Elektrik Elektronik Mühendisliği Bölümü Koleksiyonu

Permanent URI for this collectionhttps://hdl.handle.net/20.500.11779/1941

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An Adaptive Admittance Controller for Collaborative Drilling With a Robot Based on Subtask Classification Via Deep Learning
(Elsevier, 2022) Başdoğan, Çağatay; Niaz, P. Pouya; Aydın, Yusuf; Güler, Berk; Madani, Alireza
In this paper, we propose a supervised learning approach based on an Artificial Neural Network (ANN) model for real-time classification of subtasks in a physical human–robot interaction (pHRI) task involving contact with a stiff environment. In this regard, we consider three subtasks for a given pHRI task: Idle, Driving, and Contact. Based on this classification, the parameters of an admittance controller that regulates the interaction between human and robot are adjusted adaptively in real time to make the robot more transparent to the operator (i.e. less resistant) during the Driving phase and more stable during the Contact phase. The Idle phase is primarily used to detect the initiation of task. Experimental results have shown that the ANN model can learn to detect the subtasks under different admittance controller conditions with an accuracy of 98% for 12 participants. Finally, we show that the admittance adaptation based on the proposed subtask classifier leads to 20% lower human effort (i.e. higher transparency) in the Driving phase and 25% lower oscillation amplitude (i.e. higher stability) during drilling in the Contact phase compared to an admittance controller with fixed parameters.
Adaptive Human Force Scaling Via Admittance Control for Physical Human-Robot Interaction
(IEEE, 2021) Başdoğan, Çağatay; Aydın, Yusuf; Hamad, Yahya M.
The goal of this article is to design an admittance controller for a robot to adaptively change its contribution to a collaborative manipulation task executed with a human partner to improve the task performance. This has been achieved by adaptive scaling of human force based on her/his movement intention while paying attention to the requirements of different task phases. In our approach, movement intentions of human are estimated from measured human force and velocity of manipulated object, and converted to a quantitative value using a fuzzy logic scheme. This value is then utilized as a variable gain in an admittance controller to adaptively adjust the contribution of robot to the task without changing the admittance time constant. We demonstrate the benefits of the proposed approach by a pHRI experiment utilizing Fitts’ reaching movement task. The results of the experiment show that there is a) an optimum admittance time constant maximizing the human force amplification and b) a desirable admittance gain profile which leads to a more effective co-manipulation in terms of overall task performance.
An Antipodal Vivaldi Antenna Design for Torso Imaging in a Coupling Medium
(IEEE, 2021) Çayören, Mehmet; Bilgin, Egemen; Joof, Sulayman; Doğu, Semih
An antipodal Vivaldi antenna designed to operate in a coupling medium with a relative dielectric constant of epsilon(r) = 25 for microwave imaging of torso is presented in this paper. The proposed antenna is similar to the conventional antipodal Vivaldi antenna but with optimized parameters to radiate in the desired coupling medium. The antenna has a size of 120x70 mm(2) and operating over 230-1000 MHz frequency bandwidth with a peak gain of 5.42 dBi and peak front-to-back ratio of 143 dB. The designed antenna shows a better performance compared to other antennas used for microwave torso imaging. To assess the actual performance, a realistic human torso phantom is implemented to detect the water accumulation in the lungs, and as the inversion method linear sampling method is used. The 3-D reconstruction results show that the proposed antenna can be a candidate for microwave torso imaging applications.
Audio Source Separation Using Variational Autoencoders and Weak Class Supervision
(Institute of Electrical and Electronics Engineers (IEEE), 2019) Kırbız, Serap; Karamatlı, Ertuğ; Cemgil, Ali Taylan
In this letter, we propose a source separation method that is trained by observing the mixtures and the class labels of the sources present in the mixture without any access to isolated sources. Since our method does not require source class labels for every time-frequency bin but only a single label for each source constituting the mixture signal, we call this scenario as weak class supervision. We associate a variational autoencoder (VAE) with each source class within a non negative (compositional) model. Each VAE provides a prior model to identify the signal from its associated class in a sound mixture. After training the model on mixtures, we obtain a generative model for each source class and demonstrate our method on one-second mixtures of utterances of digits from 0 to 9. We show that the separation performance obtained by source class supervision is as good as the performance obtained by source signal supervision.
