Mustafa Karaca

Hakan Gencturk, Elcin Erdogan, Mustafa Karaca et al.

Nowadays, prognostics-aware systems are increasingly used in many systems and it is critical for sustaining autonomy. All engineering systems, especially robots, are not perfect. Absence of failures in a certain time is the perfect system and it is impossible practically. In all engineering works, we must try to predict or minimize/prevent failures in the system. Failures in the systems are generally unknown, so prediction of these failures and reliability of the system is made by prediction process. Reliability analysis is important for the improving the system performance, extending system lifetime, etc. Prognostic and Health Management (PHM) includes reliability, safety, predictive fault detection / isolation, advanced diagnostics / prognostics, component lifecycle tracking, health reporting and information management, etc. This study proposes an open source robot prognostic and health management tool using model-based methodology namely "Prognostics and Health Management tool for ROS". This tool is a generic tool for using with any kind of robot (mobile robot, robot arm, drone etc.) with compatible with ROS. Some features of this tool are managing / monitoring robots' health, RUL, probability of task completion (PoTC) etc. User is able to enter the necessary equations and components information (hazard rates, robot configuration etc.) to the PHM tool and the other sensory data like temperature, humidity, pressure, load etc. In addition to these, a case study is conducted for the mobile robots (OTA) using this tool.

Alim Kerem Erdogmus, Mustafa Karaca, Assist. Ugur Yayan

In this study, the creation of a database consisting of images obtained as a result of deformation in the images recorded by these cameras by injecting faults into the robot camera nodes and alternative uses of this database are explained. The study is based on an existing camera fault injection software that injects faults into the cameras of a working robot and collects the normal and faulty images recorded during this injection. The database obtained in the study is a source for the detection of anomalies that may occur in robotic systems. Within the scope of this study, a database of 10000 images consisting of 5000 normal and 5000 faulty images was created. Faulty images were obtained by injecting seven different types of image faults, namely erosion, dilation, opening, closing, gradient, motionblur and partialloss, at different times while the robot was operating.

Alim Kerem Erdogmuş, Didem Ozupek Tas, Mustafa Karaca et al.

The use of mobile robots has inevitably increased in recent years. The increase in the companies that produce products in this field, the popularity of the studies in the robotic field and the technological competence to serve many different areas have revealed this increase in usage. The importance of mobile robots used as health, education, pro-duction, logistics, defense industry and space equipment is now more important than before. The fact that robotic education can be reduced to a very young age, the production and coding of simple robots with easily accessible parts is also an important factor in this field. At this point, the effect of educational robots on the spread of robotic technol-ogy cannot be denied.

Mustafa Karaca, Ugur Yayan

Visual programming languages (VPLs) provide coding without typing texts. VPL makes coding easy to programmers with automatically adding usually used some code structure. Beginners in coding have generally two main challenges; transforming ideas into logical expressions and syntax errors. Syntax errors are impossible with VPLs because of there is no forgotten parentheses and semicolons. VPLs provide to focus on algorithm for programmers. VPL is a new trend for educational robotic environments. In this study, Robot Operating System (ROS) compatible web based visual programming system has been developed for evarobot. ROS provides libraries and tools to help software developers create robot applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more. Blockly has been used as VPL for the study and to generate / use blocks (commucation, sensing etc.). Some applications were generated like teleoperation, SLAM and wander etc. In this system, communication between server and client is supported by rosbridge package. Web page connected to ROS which runs on server using roslibjs library. Rosbridge provides a JSON API to ROS functionality for non-ROS programs.