Sistem ve Kontrol Mühendisliği
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Browsing Sistem ve Kontrol Mühendisliği by Author "Akar, Mehmet."
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Item 3D cow identification in cattle farms(Thesis (M.A.) - Bogazici University. Institute for Graduate Studies in the Social Sciences, 2013., 2015.) Arslan, Ahmet Cumhur.; Akar, Mehmet.Animal farms have been steadily growing to meet the consumption requirements of the society in an e cient manner. This fact necessitates new monitoring and tracking systems to collect useful information about the herds in order to observe their general health and instantaneous state. However, recognizing and tracking an animal in a farm is a di cult task due to the target's similarity and hard to predict dynamics. In this thesis, a novel cow identi cation system is proposed. There are prominent features of this solution which di erentiates it from the others in the literature, i.e., it does not need any markers or external devices placed on the animal; works in even unlighted environments; identi es even black cows without distinctive coat patterns; is relatively cheaper, and enables accurate positioning. Proposed solution is based on 3D shape analysis of the top back part of the animals captured with RGBD cameras placed at an adequate height, where two dimensional images are constructed with respect to the local surface features and are subsequently identi ed by using face recognition methods. To evaluate the applicability of the proposed system, a real-time prototype software has been developed and a 3D cattle dataset is acquired which, to our knowledge, is unique in the literature. This dataset is gathered from moving animals which do not have distinctive coat patterns and captured in di erent lighting conditions. Applicability of the proposed solution has been veri ed by testing with the acquired dataset. Convincing results are obtained where %88 of 50 cows are identi ed successfully.Item Vision based control algorithms for a small size robot soccer team(Thesis (M.S.)-Bogazici University. Institute for Graduate Studies in Science and Engineering, 2009., 2009.) Karaoğuz, Hakan.; Akar, Mehmet.Multi-robot coordination is one of the hot topics of today's robotics research. In our case, our main concern is to build up a small sized (SSL) robot soccer team. Robot soccer requires e ective and fast robot control and coordination in order to score goals while avoiding frequent collisions with opponent robots. In this thesis, our multi-robot platform and current control techniques we use are discussed. Our robots have 4 wheel omnidirectional drive system, running with brushless DC motors. A camera which is 3 meters above the eld provides vision feedback to identify and control the robots. Robot identification is carried out by recognizing colored patches on top of the robots. Several formation strategies are proposed using the holonomic robots we have built.