Browsing by Author "Özbek, Doğa"

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Ankara Uluslararası Fim Festivali
(Bilkent University, 2018) Cündüoğlu, Ceren; Özbek, Doğa; Kalaycı, İlker; Özbay, Yavuz Koray; Akbaş, Yiğitcan
Dünya çapında yayılan film dalgasının Türkiye’ye de gelmesiyle beraber gelişen film sektörü, önemini başkent Ankara’da da hissettirmiştir. Mahmut Tali öngören ve Aziz Nesin önderliğinde Ankara’da bir ilke imza atılarak kurulan Ankara Uluslararası Film Festivali, döneminin ilk adıyla Ankara Film şenliği, sanatı ve sanatçıyı teşvik amacıyla kurulmuş ve 2018 itibariyle 30. Senesini doldurmuştur. Bu araştırmada, Ankara Film Festivali’nin 1988- 2018 yılları arasında geçirdiği süreç araştırılmıştır.
Open Access
Design, characterization, and applications of soft 3D printed strain gauges
(2023-07) Özbek, Doğa
The development of soft sensors for integration into untethered miniature robots is significant for improving their environmental perception in physically challenging scenarios, such as collapsed buildings after an earthquake. The primary objective is to design and manufacture reliable soft sensors that serve as structural and sensing elements within the robots, eliminating the need for post-processing methods like data-driven learning and optimization. The soft sensors employ resistive sensing, similar to strain gauges, and are implemented on a Wheatstone bridge to convert resistive changes into voltage changes under me-chanical actuation or deformation. The study explores two categories of soft sensor designs: sheet-type and 3D shaped sensors. Sheet-type sensors are embedded in the C-legs of a soft quadruped robot (SQuad), enabling gait control, while 3D shaped sensors are structurally integrated into the robots to enhance environmental perception. Manufacturing of the soft sensors is made accessible and efficient through 3D printing technology, using conductive Thermoplastic Polyurethane (cTPU) as the printing material. Challenges arise in integrating the soft sensors into the robots while preserving their soft nature, locomotion, and agility. The thesis addresses these challenges by implementing the soft sensor concept in various robots and their parts, including the C-leg of SQuad, Modular Soft Quadruped (M-SQuad), Suspensionized Soft Quadruped (S-SQuad), Sensorized Collision Resilient Robot (SCoReR), and a tail for Reconfigurable Miniature Modular Robot (ReMBot). The soft sensors enable different functionalities to these robots, such as gait control feedback, obstacle detection, inclination detection, and collision detection, enhancing the adaptability of the robots in physically challenging environments. The thesis highlights the potential of soft 3D printed strain gauges. The ease of manufacturing and cost-efficiency of these sensors make them promising for applications in wearable robots and human-computer interfaces. Future directions are highlighted, emphasizing the need for detailed sensor characterization experiments and the development of detection algorithms to improve reliability. Additionally, a dynamic model of the coil-shaped sensors is proposed to simulate resistance changes, streamlining the design process without repetitive manufacturing iterations. As a result, this thesis presents a reliable soft sensor design, manufacturing, and integration into untethered miniature robots. The outcome of this work demonstrates the effectiveness of soft sensors in enhancing environmental perception, paving the way for innovative solutions in force measurement applications and human-computer interactions.
Open Access
Detecting scalable obstacles using soft sensors in the body of a compliant quadruped
(Institute of Electrical and Electronics Engineers, 2022-01-10) Özbek, Doğa; Yılmaz, Talip Batuhan; Kalın, Mert Ali İhsan; Şentürk, Kutay; Özcan, Onur
In soft robotics, one of the trending topics is using soft sensors to have feedback from the robot's body. This is not an easy process to accomplish since the sensors are often nonlinear, so researchers use different methods to generate information from data such as filters, machine learning algorithms, and optimization algorithms. In this paper, we show that, with good electronic and mechanical design, it is possible to use soft sensors for detecting obstacles and distinguishing the scalable obstacles. The demonstration is conducted with an untethered miniature, soft, C-legged robot, M–SQuad, the first modular C-legged quadruped consisting of three modules, which are connected by four soft sensors. In M–SQuad's body design, sensors are utilized as both sensing and structural elements. The modular design of the M–SQuad allows testing different sensor geometries and replacing the malfunctioning parts easily, without the need to refabricate the entire robot. A case study is introduced for demonstration of the robot's capability of detecting obstacles and distinguishing scalable obstacles in a parkour consisting of two obstacles with the heights of 20 mm and 150 mm, respectively. In the case study, M–SQuad can detect an obstacle during locomotion using the coil-spring shaped soft sensors in its body. Moreover, it can distinguish the obstacle is scalable or not after an initial climbing trial. If the obstacle is not scalable, the robot turns back.
Open Access
SCoReR: sensorized collision resilient aerial robot
(IEEE - Institute of Electrical and Electronics Engineers, 2023-05-15) Bakır, Alihan; Özbek, Doğa; Abazari, Amirali; Özcan, Onur
Detection and control of the physical contact/impact between micro aerial vehicles and the surrounding obstacles have become a significant issue with the rapid growth of their use in inspection and mapping missions in confined, obstacle-cluttered environments. In this work, we introduce a collision-resilient compliant micro quadcopter equipped with soft coil-spring type force sensors to passively resist and detect the physical contact/impact of the drone. The sensors act as resistive elements with a nominal resistance of 130–150 kΩ. They are manufactured from a conductive material via FDM 3D printing. We install these sensors on the protective bumpers of the collision-resilient foldable body of the drone. Any contact/impact between the bumpers and an obstacle results in deformation and buckling of the soft sensors, which results in a drastic change in their resistance, making it possible to detect the contacts/impacts of the bumpers. With a total weight of 220g and dimensions of 22cmx22cmx9cm, SCoReR successfully detects and recovers 100% of the contacts/impacts when it approaches a rigid wall with a velocity in the range of [0.1-1] m/s.