Oğuz Ekim, Pınar
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Eki̇m, Pınar Oğuz
Ekim, Pınar Oğuz
Oguz Ekim, Pinar
Ekim, Pınar Oğuz
Oguz Ekim, Pinar
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Email Address
pinar.ekim@ieu.edu.tr
Main Affiliation
05.06. Electrical and Electronics Engineering
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Current Staff
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ORCID ID
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Sustainable Development Goals
Documents
23
Citations
257
h-index
8
Documents
18
Citations
183
Scholarly Output
19
Articles
5
Views / Downloads
33/939
Supervised MSc Theses
4
Supervised PhD Theses
0
WoS Citation Count
63
Scopus Citation Count
112
WoS h-index
4
Scopus h-index
4
Patents
0
Projects
2
WoS Citations per Publication
3.32
Scopus Citations per Publication
5.89
Open Access Source
5
Supervised Theses
4
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18 results
Scholarly Output Search Results
Now showing 1 - 10 of 18
Article Citation - WoS: 24Citation - Scopus: 32Machine Learning Approaches for Municipal Solid Waste Generation Forecasting(Mary Ann Liebert, Inc, 2021) Oğuz Ekim, PınarMunicipal solid waste (MSW) generation forecasting can be considered as the biggest challenge of integrated solid waste management systems, particularly for developing countries where data collection is limited. In this study, three different machine learning algorithms, namely backpropagation neural network (BPNN), support vector regression (SVR), and general regression neural network, were applied for different countries. Comparative evaluation of these different algorithms based on gross domestic product, domestic material consumption, and resource productivity were given through the optimum solution. Moreover, the algorithms were tested for the case of Turkey. The results of this study are expected to represent a general outline for stakeholders of Turkey for improving MSW management strategies all over the country, and these results can be extended to similar developing countries across the world. It can be concluded that BPNN and SVR methods can be applied successfully for the case of Turkey and other countries across the world to predict the MSW generation, whereas BPNN is slightly better. If the input and output variables are identified well, machine learning approaches can give a good projection for waste generation, and this projection can be utilized for different countries. Furthermore, the developing countries with missing data can develop more realistic strategies for MSW management by not relying solely on international databases such as Eurostat to forecast MSW generation.Article Citation - WoS: 11Citation - Scopus: 14Tdoa Based Localization and Its Application To the Initialization of Lidar Based Autonomous Robots(Elsevier, 2020) Oğuz Ekim, PınarThis work considers the problem of locating a single robot given a set of squared noisy range difference measurements to a set of points (anchors) whose positions are known. In the sequel, localization problem is solved in the Least-Squares (LS) sense by writing the robot position in polar/spherical coordinates. This representation transforms the original nonconvex/multimodal cost function into the quotient of two quadratic forms, whose constrained maximization is more tractable than the original problem. Simulation results indicate that the proposed method has similar accuracy to state-of-the-art optimization-based localization algorithms in its class, and the simple algorithmic structure and computational efficiency makes it appealing for applications with strong computational constraints. Additionally, location information is used to find the initial orientation of the robot with respect to the previously obtained map in scan matching. Thus, the crucial problem of the autonomous initialization and localization in robotics is solved. (C) 2020 Elsevier B.V. All rights reserved.Conference Object Citation - Scopus: 1The Ekf Based Localization and Initialization Algorithms With Uwb and Odometry for Indoor Applications and Ros Ecosystem(Institute of Electrical and Electronics Engineers Inc., 2020) Oguz-Ekim P.; Bostanci B.; Tekkok S.C.; Soyunmez E.This paper will cover some extension modules over the Turtlebot3 libraries using ultra-wideband (UWB) sensors and propose a solution to the initialization problem along with the localization problem. The Turtlebot3 already has an algorithm named move base for autonomous drive, which uses Light Detection and Ranging (LiDAR) and odometry to localize itself and avoid obstacles. However, it suffers from autonomous initialization. Therefore, ranging data from UWB sensors are used to take the initial pose of the robot to eliminate the initialization problem and advance the move base algorithm to be more robust. This data is also used in the Extended Kalman Filter (EKF) along with odometry to localize the robot. To enable wide-spread adoption, we provide an open source implementation of our algorithms and modules for the robot operating system (ROS) for real environment. Furthermore, we create an open source simulation environment for applications, which use UWB, LiDAR, and odometry data. © 2020 IEEE.Master Thesis Browser-Based Lightweight Cross-Platform Web Control System for Autonomous Robots Operating With Ros(İzmir Ekonomi Üniversitesi, 2023) Söyünmez, Mehmet Emre; Eki̇m, Pınar OğuzHer geçen gün otonom robotlar hayatımızda daha da yaygınlaşmakta. Çoğunlukla lojistik ve ağır üretim hatlarıyla başlayan, ancak şimdi hastanelerden havalimanlarına, kafeteryalardan kütüphanelere ve hatta insanların evlerine kadar her sektörde ve tesiste kullanılmaktadırlar. İlk başlarda bir robotu kullanmak için herhangi bir standart bulunmaksızın, her robot geliştirici kendi sistemini oluşturup kendi robotlarında kullanmakta veya diğer geliştiricilerden satın almaktaydı. Ancak son zamanlarda Robot İşletim Sistemi (ROS) yaygın bir araç haline geldi. En büyük şirketler bile robotlarında ROS'u kullanmaya başladı. Öte yandan robotları uzaktan kontrol etmek, robot üzerindeki ROS sistemine başka bir bilgisayardan SSH gibi bir iletişim