In this study, we present a novel approach for rehabilitation devices through the design of an active elbow joint orthosis, inspired by the fundamental principles of robotic exoskeletons. The device not only enables home-based usage but also facilitates the transmission of exercise data from patients to physiotherapists via the Internet of Things (IoT) device. This approach offers the possibility of increased therapy sessions for each patient while allowing physiotherapists access to data for real-time or subsequent analyses, thereby establishing a database. This permits a single physiotherapist to manage multiple patients more effectively. The developed mobile application within this research incorporates a distinct entry interface for both patients and physiotherapists. Maximum force and position values generated during each exercise period are displayed within the application. The device enables active exercise with a single degree of freedom at the elbow joint and is equipped with force sensors to ensure safety against potential high-shear forces. Furthermore, it can be worn on the upper extremity using adjustable Velcro straps to accommodate users with varying arm circumferences. Specifically, this system amalgamates two primary components: a microcontroller operating control algorithms and IoT technology, and a smartphone application containing interfaces for physiotherapists and users undergoing therapy. The control design of the device employs a P-Type Iterative Learning Control (ILC) due to periodic exercise movements, reducing the error norm by approximately 20% during each exercise period (excluding the initial period). The controller consistently diminishes error values with each iteration, ultimately converging to zero. Throughout an exercise lasting around 3 minutes, the average error norm is recorded as 0.229⁰. In essence, this study presents a pioneering approach that sets itself apart from other research by minimizing shear forces and errors through a specialized controller, all while enabling remote, home-based rehabilitation under expert supervision.

This study investigates the use of chaotic speed control, based on the Sprott-A chaotic system, for improving the performance and stability of DC motor-driven robotic end-effector mixers. The chaotic differential equations were implemented and numerically solved in MATLAB/Simulink using the fourth-order Runge–Kutta method, and the resulting time series were analyzed. Among the variables generated, the X_t signal was selected for pulse-width modulation (PWM) due to its smooth dynamic characteristics. This signal was scaled to match the 0–100% duty cycle range and applied to the motor driver as a control input. The chaotic control system was realized both through analog circuit simulation in OrCAD and experimentally using an STM32F407 microcontroller. Time series, phase portraits, and oscilloscope outputs confirmed the consistency between simulation and hardware implementations. Compared to chaotic Y_t and Z_t signals, the chaotic X_t based PWM control reduced motor vibrations and provided more stable speed regulation. These results demonstrate the feasibility and effectiveness of chaotic dynamics for real-time motor control in robotic mixing applications, offering a robust alternative to traditional deterministic methods.

This study presents a novel approach for scanning and obtaining object contours within a workspace using a camera and subsequently following these 2-D contours to another region with the assistance of an end effector. The process begins with the determination of boundary lines of object images through advanced image processing methodologies. Subsequently, a conversion from camera pixel coordinates to robot metric coordinates is performed to facilitate trajectory planning for the robotic arm. The trajectory of the robot arm, and consequently, the path followed by the end effector, is determined based on these metric coordinates. The article provides a detailed exposition of the methodology, including the mathematical background and experimental study, showcasing the efficacy and accuracy of the proposed approach in real-world scenarios. This research contributes to the advancement of robotic systems capable of precise trajectory tracking and manipulation tasks in diverse applications. This study involves an innovative approach that combines theoretical and practical methods, including object contour detection using image processing, conversion of pixel coordinates obtained from the camera to robot metric coordinates, robot kinematics, and programming steps.

This study investigates the impact of chaotic speed-controlled mixing on biogas production efficiency and compares it with conventional fixed-speed mixing. Traditional mixing methods, often operated at fixed speeds or continuous modes, lead to high energy consumption and microbial instability. To address this, a hybrid mixing system combining a helical and propeller shaft was designed to enhance substrate homogenization and biochemical reaction efficiency. A Programmable Logic Controller (PLC) was integrated for automatic process control, while chaotic mixing algorithms, based on Hadley, Halvorsen, Lorenz, and Sprott-A systems, dynamically adjusted the mixing speed to optimize performance. Experiments were conducted at 20°C and 30°C under controlled laboratory conditions. Results showed that chaotic mixing significantly improved methane yield and combustion duration compared to fixed-speed mixing. At 20°C, the Chaotic Sprott-A method produced 18 L/day of methane, compared to 16 L/day with fixed-speed mixing. At 30°C, the Sprott-A method reached 22 L/day, surpassing the 20 L/day of the fixed-speed method. Additionally, combustion duration, an indicator of biogas quality, increased from 740 seconds (fixed-speed) to 829 seconds (Chaotic Sprott-A). These findings confirm that chaotic mixing enhances substrate distribution, improves biochemical reaction efficiency. Chaotic speed-controlled mixing presents a promising alternative for biogas reactors, offering higher methane production.

Uykululuk halinin önceden tespit edilmesi, uykululuğa bağlı trafik kazalarını önlemek, fiziksel ve ekonomik kayıpların önüne geçmek açısından önemlidir. Bir kamera yardımı ile kişilerin görüntüleri üzerinde görüntü işleme teknikleri uygulanarak uykululuk halini önceden kestirmek mümkündür. Bu çalışmada, literatürdeki veri kümelerinden yararlanılarak uykululuk halinin tespit edilmesinde büyük bilgiye sahip olan göz bölgesinden gelen öznitelikler ile göz kırpma tespiti yapmak için sabit ve uyarlamalı eşik değerleri ayrı ayrı değerlendirilmiştir. Böylece, kısa süreli göz kırpma ile uzun süreli göz kapamanın daha iyi ayırt edilmesi hedeflenmiştir. Çalışmada önerilen uyarlamalı eşik değerinin sabit bir eşik değerinden çok daha başarılı göz kırpma tespiti sonuçları verdiği, iki farklı veri kümesi üzerinde yapılan deneyler ile doğrulanmıştır.