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    Design and Implementation of Adaptive Vibration Filter for MEMS Based Low Cost IMU
    (IEEE, 2015) Guner, Ufuk; Canbolat, Huseyin; Unluturk, Ali
    In this work, an adaptive vibration filter was designed for Micro Electro - Mechanical System (MEMS) based on low cost Inertial Measurement Unit (IMU). Designed IMU has ten degree freedom. It consists of three axis accelerometer, three axis gyroscope, three axis magnetometer and one axis barometric pressure sensor. All sensors are connected to Cortex M3 based microcontroller. Kalman Filter was used as sensor fusion algorithm. Although Kalman filter could overcome many noise sources, it could give undesirable output signal when sensors, which are combined with Kalman filter, were affected by simultaneously same noise like as vibration noise. So in order to overcome the vibration affection of IMU, an Adaptive Noise Canceller (ANC) was designed and implemented for the IMU. In addition, an experimental setup was built to compare the IMU output with and without ANC.
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    Design and PID Control of Two Wheeled Autonomous Balance Robot
    (IEEE, 2013) Unluturk, Ali; Aydogdu, Omer; Guner, Ufuk
    In this study, a two-wheeled autonomous balance robot has been designed and implemented practically. A visual computer interface based on Qt-Creator has been created. Thanks to the computer interface, different control algorithms can be performed on the robot easily, control parameters can be set up online, filter algorithms in various structures can be tried and the reaction of these changeable values to the system can be observed. The effects of some controllers such as Proportional (P), Proportional-Integral (PI), Proportional-Integral-Derivative (PID) on developed robot have been viewed successfully. Kalman Filters have been used for a stable control of the system and it has seen that the system can balance itself for a long time with optimum PID control parameters obtained.