protokolü ile bağlanmayı gerektiriyor ve ardından robotu komut satırından çalıştırmak ya da emir vermek gerekiyordu, ki bu da belirli bir oranda Linux bilgisi gerektirmekte. Bu sorunu çözmek için şirketler, köprü görevi görecek uzaktan bir bilgisayarda çalışacak uygulamalar geliştirmeye başladılar. Ancak bununla birlikte, bu uzaktan cihazın belirli gereksinimlere sahip olmasını gerektiriyor, örneğin Windows işletim sistemine sahip olması, 4 GB RAM'e sahip olması, yönetici erişimi olması vb. Bunun üstesinden gelmek için, ROS ile çalışan robotları her türlü cihaz ya da işletim sistemiyle, tarayıcı çalıştırabilen herhangi eski bir dizüstü bilgisayar, cep telefonu veya akıllı saat gibi, saf JavaScript kullanarak kontrol etmek için tarayıcı tabanlı hafif ve çapraz platformlu bir sistem oluşturmayı hedeflemekteyimConference Paper Citation - WoS: 1Tracking neighborhood closed-loop pumped hydro storage potential(IEEE Computer Society, 2023) Ouedraogo, Kiswendsida Elias; Oğuz Ekim, Pınar; Demirok, ErhanWorldwide, energy is at the center of the socio-economical, geopolitical, and climate crises. For this reason, governments, businesses, and communities are promoting green energy to boost their energy resilience and energy independence sustainably. However, the bottleneck of replacing fossil fuel power plants entirely with intermittent renewable energy remains the high cost of energy storage systems. The study explored the existence of megawatt-hours scale closed-loop pumped hydro storage reservoirs near communities' centers. A MATLAB algorithm has been developed to detect pairs of reservoirs with one, four, and nine hectares each, and a head of one to three hundred meters, corresponding to an energy capacity of 20 to 540 megawatt hours per pair. For the three cities studied, (Banfora / Burkina, Syracuse / New York, Manisa / Turkey) the results revealed the existence of more than 10.000 megawatt-hours storage capacity in each city which meets or exceeds the need of the communities. Therefore, a 100% renewable energy power grid that is resilient, and reliable, can be achieved faster by adopting distributed closed-loop pumped hydro storage which is likely to attract a large number of smaller investors. © 2023 IEEE.Conference Object Localization With Particle Filter Based on Odometer and Uwb(IEEE, 2020) Oğuz Ekim, PınarIn this paper, the particle filter structure that uses odometer and Ultra-wide band (UWB) sensors for positioning autonomous ground vehicles used in confined spaces was investigated. Accordingly, UWB sensor packages written for Turtlebot3 libraries are mentioned. The positioning algorithm has been evaluated both in simulation environment using Robot Operating System (ROS) and in real test environment. Positioning accuracy is sufficient for practical applications, but as the number of reference sensors increases, results with better precision are obtained.Conference Object Citation - WoS: 9Citation - Scopus: 16The Lidar and Uwb Based Source Localization and Initialization Algorithms for Autonomous Robotic Systems(Institute of Electrical and Electronics Engineers Inc., 2019) Bostanci B.; Tekkok S.C.; Soyunmez E.; Oguz-Ekim P.; Yeganli F.This paper covers the source localization algorithm based on the least squares techniques and the squared range measurements obtained from ultra-wide band (UWB) sensors to locate the robot in an indoor environment. Additionally, the initialization algorithm which is based on light detection and Ranging (LiDAR) scans is proposed. It takes the advantage of the estimated location to find the initial orientation of the robot with respect to the previously obtained map. Thus, the crucial problem of the autonomous initialization and localization in robotics is solved. To enable wide-spread adoption, we provide an open source implementation of our algorithms and the modules for the robot operating system (ROS) for real environment. Furthermore, an open source simulation environment is created for applications which employ UWB/LiDAR data. © 2019 Chamber of Turkish Electrical Engineers.Conference Object Citation - Scopus: 1Pallet 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.Conference Object Citation - Scopus: 4Face Detection, Tracking and Recognition With Artificial Intelligence(Institute of Electrical and Electronics Engineers Inc., 2021) Tekkok S.C.; Soyunmez M.E.; Bostanci B.; Ekim P.O.Due to the COVID-19 pandemic, the face masks are mandatory everywhere so it might be beneficial to automatize the detection and tracking of whether people wear a mask or not with the help of the computer vision. Furthermore, it can be implemented on mobile robots as well. Additionally, face recognition of people is discussed with two different techniques which are based on neural networks and eigenface approach in this study. Hence, a complete system which can be used with mobile platforms has been achieved with the proposed procedure. © 2021 IEEE.Article Localization and Initialization Algorithms Based on Uwb, Lidarand Odometry for Robotic Applications With Ros Ecosystem(2020) Ekim, Pınar OğuzThis paper describes the initialization problem along with the localization problem over the Turtlebot3 and many more mobile robots.The least squares techniques and the squared range measurements obtained from ultra-wide band (UWB) sensors are used forcalculating the initial robot position. Then by exploiting the initial position, Light Detection and Ranging (LiDAR) scans and scanmatching technique have been proposed to find the initial heading. Thus, the autonomous pose initialization, which is an importantproblem in robotic applications, is solved. The Extended Kalman Filter, which fuses UWB range measurements, odometry andAdaptive Monte Carlo Localization (AMCL) pose information, is adopted to localize the robot during its trajectory. New moduleshave been implemented for Robot Operating Systems (ROS) for real and simulation environments and they are made to be opensource to enable wide-spread adoption. The simulation results have shown that the proposed method’s Root Mean Square Error(RMSE) is 3 cm and it’s almost twice better in accuracy than the benchmarked method.
