Elektrik - Elektronik Mühendisliği Bölümü Koleksiyonu

Permanent URI for this collectionhttps://hdl.handle.net/20.500.12573/202

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94.8 Km-Range Direct Detection Fiber Optic Distributed Acoustic Sensor
(IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA, 01.01.2019) Uyar, Faruk; Onat, Talha; Unal, Canberk; Unal, Canberk; Ozdur, Ibrahim; Ozbay, Ekmel; 0000-0003-3552-1650; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü
This work demonstrates an ultra-long range direct detection fiber optic distributed acoustic sensor which can detect vibrations at a distance of 94.8 km with 10 m resolution along the sensing fiber. (C) 2019 The Author(s)
Absolute phase noise analysis of a harmonically modelocked semiconductor laser
(Optica Publishing Group (formerly OSA), 2017) Ozharar, Sarper; Ozdur, Ibrahim; 0000-0001-6452-0804; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü; Ozdur, Ibrahim
We have designed and built a fiber coupled semiconductor laser at 1550 nm, which is harmonically mode-locked at 10 GHz by an external RF oscillator. The absolute phase noise of the laser is measured and discussed for two different cavity lengths.
Absorption enhancement by semi-cylindrical-shell-shaped structures for an organic solar cell application
(OPTICAL SOC AMER, 2010 MASSACHUSETTS AVE NW, WASHINGTON, DC 20036 USA, 2020) Hah, Dooyoung; 0000-0002-1290-0597; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü
Organic solar cells are attractive for various applications with their flexibility and low-cost manufacturability. In order to increase their attractiveness in practice, it is essential to improve their energy conversion efficiency. In this work, semi-cylindrical-shell-shaped structures are proposed as one of the approaches, aiming at absorption enhancement in an organic solar cell. Poly(3-hexylthiophene-2,5-diyl) blended with indene-C60 bisadduct (P3HT:ICBA) is considered as the active layer. Light coupling to the guided modes and a geometrical advantage are attributed to this absorption enhancement. Finite-difference time-domain methods and finite element analysis are used to examine the absorption spectra for two types of devices, i.e., a debossed type and an embossed type. It is shown that absorption enhancement increases as the radius of the cylinder increases, but reaches a saturation at about 4-mu m radius. The average absorption enhancement with an active layer thickness of 200 nm and radius of 4 mu m, and for incidence angles between 0 degrees and 70 degrees, is found as 51%-52% for TE-polarized input and as 30%-33% for TM-polarized input when compared to a flat structure. Another merit of the proposed structures is that the range of incidence angles where the integrated absorption is at the level of the normal incidence is significantly broadened, reaching 70 degrees-80 degrees. This feature can be highly useful especially when organic solar cells are to be placed around a round object. The study results also exhibit that the proposed devices bear broadband absorption characteristics. (C) 2020 Optical Society of America
Active control of the nanoparticle self-assembly for photonic applications
(META Conference, 2023) Erdem, Talha; 0000-0003-3905-376X; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü; Erdem, Talha
Colloidal nanoparticles enable collective utilization of the inherent properties of the nanoparticles. Furthermore, their collective optical response can be fine-tuned employing DNA-driven self-assembly. Here, we present that the optical transmission of self-assembled DNA-functionalized gold nanoparticle network can be actively manipulated using an external optical excitation. We also show control of optical polarization of emitted light from semiconducting supraparticle networks hybridized with magnetic supraparticles. These results prove the potential of programmed nanoparticle self-assembly in tailoring optical features of colloidal systems.
Aerial Swarms: Recent Applications and Challenges
(Springer, 2021) Mohamed Abdelkader; Samet Güler; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü; Güler, Samet
Purpose of review: Currently, there is a large body of research on multi-agent systems addressing their different system theoretic aspects. Aerial swarms as one type of multi-agent robotic systems have recently gained huge interest due to their potential applications. However, aerial robot groups are complex multi-disciplinary systems and usually research works focus on specific system aspects for particular applications. The purpose of this review is to provide an overview of the main motivating applications that drive the majority of research works in this field, and summarize fundamental and common algorithmic components required for their development. Recent findings: Most system demonstrations of current aerial swarms are based on simulations, some have shown experiments using few 10 s of robots in controlled indoor environment, and limited number of works have reported outdoor experiments with small number of autonomous aerial vehicles. This indicates scalability issues of current swarm systems in real world environments. This is mainly due to the limited confidence on the individual robot's localization, swarm-level relative localization, and the rate of exchanged information between the robots that is required for planning safe coordinated motions. Summary: This paper summarizes the main motivating aerial swarm applications and the associated research works. In addition, the main research findings of the core elements of any aerial swarm system, state estimation and mission planning, are also presented. Finally, this paper presents a proposed abstraction of an aerial swarm system architecture that can help developers understand the main required modules of such systems.
