Year 2021, Volume 25 , Issue 1, Pages 72 - 82 2021-02-01

Development of a Data Clustering System for 2DOF Robotic Ball Balancer Using Laser Scanning RangeFinder

Gokhan BAYAR [1]


In this study, a new perspective for developing laser scanner rangefinder based data clustering system for a 2DOF robotic ball balancer was proposed. The study focused on detecting an object (i.e., ball) on the tilt-table robotic platform using the sensor fusion and data clustering systems proposed. Clustering system was modeled by following the principles of hierarchical clustering method. The developed system involving the clustering and sensor fusion algorithms was embedded in Matlab-Simulink environment to be able to run in real-time applications. The system was tested using an experimental platform including a 2DOF robotic ball balancer equipped with high resolution encoders and a laser scanner rangefinder. In the experiments, the goal was to detect the ball and its position not only on the flat but also on the tilted platform. A camera was also attached to the top of the experimental setup and used to monitor the location of the ball on the platform. By this way the results obtained using the proposed system could be verified for accuracy, performance and repeatability issues.
Robotic ball balancer, laser scanner rangefinder, identification, object detection, sensor fusion, hierarchical clustering
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Primary Language en
Subjects Engineering, Mechanical
Journal Section Research Articles
Authors

Orcid: 0000-0002-6344-3621
Author: Gokhan BAYAR (Primary Author)
Institution: Bulent Ecevit University
Country: Turkey


Supporting Institution Zonguldak Bulent Ecevit University
Project Number 2013-77654622-03
Thanks The author thanks to the infrastructure project of the Mechanical Engineering Department of Zonguldak Bulent Ecevit University (Zonguldak, Turkey) numbered 2013-77654622-03 for providing the equipment of 2DOF robotic ball balancer and laser scanner rangefinder used in this research.
Dates

Application Date : April 24, 2020
Acceptance Date : November 4, 2020
Publication Date : February 1, 2021

Bibtex @research article { saufenbilder726455, journal = {Sakarya University Journal of Science}, issn = {}, eissn = {2147-835X}, address = {}, publisher = {Sakarya University}, year = {2021}, volume = {25}, pages = {72 - 82}, doi = {10.16984/saufenbilder.726455}, title = {Development of a Data Clustering System for 2DOF Robotic Ball Balancer Using Laser Scanning RangeFinder}, key = {cite}, author = {Bayar, Gokhan} }
APA Bayar, G . (2021). Development of a Data Clustering System for 2DOF Robotic Ball Balancer Using Laser Scanning RangeFinder . Sakarya University Journal of Science , 25 (1) , 72-82 . DOI: 10.16984/saufenbilder.726455
MLA Bayar, G . "Development of a Data Clustering System for 2DOF Robotic Ball Balancer Using Laser Scanning RangeFinder" . Sakarya University Journal of Science 25 (2021 ): 72-82 <http://www.saujs.sakarya.edu.tr/en/pub/issue/58068/726455>
Chicago Bayar, G . "Development of a Data Clustering System for 2DOF Robotic Ball Balancer Using Laser Scanning RangeFinder". Sakarya University Journal of Science 25 (2021 ): 72-82
RIS TY - JOUR T1 - Development of a Data Clustering System for 2DOF Robotic Ball Balancer Using Laser Scanning RangeFinder AU - Gokhan Bayar Y1 - 2021 PY - 2021 N1 - doi: 10.16984/saufenbilder.726455 DO - 10.16984/saufenbilder.726455 T2 - Sakarya University Journal of Science JF - Journal JO - JOR SP - 72 EP - 82 VL - 25 IS - 1 SN - -2147-835X M3 - doi: 10.16984/saufenbilder.726455 UR - https://doi.org/10.16984/saufenbilder.726455 Y2 - 2020 ER -
EndNote %0 Sakarya Üniversitesi Fen Bilimleri Enstitüsü Dergisi Development of a Data Clustering System for 2DOF Robotic Ball Balancer Using Laser Scanning RangeFinder %A Gokhan Bayar %T Development of a Data Clustering System for 2DOF Robotic Ball Balancer Using Laser Scanning RangeFinder %D 2021 %J Sakarya University Journal of Science %P -2147-835X %V 25 %N 1 %R doi: 10.16984/saufenbilder.726455 %U 10.16984/saufenbilder.726455
ISNAD Bayar, Gokhan . "Development of a Data Clustering System for 2DOF Robotic Ball Balancer Using Laser Scanning RangeFinder". Sakarya University Journal of Science 25 / 1 (February 2021): 72-82 . https://doi.org/10.16984/saufenbilder.726455
AMA Bayar G . Development of a Data Clustering System for 2DOF Robotic Ball Balancer Using Laser Scanning RangeFinder. SAUJS. 2021; 25(1): 72-82.
Vancouver Bayar G . Development of a Data Clustering System for 2DOF Robotic Ball Balancer Using Laser Scanning RangeFinder. Sakarya University Journal of Science. 2021; 25(1): 72-82.
IEEE G. Bayar , "Development of a Data Clustering System for 2DOF Robotic Ball Balancer Using Laser Scanning RangeFinder", Sakarya University Journal of Science, vol. 25, no. 1, pp. 72-82, Feb. 2021, doi:10.16984/saufenbilder.726455