Research

My research focuses on developing smart robotic systems having soft and flexible structures by embedding unique sensor and actuator components using novel techniques and develop advanced control strategies for specific application needs.



Projects

#1 Tactile System Design for Texture Recognition and Realization

The purpose of this project is to design, manufacture and cooperate the tactile sensor and the tactile actuator. In this project, a piezoelectric (PZT) based, having 3x3 matrix form, flexible, low profile tactile sensor and a tactile actuator having 9 magnetic pins have been developed. The mechatronic integration of the designs have been achieved and a new tactile system has been established. The references for controlling the tactile actuator have been provided by sensing the force localization and surface geometries with the tactile sensor. This project is supported by Tubitak 3501.( Acer M.& Yıldız F., Access 2022, Acer M.,Yıldız F.&Bazzaz H., ICAT 2017)

#2 Design and Manufacturing of Novel Systems for Miniature Parallel Robots

The goal of this project is to design and manufacture miniature, scalable, portable parallel robots with closed loop feedback control algorithm using embedded position sensors. This project aims to build new generation robotic systems which are novel, national, commercialazable, low-cost, scalable and adaptable and providing high precision micro positioning. This project is supported by Tubitak 1003.( Acer Kalafat M., Sevinç H., Samankan S., Altınkaynak A. & Temel Z., J. Mechanisms Robotics)

#3 Wearable Lower Body Exoskeleton System with Flexible Clothing

In this project, a novel wearable exoskeleton with flexible clothing will be developed for the use of paraplegic persons who have lost their lower extremity motor functions due to low back pain, paralysis and similar disturbances. This prototype will be designed as a rigid-link exoskeleton that is actuated via series-elastic actuators. The user’s physical state will be observed using soft elements attached to a wearable sensorized clothing, which will be used in conjunction with the exoskeleton. This project is supported by Tubitak 1003. (Uğurlu B. et al. ICORR 2019)

Previous Projects

#1 Tactile Sensor Design

I developed in collaboration with EPFL (Ecole Politeqnique federale de Lausanne a novel tactile sensor using piezoelectric ceramics (PZT) embedded in silicone material. The developed sensor provides the localization of the forces with high reliability and, although the sensor has discrete sensitive elements, the forces acting on its surface can be sensed continuously.( Acer M. et al. Smart Materials and Structures 2015)

#2 Design and Control of a Compliant Micro Motion Stage

I developed novel compliant mechanisms to be used as a micro motion stages by controlling the piezoelectric actuators. Within the project, I designed a novel 3-PRR (1 prismatic – 2 revolute joint) compliant mechanism by analyzing the flexures both using analytical methods and finite element methods. I used 3 piezoelectric actuators and compensated hysteresis and unpredictable errors by applying a new control methodology based on experimental models using Sliding Mode Control with Sliding Mode Observer. Finally, I could control the end-effector motion in the accuracy of our measurement (60 nm) which satisfied the requirements to be used as a high precision stage for micro applications.( Acer M.& Şabanoviç A. Advanced Robotics 2016 )

Student Projects

Some examples from the graduation and lecture projects.

#1 Bristle Bot Design

I opened the MKM 610E “Soft Robotics” lecture as a selective PhD course under Mechatronics Engineering and I supervised my PhD student, Dila Türkmen, for the development of a bristle bot (BBot). We have developed the first single actuated BBot having controllable planar motion. This work was presented in IEEE (International Conference on Information, Communication and Automation Technologies) ICAT 2017. ( Türkmen D.& Acer M. ICAT 2017)

#2 Origami Inspired Mobile Robots

: I have supervised undergraduate students for their graduation projects based on developing foldable structures for mobile robots. The first group have designed low profile, foldable structure using origami inspiration and used 4-bar mechanism for the legs of the robot. We used layer-by-layer manufacturing technique using laser cutter. Shape memory alloys (NiTi wire) were used for the actuation of the legs. The second group focused on building new foldable wheels using a snap-mechanism actuated by the shape memory alloyy. The mechanism has a closing ratio of %65. This work was published in our national Turkish conference for automation and control (TOK 2017).( Durgun Ö. M., Sevinç H., Önalan C. and Acer M. TOK 2017 )

Contact

Email: acerm@itu.edu.tr

Phone: 0212-2931300-2471

Office: ITU Mechanical Engineering Faculty, 447




Address: Istanbul Technical University, Mechanical Engineering Faculty, Mechanical Engineering Department, Gümüşsuyu, Beyoğlu, İstanbul, Turkey

Design by W3layouts