the age and sex of the goats had significant effects on blood levels of glucose, phosphorus, urea, cholesterol, creatinine, GGT, CK and total bilirubin. In conclusion, this was the first study reporting the hematologic and biochemical parameters in blood of the Hair goats. The results indicated that these parameters could show variations under physiological conditions due to age and gender

Serum cholesterol levels in hair goats of Aksaray Region

WOS: 000466326300014This study was conducted to determine the levels of serum total cholesterol in Hair goats in different gender and age ranges. For this purpose, the blood samples from 120 Hair goats, young (<= 6 months) and adult (2-4 years), which were found to be clinically healthy, were taken from the vena jugularis. Triglyceride, total cholesterol, HDL and LDL cholesterol levels were measured in sera samples. The mean values in adult female goats, young female goats, adult male goats and young male goats were found. Triglyceride levels were found to be higher in male goats than in females. It was observed that the HDL values obtained from male kids were lower than the other ones. The LDL results obtained from the goats were close to each other and statistically insignificant. Thus, in this study, the data obtained is considered to contribute to the formation of reference values in the Hair goats.Aksaray University Scientific Researches [2015-052]Our experimental work was funded under a project supported by the Aksaray University Scientific Researches and Projects Unit of 2015-052. All the co authors have seen and approved the final version of this manuscript

Determination of the relationship between serum anti-Mullerian hormone level and superovulatory response in Simmental cows

*Karaşahin, Tahir ( Aksaray, Yazar )The most significant focal points of the embryo transfer technology are as follows: the selection of donors, the response of the selected donor to the superovulation protocol and the obtained number of the transferable embryos. For this purpose, it is suggested that donor selection can be done by anti-Mullerian hormone (AMH) levels, and embryo production is evaluated. AMH is secreted by the granulosa cells of primordial, pre-antral and antral follicles below 4 mm in the ovary, independent of FSH. Therefore, the aim of this study was to investigate the relationship between serum AMH levels and the number of corpus luteum (CL), total embryos and transferable embryos that were shaped after a uniform superovulation protocol. For this reason, 48 Simmental cows, which were located at General Directory of Agricultural Enterprises (region, province, etc. instead of the general directorate), were used as donors for the embryo transfer. Blood samples were taken at random, regardless of the stage of animal's sexual cycle. AMH levels were measured by enzyme-linked fluorescent assay (ELFA) method of the miniVIDAS (R) (bioMerieux SA) using AMH Bovine Test Kit. According to the statistical analyses of the obtained data, AMH levels were positively correlated with CL and total embryos (p .05). No significant correlations between AMH and transferable embryos were approved (p > .05). It was also determined that each 200 pg/ml increase in serum AMH level resulted in one increase in CL number. Overall, considering the positive correlation between AMH level and the obtained number of CL and total embryos after a superovulation treatment, it was concluded that measuring blood AMH level prior to any further costly implementation may be an effective method in donor selection...