Browsing by Author "Atila, Berkin"

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Citation Count: 0
Different Filter Approaches and Performance Analysis of Fundamental Sensors in Autonomous Ground Vehicles
(Ieee, 2016) Kıvanç, Ömer Cihan; Mungan, Tahir Eren; Kivanc, Omer Cihan
Autonomous ground vehicles are being designed and produced for industrial or military purposes. Since most of these vehicles are high cost the sensors used are high sensitive. However, sensors used in low cost robotic applications have low resolution. When non-precision sensor data added to measurement errors caused by different typical of geometry and drive methods, process functions of robots are hitching. To prevent this, five simple-structured filters are designed and compared in this study for low cost distance sensors and GPS sensors data. It has been observed that accuracy of hybrid-structured filters are more suitable than mono-structured filters in the results obtained.
Citation Count: 7
An integrated approach to development of unmanned ground vehicle: design, analysis, implementation and suggestions
(Gazi Univ, Fac Engineering Architecture, 2019) Kıvanç, Ömer Cihan; Mungan, Tahir Eren; Atila, Berkin; Tosun, Gurkan
As the intelligent vehicle concept accelerated with electric vehicles, and then interest in autonomous vehicle technologies increased, investments on unmanned ground vehicle (UGV) studies also accelerated. Unmanned ground vehicles, despite their complex structure and technology, bring many advantages with their use. The most important advantages of UGVs are that they do not have human-specific features (sleepiness, fatigue, anger, etc.), react faster, and reach a decision by calculating possibilities according to the conditions. In this study, a UGV has been developed, which has the ability to navigate to a self-determined or unknown area, ability of mapping, localization, trajectory detection and tracking, detection of obstacles and finding a new path to avoid collisions with these obstacles. In an area without a specific map, skecth or floor plan, UGV's autonomous driving capability in indoor and outdoor, has been verified by the experiments. The phases, problems, solution techniques and results required for UGV design are presented with a systematic approach in this study.
Citation Count: 1
Recursive Odd-Even Sorter for Vector Quantizer
(Ieee, 2017) Atila, Berkin; Kelleci, Burak
A recursive, odd-even transposition sorter based vector quantizer which is used in mismatch shaping algorithms is presented. Although recursive parallel sorting algorithms require less area than fully parallel sorting algorithms, they are slower than fully parallel algorithms. A widely used recursive parallel sorting algorithm is the perfect shuffle which requires multiple clock cycles to shuffle and sort the data. The proposed recursive algorithm uses fewer clock cycles than the perfect shuffle to sort less than 80 inputs. An area efficient version is also proposed to sort less than 16 inputs faster than perfect shuffle algorithm. To compare the performance of various sorting algorithms suitable for vector quantizer, they are realized and synthesized in TSMC 40nm low-power technology. Speed and area results indicate that the proposed algorithm sorts 32 inputs at a 42% faster rate by using 14% fewer components than the perfect shuffle sorter and a 80% slower rate by using 27% fewer components than the Bitonic sorter. The area efficient version sorts 32 inputs at a 21% slower rate by using 32% fewer components than the perfect shuffle sorter.
Citation Count: 2
A Simple Least Squares Approach for Low Speed Performance Analysis of Indirect FOC Induction Motor Drive Using Low-Resolution Position Sensor
(Ieee, 2017) Ozturk, Salih B.; Kivanc, Omer C.; Atila, Berkin; Rehman, Saeed Ur; Akin, Bilal; Toliyat, Hamid A.
This paper investigates an ordinary least squares based indirect field oriented control (IFOC) of induction motor at very low speed range (1-5 rpm) using a low-count encoder. At very low speeds the speed estimation provided by common techniques for low-count encoder applications such as averaging the last two speed samples and/or considering the previous speed value until the next position update can generate erroneous speed results which can cause instability in the overall control system. By proposing ordinary least squares (OLS) method with low-resolution position sensor based speed estimation for IFOC of IM drives more realistic speed can be obtained by fitting the predefined sets of speed data in a linear or quadratic manner. Experimental tests prove that the proposed scheme which is constituted of OLS (linear) speed estimation algorithm increases stability and improves low and oscillating speed performance of IFOC of IM drive with low-count encoders down to four pulses per revolution.