A Bayesian Allocation Model Based Approach To Mixed Membership Stochastic Blockmodels
(Taylor and Francis Ltd., 2022) Kırbız, Serap; Hızlı, Çağlar
Although detecting communities in networks has attracted considerable recent attention, estimating the number of communities is still an open problem. In this paper, we propose a model, which replicates the generative process of the mixed-membership stochastic block model (MMSB) within the generic allocation framework of Bayesian allocation model (BAM) and BAM-MMSB. In contrast to traditional blockmodels, BAM-MMSB considers the observations as Poisson counts generated by a base Poisson process and marks according to the generative process of MMSB. Moreover, the optimal number of communities for BAM-MMSB is estimated by computing the variational approximations of the marginal likelihood for each model order. Experiments on synthetic and real data sets show that the proposed approach promises a generalized model selection solution that can choose not only the model size but also the most appropriate decomposition.
Bidirectional Recurrent Neural Network Language Models for Automatic Speech Recognition
(2015) Chen, Stanley; Sethy, Abhinav; Ramabhadran, Bhuvana; Arısoy, Ebru
Recurrent neural network language models have enjoyed great success in speech recognition, partially due to their ability to model longer-distance context than word n-gram models. In recurrent neural networks (RNNs), contextual information from past inputs is modeled with the help of recurrent connections at the hidden layer, while Long Short-Term Memory (LSTM) neural networks are RNNs that contain units that can store values for arbitrary amounts of time. While conventional unidirectional networks predict outputs from only past inputs, one can build bidirectional networks that also condition on future inputs. In this paper, we propose applying bidirectional RNNs and LSTM neural networks to language modeling for speech recognition. We discuss issues that arise when utilizing bidirectional models for speech, and compare unidirectional and bidirectional models on an English Broadcast News transcription task. We find that bidirectional RNNs significantly outperform unidirectional RNNs, but bidirectional LSTMs do not provide any further gain over their unidirectional counterparts.
Çevrimde Imza Doğrulama için Fpga Üzerinde Gerçek Zamanlı Sistem Tasarımı
(2020) Ayhan, Tuba; Orak, Remzi
Bu proje kapsamında, çevrimde imza doğrulama sistemi gerçeklenmiştir. Sistem dokunmatik ekran üzerinden imza (paraf ya da el yazısı bir karakter) alıp, belleğindeki imza öznitelikleri ile karşılaştırarak imzanın iddia edilen kişiye ait olup olmadığını göstermektedir. Orjinal imza resimleri bellekte tutulmadığından sistem imza hırsızlığına karşı bir miktar dayanıklıdır. Sistem dokunmatik ekran, Zynq-7000 geliştirme kartı ve dokunmatik ekran kaleminden oluşur. İmza atıldıktan 0.13 s sonra doğrulama sonucu ekranda verilir. Kullanım rahatlığı açısından atılan imzanın resmi ekranda da gösterilmektedir. Sistemin test ortamında sınıflama başarımı yetenekli taklitçi için %60 dolayında kalsa da sıradan taklitçi için %100?ü bulmaktadır. Proje kapsamında oluşturulup araştırmacılara açılan veri kümesinde tasniflenmiş 500 imza bulunmaktadır. Projenin tüm kaynak kodları github üzerinden açılmıştır. Proje ile ilgili bilgiler, kodlar, veri kümesi ve kısa video da proje sayfası (https://sites.google.com/mef.edu.tr/imza) üzerinde yayındadır.
