Title: A Steer-by-Wire Safety Strategy for Total Actuator Failure via Torque Vectoring for Autonomous Vehicles

Members: Dr. A. Kırlı, Yusen Chen

Advisors:  Assoc. Prof. Dr. Chinedum E. Okwudire, Prof. Dr. A. Galip Ulsoy

Project Status: Active

The objective of this project is to carry out a model-based investigation into the use of control (software) techniques based on torque vectoring to steer a vehicle to safety in the event of total failure of a SBW system. The key intellectual question to be addressed by the proposed work is if and how torque vectoring can solely shoulder the responsibility of steering a vehicle to safety, without significantly compromising its role of helping to maintain vehicle stability. Answers to this question will reveal if and how torque vectoring can be relied on as an adequate supplement to (or replacement for) hardware redundancy as a safety strategy in SBW systems, particularly in the context of level-five autonomous vehicles where there is no driver in the loop.

Title: Online Optimized Hysteresis-based Steering Feel Model for Steer-by-Wire Systems

Members: Dr. A. Kırlı , Dr. M. S. Arslan

Project Status: Active

In this study, an optimum steering feel design based on a hysteresis model is developed, in which the driving quality is increased and, at the same time, the physical workload is decreased. The optimization of hysteresis-based steering feel model is fulfilled with two approaches, passive and active optimization. The static (passive) optimization suggests to use the optimum values of the parameters that are constitutive for the hysteresis based model. On the other hand, the online (active) optimization updates the optimum values of these parameters at every instant of the driving. To test the performances of the steering feel models, hardware-in-the-loop (HIL) simulation experiments with human drivers have been performed. The Magic formula tire model is used, in a bicycle model, because of their simplicity and wide acceptance. Two case studies based on standard test procedures have been presented: The weave test and the double lane-change test. The performance of a vehicle with the online optimized hysteresis-based steering feel model has been compared with the same vehicle having both the static optimized hysteresis-based steering feel and a SAT-based model. The reason of selecting the SAT-based model is that, it is the main factor in generation of the steering feel in conventional vehicles. Thus, a realistic comparison could have been done.

Title: Investigation of Vehicle Suspension Control Strategies with Wheel Motion Measurements: Delayed Resonator and Extended Ground Hook Control

Members: Dr. A. Kırlı , Mert Sever

Project Status: Active

In this study a novel active suspension system concept which is based on delayed resonator has been investigated. The proposed active suspension system concept which suggests creating a controller signal that is inverse of the oscillation that needs to be suppressed is applied on a 6 DOF half vehicle model and quantified by employing the ground hook control policy for performance evaluation. Random road profile based on ISO2631 standard is used as disturbance. Vibration mitigation and energy consumption levels are specified as performance measures. Finally, numerical simulation studies are carried out. The effect of the disturbance properties such as road grade and travel speed, on the performance has also been analyzed.

Title: Realization and Development of an Optic Based Prototype Tactile Sensor

Member: Dr. A. Kırlı (Ph.D. Dissertation)

Advisor: Assoc. Prof. Dr. U. Büyükşahin

Project Status: Completed

This study has been accomplished by Dr. A. KIRLI as his Ph.D dissertation with his advisor Assoc. Prof. Dr. U. Büyükşahin.  The project is about a new and novel optics-based tactile sensor design in which number of sensory receptors per centimeter square can be increased up to millions, ensuring to have spatial resolution far better than human fingertip. This design has unique features apart from increasing spatial resolution up to micron levels, such as being multi-multi touch meaning that each sensing receptor’s data can be acquired and computed individually at low costs. This new technology is addressed as a milestone for tactile sensing community in NASA’s SBIR debriefing report.

This technology has been patented by Dr. U. Büyükşahin by US9030653B1, JP5785670, CA2896468, WO2014011126, EP2807463. Dr. A. Kırlı has worked on developing the very first prototype based on the aforementioned patent. Further analyses have been conducted and finally, a tactile sensor has been built with 1 mm spatial and 0.61 kPa pressure measurement resolution with 0 - 15.6 N per cm^2 working range at 30 Hz frequency in order to demonstrate how this state of art design works and performs.

