Yazar "Kocamaz, A. Fatih" seçeneğine göre listele

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    Bi-RRT Path Extraction and Curve Fitting Smooth with Visual Based Configuration Space Mapping
    (Ieee, 2017) Donmez, Emrah; Kocamaz, A. Fatih; Dirik, Mahmut
    Path planning is the one of the most basic research areas in robotics. It simply concern about acquiring a safe path with admissible cost. In this study, we adapt bidirectional rapidly random exploring tree (Bi-RRT) path extraction to visual based configuration space map hosting obstacles and smooth result path with curve fitting models. Firstly, a map of the configuration space is created and robot, target positions are detected with threshold based object detection. There are two positions where two distinct RRT are launched on this map. These positions are robot initial position and target position. Both RRT try to reach target with random branches in each iterations. When one of these RRT branch intersect with other RRT branch, the algorithm is stopped. The acquired trajectory is the path between initial position and target position. But acquired path is generally close to the obstacles and unnecessary branches or jagged parts can be formed. Therefore, to provide safety object dilation over obstacles are used. Finally, the path is smoothed with curve fitting models. We conduct several experiments to evaluate Bi-RRT performance.
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    Determination of QT Interval on Synthetic Electrocardiogram
    (Ieee, 2015) Comert, Zafer; Kocamaz, A. Fatih
    Electrocardiography is widely used for diagnosis and assessment of cardiovascular diseases. Heart rate is a major determinant of ventricular action potential. Therefore, the QT interval varies to be inversely proportional to heart rate. The need of the calculation and correction of the QT interval arises from this situation. In this study, synthetic electrocardiography signals have been passed through a preprocessing process and reduction of noise has been provided by using principal component analysis. Then, signal features have been extracted and finally QT intervals have been analyzed with Bazett method.
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    PID Optimization on Differential Drive Mobile Robot
    (Ieee, 2018) Kazanci, Cihangir Han; Kocamaz, A. Fatih
    In this study, the optimization of a PID routing algorithm implemented by a mobile robot that tries to reach its destination by avoiding obstacles is described. Simiam mobile robot application which has been done in this subject has been examined. Simiam mobile robot using PID algorithm can not avoid obstacles when changing the obstacle in the environment. The Simiam test environment was used to demonstrate the effectiveness of the algorithm used. It has been observed that PID optimization produces a successful result in a test environment in which the position of the obstacles changes when the simulation outputs are examined.