Cnn-Based Emotion Recognition Using Data Augmentation and Preprocessing Methods
(Institute of Electrical and Electronics Engineers Inc., 2023) Toktaş, Tolga; Kırbız, Serap; Kayaoğlu, Bora
In this paper, a system that recognizes emotion from human faces is designed using Convolutional Neural Networks (CNN). CNN is known to perform well when trained with a large database. The lack of large and balanced publicly available databases that can be used by deep learning methods for emotion recognition is still a challenge. To overcome this problem, the number of data is increased by merging FER+, CK+ and KDEF databases; and preprocessing is applied to the face images in order to reduce the variations in the database. Data augmentation methods are used to reduce the imbalance in the data distribution that still remains despite the increasing number of data in the merged database. The CNN-based method developed using database merging, image preprocessing and data augmentation, achieved emotion recognition with 80% accuracy.
Çok Düşük Enerji Tüketen Taşınabilir Kullanıma Uygun Yapay Sinir Ağlarının Donanım Gerçeklemeleri
(2023) Kumbasar, Tufan; Altun, Mustafa; Ayhan, Tuba
Yapay sinir ağları (artificial neural networks, ANN) ile ilgili literatürde yer alan araştırmalar ve bunların endüstriyel uygulamaları son yıllarda hızlı bir şekilde artmaktadır. Buradaki temel motivasyon, geleneksel yöntemler ile yüksek doğruluklu olarak çözülmesi zor problemlerin ANN?ler ile çözülebilmesidir. Diğer taraftan, ANN?lerin kullanımı geleneksel yöntemlere göre, başta enerji olmak üzere, çok daha fazla donanımsal kaynak gerektirmektedir. Örnek vermek gerekirse, 16×16 boyutunda 256 adet piksel içeren oldukça küçük bir görüntünün her bir pikselinin ve ANN ağırlıklarının 8-bitlik girişler ile temsil edildiğini varsayalım. Bu durumda, tek bir yapay nöron, 256 adet 8-bitlik çarpma işlemi, bu çarpım sonuçlarının toplanması için minimum 16-bitlik 255 adet toplama işlemi ve bu toplam sonucunun normalize edilmesi için bir aktivasyon fonksiyonu gerektirir. Görece küçük büyüklükteki bir ANN?de bu nöronlardan yüzlerce olduğu düşünülürse, bu kadar ağırlığın bellekte tutulmasının ve yapılacak aritmetik işlemlerin, özellikle enerji tüketimi açısından, oldukça maliyetli olacağı açıktır. Bu durum ANN?lerin taşınabilir cihazlarda kullanılabilmelerini fazlasıyla kısıtlamaktadır ve bu çalışmanın temel motivasyonlarından biridir. Önerilen çalışmada, çok düşük enerji tüketen ANN?ler önerilen yeni sayı hibrit gösterimi kullanılarak tasarlanmıştır, donanım optimizasyonları yapılmıştır ve nesne takibi uygulamalarında kullanılmıştır. Yapılan çalışmalar aşağıdaki üç ana başlıkta değerlendirilebilir. Bu üç ana başlık çalışmanın desteklediği 119E507 Nolu TÜBİTAK projesinde üç iş paketi olarak yer almaktadır. ? ANN enerji tasarrufu için yeni sayı gösterimlerinin sunulması ve devre bloklarının tasarımının yapılması. ? Enerji odaklı ANN donanım tasarımları ve optimizasyonunun yapılması. ? Nesne takibi yapan ANN tasarımlarının özel tümleşik devreler (application specific integration circuits, ASIC) ve alanda programlanabilir kapı dizileri (field programmable gate arrays, FPGA) tasarım platformlarında gerçeklenmesi.
