Browsing by Author "Ekim, P.O."

Now showing 1 - 2 of 2

Citation - Scopus: 1
Pallet Detection and Docking With Autonomous Forklift;
(Institute of Electrical and Electronics Engineers Inc., 2024) Keser, Alperen; Ekim, P.O.
Pallet handling operations in factories and warehouses are vital to ensure continuity and increase productivity. These operations using forklifts face some difficulties in terms of time, cost and efficiency. One way to circumvent these problems is to use mobile autonomous robots. However, autonomous robots may also experience difficulties in such operations. One of these difficulties is autonomous docking. Completion of the docking operation in the desired time, working with good precision and not exceeding the determined cost values are still issues in the field of robotics. The main goal of this study is to provide an easily integrated and low-cost solution for problems frequently encountered in the field of robotics, such as docking and pallet detection in autonomous forklifts. The difference of the image processing mechanism, developed for the pallet detection, is that the sensor used is a low-cost depth camera. The planner has been designed in an easily manipulable way and the requiered precision for picking the pallet have been achieved with a cross-track error of ±3 cm or less, and orientation error of ±4° or less. Performance of the developed system has been tested in a simulation environment on a non-holonomic, tricycle forklift. © 2024 IEEE.
Citation - Scopus: 1
Re-Evaluating Rural Electrification Options for the Energy Transition
(Institute of Electrical and Electronics Engineers Inc., 2024) Ekim, P.O.; Demirock, E.; Ouedraogo, K.E.
Many rural households still lack electricity. Although off grid modular renewable energy systems like solar PV are popular electrification options, there's a misconception that they are better than grid extensions. This study introduces a fresh perspective on the single wire earth return (SWER) design as a cost-effective rural electrification approach, comparing it to Hybrid Solar PV-Battery-LPG generator systems. Findings reveal that, for electrification through grid extension distances under 30 km, the SWER system outperforms off-grid alternatives in terms of financial key performance ratios. In fact, the hybrid system considered the most viable off-grid solution by several studies, incurs 4.8 times the capital expenditure of SWER and 1.6 times the levelized cost of energy of SWER. The hybrid system entails a connection cost of $611 per household, whereas SWER requires $128 per household. In the literature, the lowest connection cost from SWER was $400 per house in 2015, or $516 currently when adjusted for inflation. Given the urgency of the energy transition and the challenges of grid upgrade, SWER can be worth reevaluating for applications such as rural electrification, rural transport electrification, and mini-grids formation. © 2024 IEEE.