Title: An Experimental Stationary Quadrotor with Variable DOF

Member: Dr. A. Kırlı (M.Sc. Dissertation)

Advisor: Prof. Dr. V. E. Ömürlü    -   Project Status: Completed

In this research, a stationary, four rotor air vehicle with limited/controlled degree of freedom is constructed so that various control algorithms and their changing effects with varying vehicle dynamics can be studied on the ground for safety purposes. Ascending/descending, pitch/yaw/roll motions can be limited/controlled by setting the vehicle’s degree of freedom mechanically, resulting better net observability of the control algorithms on the vehicle’s dynamic performance. Design, in terms of mechanics, mechatronics and software is presented and the usability of the system is shown. Parallel self-tuning fuzzy PD + PD control is applied to the system for preliminary studies and results are discussed. Despite of the present sensor noise, satisfactory pitch/roll/yaw control is achieved.

Project Title: Building and Validating High Accuracy Leaf Spring Test Bench for Trucks

Member: Elif Üstünışık (M.Sc. Student)

Advisor: Dr. A. Kırlı   -  Project Status: Active

The objective of this project is to correlate an actual 5 DOF (Degrees of Freedom) test bench with simulation model (SIMPACK) and obtain more consistent results. To do so, an artificial intelligence based controller in Matlab/Simulink will be designed by corelating the Simpack with Matlab/Simulink envorinment and co-simulate of the system will be performed by synhronizing these two softwares. This project is collaborated by the Mercedes Benz Türk (MBT).

Project Title : Data Acquisition and Analysis from Performing Exercises with Using the Glove Equipped with Upgraded Sensors

Members : Furkan Fatih Simavlı & Tunahan Sayım (B.Sc. Students)

Advisor: Dr. A. Kırlı  -  Project Status: Active

Joint and muscular diseases can cause loss to the functionality in patient’s fingers. Within the scope of this project, a glove will be designed that can acquire data with enhanced sensors. An experimental setup that can carry out repeatable and measurable experiments will also be designed for autonomous tests and data generating. The main objective of this project is to help physiotherapists in diagnosis process, and patients in treatment process. This project is awarded by TUBITAK 2209b Applications (Industry Oriented Graduation Projects for Bachelor’s Degree).

Project Title : Inverted Pendulum and Resonance Vibration Testing Apparatus

Members : Kemal Berkay OĞUZ & Ahmet ÇAKIR (B.Sc. Students)

Advisor: Dr. A. Kırlı  -  Project Status: Active

In this project, two different testing aparatus will be carried out on a single mechanism. As shown in the figure, same motor and linear module will be used to actuate two different experiments. The objective is to deploy various controller techniques on the inverted pendulum problem and to measure the natural frequency of the objects attached to the setup. This project is awarded by TUBITAK 2209b Applications (Industry Oriented Graduation Projects for Bachelor’s Degree).


Project Title : Controller Design for Quadrocopter with Unsuspended Pendulum

Members : Kamil Yekta US & Altan CEVHER (B.Sc. Students)

Advisor: Dr. A. Kırlı  -  Project Status: Active

The objective of this project is to do the modeling and the controller design of a quadrotor with swing load. The novelty is that, the system comprises a variable center of mass, thus the dynamics of the model is problamatic. Problem is defined by an one-axis moveable pendulum for further simplifications, as shown in the figure. An LQR controller will be designed to achive a succesful flight while carrying a load with varying CoG such as fluids.

Project Title : Unmanned Ground Vehicle Drop from Aircraft

Members : Fazlı Faruk Okumuş & Mert Çelikol (B.Sc. Students)

Advisor: Dr. A. Kırlı  -  Project Status: Active

The objective of this project is to deliver a package that is dropped form an UAV.  In this project a rover (UGV) will be designed which can drive autonomously from landing point to the desired position. During the whole process, payload of the UGV and UGV itself will get no damage.  The motivation is to be able to deliver vital packages to anyplace.


Project Title : EBABİL – An Unmanned Air Vehicle that Detects Anomalies

Members : Esat Fazlullah Çelik & Aziz Mütlü (B.Sc. Students)

Advisor: Dr. A. Kırlı  -  Project Status: Active

In this project a drone that can detect color anomalies from the sky by using image processing techniques will be designed.  The GPS coordinates of the detected anomalies will be written to SD Card then the quadrotor will descend to the ground and mark the anomaly by using its marker mechanism.