Compositional Neural Network Language Models for Agglutinative Languages
(2016) Saraçlar, Murat; Arısoy, Ebru
Continuous space language models (CSLMs) have been proven to be successful in speech recognition. With proper training of the word embeddings, words that are semantically or syntactically related are expected to be mapped to nearby locations in the continuous space. In agglutinative languages, words are made up of concatenation of stems and suffixes and, as a result, compositional modeling is important. However, when trained on word tokens, CSLMs do not explicitly consider this structure. In this paper, we explore compositional modeling of stems and suffixes in a long short-term memory neural network language model. Our proposed models jointly learn distributed representations for stems and endings (concatenation of suffixes) and predict the probability for stem and ending sequences. Experiments on the Turkish Broadcast news transcription task show that further gains on top of a state-of-theart stem-ending-based n-gram language model can be obtained with the proposed models.
A Decade of Discriminative Language Modeling for Automatic Speech Recognition
(2015) Arısoy, Ebru; Saraçlar, Murat; Dikici, Erinc
This paper summarizes the research on discriminative language modeling focusing on its application to automatic speech recognition (ASR). A discriminative language model (DLM) is typically a linear or log-linear model consisting of a weight vector associated with a feature vector representation of a sentence. This flexible representation can include linguistically and statistically motivated features that incorporate morphological and syntactic information. At test time, DLMs are used to rerank the output of an ASR system, represented as an N-best list or lattice. During training, both negative and positive examples are used with the aim of directly optimizing the error rate. Various machine learning methods, including the structured perceptron, large margin methods and maximum regularized conditional log-likelihood, have been used for estimating the parameters of DLMs. Typically positive examples for DLM training come from the manual transcriptions of acoustic data while the negative examples are obtained by processing the same acoustic data with an ASR system. Recent research generalizes DLM training by either using automatic transcriptions for the positive examples or simulating the negative examples.
Design and Fpga Implementation of Uav Simulator for Fast Prototyping
(IEEE, 2023) Aydın, Yusuf; Ayhan, Tuba; Akyavaş , İrfan
As production and advances in motor and battery cell technology progress, unmanned aerial vehicles (UAVs) are gaining more and more acceptance and popularity. Unfortunately, the design and prototyping of UAVs is an expensive and long process. This paper proposes a fast, component based simulation environment for UAVs so that they can be roughly tested without a damage risk. Moreover, the combined effect of individual component choices can be observed with the simulator to reduce design time. The simulator is flexible in the sense that detailed aerodynamic effects and selected components models can be included. In this work, the simulator is proposed, model parameters are extracted for a particular UAV for testing the simulator and it is implemented on an field programmable gate array (FPGA) to increase simulation speed. The simulator calculates battery state of charge (SOC), position, velocity and acceleration of the UAV with gravity, drag, propeller air inflow velocity. The simulator runs on the FPGA fabric of AMD-XCKU13P with simulation steps of 1 ms.
Developing an Automatic Transcription and Retrieval System for Spoken Lectures in Turkish
(2017) Arısoy, Ebru
With the increase of online video lectures, using speech and language processing technologies for education has become quite important. This paper presents an automatic transcription and retrieval system developed for processing spoken lectures in Turkish. The main steps in the system are automatic transcription of Turkish video lectures using a large vocabulary continuous speech recognition (LVCSR) system and finding keywords on the lattices obtained from the LVCSR system using a speech retrieval system based on keyword search. While developing this system, first a state-of-the-art LVCSR system was developed for Turkish using advance acoustic modeling methods, then keywords were extracted automatically front word sequences in the reference transcriptions of video lectures, and a speech retrieval system was developed for searching these keywords in the lattice output of the LVCSR system. The spoken lecture processing system yields 14.2% word error rate and 0.86 maximum term weighted value on the test data.
Differential Microwave Imaging of Cerebral Hemorrhage Via Dort Method
(IEEE, 2023) Dilman, İsmail; Bilgin, Egemen; Doğu, Semih
Bleeding in the brain tissues may cause fatal health conditions and continuous monitoring of the change in this blood accumulation becomes important in the first few hours after the incident. The continuous post-event monitoring aims to detect the variations in the size and the shape of the hemorrhage regions. To this end, the human head is illuminated by non-ionizing electromagnetic radiation, and the scattered field is measured in different time instants. The decomposition of the time-reversal (DORT) method is then used as the microwave imaging algorithm to produce an indicator function. The performance of the proposed technique is assessed via numerical simulations involving a realistic human head phantom. The results suggest that the DORT method is capable of detecting the changes in multiple simultaneous cerebral hemorrhage regions successfully.
Diyalog Geliştirme için Bağlaşımlı Tensör Ayrıştırma Yöntemleri
(TÜBİTAK, 2021) Şimşek, Serap Kırbız; Şimşek, Serap; Cemgil, Ali Taylan; Liutkus, Antoine
Ayrıştırma tabanlı ses modelleme yöntemleri, hesaplama gücünün artmasıyla ve istatistiksel modelleme yöntemlerinin gelişmesiyle birlikte yaygın olarak kullanılmaktadır. Bu yöntemler, ses kodlama, müziksel bilgi çıkarımı, müziğin notaya dökülmesi, içerik analizi, kaynak ayrıştırma, ses onarımı ve gürbüz konuşmacı tanımanın da aralarında bulunduğu birçok alanda kullanılmaktadır. Bizim bu projede temel amacımız, birden fazla kaynak içeren ses kayıtlarındaki konuşma işaretlerini güçlendirmek için kaynak ayrıştırma algoritmalarından faydalanarak bir yöntem geliştirmektir. Diyalog ve ortamdaki diğer sesler arasındaki doğru dengeyi bulmak ses mühendisleri için önemli bir problem olup, dinleyici şikayetlerinin de gittikçe artan bir sebebini oluşturmaktadır. Dinleyiciler, kendi kişisel tercihlerine, dinleme ortamlarına ve duymalarına uygun olarak diyalog ve çevresel sesler arasındaki ses dengesini kendileri ayarlamak istemektedirler. Bu projedeki temel amaçlar ve aşamalar aşağıdaki gibidir: i) Durağan olmayan çok boyutlu zaman serilerinde, matris ve tensör ayrıştırma modellerini kullanarak diyalog içeren ses kayıtlarından diyalogların ayrıştırılması ve bunun daha sonra kayıtta bulunan diğer seslerle farklı oranlarda yeniden birleştirilmesiyle, kullanıcının ihtiyaçlarına ya da zevkine dayalı bir kayıt dinlemesini sağlama ii) Televizyon programları gibi akan veri üzerinde de çalışabilmek üzere, önerilen yöntemin gerçek zamanda çalışması. Bu bağlamda, veri geldikçe gerçek zamanlı olarak işlenecektir. iii) Geliştirilen yöntemlerin etkinliğinin gerçek uygulamalarda kullanımı. Projenin çıktıları olan modelleme, çıkarım ve model seçimi yöntemleri; işaret işleme, yapay öğrenme ve istatistik alanlarında temel metodolojik katkılar yapmaktatır. Bunun dışında çıktılar, bilgi madenciliği, biyoinformatik, sistem biyolojisi, yer bilimleri, karmaşık sistemler, algılayıcı ağları, finans veya akustik konularındaki büyük veri öbeklerinin incelendiği çalışmaları destekleyecektir. Bu bağlamda, MEF Üniversitesi bünyesinde yerli ve uluslararası alanda süren işbirliklerinin sürdürülmesi ve geliştirilmesi de planlanmaktadır.
Domain Adaptation Approaches for Acoustic Modeling
(IEEE, 2020) Arısoy, Ebru; Fakhan, Enver
In the recent years, with the development of neural network based models, ASR systems have achieved a tremendous performance increase. However, this performance increase mostly depends on the amount of training data and the computational power. In a low-resource data scenario, publicly available datasets can be utilized to overcome data scarcity. Furthermore, using a pre-trained model and adapting it to the in-domain data can help with computational constraint. In this paper we have leveraged two different publicly available datasets and investigate various acoustic model adaptation approaches. We show that 4% word error rate can be achieved using a very limited in-domain data.
Evaluation of Diaphragm Conditions in Aac Floor Structureswith Rc Beams
(2018) İlki, Alper; Uğurlu, Koray; Demir, Cem; Comert, Mustafa; Halıcı, Ömer Faruk
Diaphragm action in floor structures is an important aspect that affects both local behaviors of individual members and consequently, the global response of a structure. The diaphragm action of a built structure, therefore needs to be compatible with the assumed diaphragm condition in the design phase to prevent unpredicted overloading of load bearing members in a seismic action. Autoclaved aerated concrete (AAC) is a cost-effective, lightweight and energy efficient material, and its usage as a construction material has rapidly increased in recent decades. However, there is a limited experience regarding the in-plane behavior of the floor structures made of AAC panels in terms of diaphragm action. In this paper, the in-plane response of AAC floors is experimentally investigated and the floor performance of a typical building is analytically investigated according to ASCE 7-16 (ASCE/SEI in Minimum design loads for buildings and other structures, The American Society of Civil Engineers, Reston, 2016). Full-scale experiments carried out through loading AAC floors in lateral directions to the panels, either parallel or perpendicular, provided important information about the damage progress and overall performance of such floors. A number of finite element modeling techniques that are generally used for modeling of AAC floors were examined and then validated through comparisons with test results. Finally, the diaphragm condition of a three-story building made of AAC walls and floor panels was assessed. The results indicated that the AAC floors in the examined building can be idealized as rigid diaphragms according to ASCE 7-16.
Experimental Observation of Temperature and Pressure Induced Frequency Fluctuations in Silicon Mems Resonators
(IEEE, 2021) Zhao, Chun; Mustafazade, Arif; Pandit, Milind; Seshia A, Ashwin; Sobreviela, Guillermo; Zou, Xudong
Silicon MEMS resonators are increasingly being adopted for applications in timing and frequency control, as well as precision sensing. It is well established that a key limitation to performance is associated with sensitivity to environmental variables such as temperature and pressure. As a result, technical approaches to address these factors such as vacuum sealing and ovenization of the resonators in a temperature controlled system have been introduced. However, residual sensitivity to such effects can still serve as a significant source of frequency fluctuations and drift in precision devices. This is experimentally demonstrated in this paper for a precision oven-controlled and vacuum-sealed silicon resonators. The frequency fluctuations of oscillators constructed using two separate nearly-identical co-located resonators on the same chip are analysed and differential frequency fluctuations are examined as a means of reducing the impact of common-mode effects such as temperature and pressure. For this configuration, our results show that the mismatch of temperature and pressure coefficients between the resonators ultimately limits the frequency stability.
Experimental Performance Analysis for Mobile Data Offloading in Heterogeneous Wireless Networks
(2016) Akpolat, Gamze; Zeydan, Engin; Tan, A. Serdar
...
Feasibility of Distorted Born Iterative Method for Detecting Early Stage of Heart Failure
(IEEE, 2020) Akıncı, Mehmet Nuri; Bilgin, Egemen; Joof, Sulayman; Doğu, Semih
In this paper, we analyze the feasibility of using microwaves to detect early stage of congestive heart failure, which causes water accumulation in the lungs. To this aim, a slice from realistic human torso phantom, which consists of all human tissues and organs, is considered. Constitutive parameters of the phantom are calculated by multiple order Cole-Cole model at operating frequency. Then, the scattered field is calculated via method of moment and a 30 dB additive white Gaussian noise is added to create a more realistic scenario. In the solution of inverse scattering phase, distorted Born iterative method is utilized. The presented results show the feasibility of the proposed method.

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