Air-stable, nanostructured electronic and plasmonic materials from solution-processable, silver nanocrystal building blocks
(American Chemical Society, 2014) Fafarman, Aaron T.; Hong, Sung-Hoon; Oh, Soong Ju; Caglayan, Humeyra; Ye, Xingchen; Diroll, Benjamin T.; Engheta, Nader; Murray, Christopher B.; Kagan, Cherie R.; 0000-0002-0656-614X; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü; Caglayan, Humeyra
Herein we describe a room-temperature, chemical process to transform silver nanocrystal solids, deposited from colloidal solutions, into highly conductive, corrosion-resistant, optical and electronic materials with nanometer-scale architectures. After assembling the nanocrystal solids, we treated them with a set of simple, compact, organic and inorganic reagents: ammonium thiocyanate, ammonium chloride, potassium hydrogen sulfide, and ethanedithiol. We find that each reagent induces unique changes in the structure and composition of the resulting solid, giving rise to films that vary from insulating to, in the case of thiocyanate, conducting with a remarkably low resistivity of 8.8 × 10-6 ·cm, only 6 times that of bulk silver. We show that thiocyanate mediates the spontaneous sintering of nanocrystals into structures with a roughness of less than 1/10th of the wavelength of visible light. We demonstrate that these solution-processed, low-resistivity, optically smooth films can be patterned, using imprint lithography, into conductive electrodes and plasmonic mesostructures with programmable resonances. We observe that thiocyanate-treated solids exhibit significantly retarded atmospheric corrosion, a feature that dramatically increases the feasibility of employing silver for electrical and plasmonic applications.
Alçaltıcı/Yükseltici Dc/Dc/Ac Eviricilerle Yüksek Performanslı Anahtarlamalı Relüktans Motoru Sürücü Sistemi Tasarımı Ve Gerçeklemesi
(2021) Tekgün, Burak; Boynuegri, Ali Rifat; Yaşa , Yusuf; Alan, Irfan; 0000-0003-2720-8816; 0000-0001-7995-0540; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü; Tekgün, Burak; Alan, Irfan
Anahtarlamalı relüktans motorları (ARM) 1800?lü yılların ortalarında keşfedilmesine rağmen, 1960?lı yıllarda yarı iletken anahtarların icat edilmesine kadar potansiyeli anlaşılamamış makinalardır. Modern yarı iletken teknolojisinin icadı ve gelişmesi ile birlikte ARM?lerin kullanımı yaygınlaşmıştır. ARM?ler basit yapıları, düşük üretim maliyetleri ve sağlamlıklarından dolayı birçok uygulamada tercih edilmişlerdir. Geleneksel olarak ARM, her bir faz için iki yarı iletken anahtar ve iki diyot kullanılarak oluşturulan sürücülerle sabit giriş gerilimi işlenerek, sırasıyla fazlar enerjilendirilmektedir. Faz sargılarındaki akımın enerjilendirilme esnasında yükselme süresi ve enerji kesildiği durumdaki akımın azalma süresi DC bara voltajına bağlıdır. Bu durum uygulamalarda enerjilendirme süresinin akımın sıfıra gitme süresi de göz önüne alınıp kısa tutulmasına, dolayısıyla komütasyon esnasında düşük tork üretimine, yüksek tork salınımına ve ortalama tork üretiminde azalmaya sebep olmaktadır. Bu projede, geleneksel sürücü topolojisinden farklı olarak ARM, bir DC/DC dönüştürücü ve tek fazlı bir tam-köprü evirici yardımı ile ideale yakın bir enerjilendirme akımı oluşturularak ARM daha yüksek performans ile kontrol edilmesi sağlanmıştır. Projede önerilen ARM sürücüsü her bir fazı bir DC/DC dönüştürücü ve bir tam-köprü evirici içeren modüler yapılı sürücülerden oluşmaktadır. Önerilen sürücü yapısını geleneksel ARM topolojilerinden ayıran özelliği DC/DC dönüştürücü devresidir. Burada makinanın faz sargılarının ihtiyaç duyduğu akım dalga şekli DC/DC dönüştürücü ile sağlanmaktadır. Tork üretiminin pozitif olabilmesi için stator ve rotor kutuplarının tam hizalandığı andan kısa bir süre önce negatif gerilim uygulanarak, faz akımının hızlı bir şekilde kesilmesi gerekmektedir. Bu durumda ise gerilim önerilen devredeki tam-köprü devresi yardımıyla tersine çevrilerek ve DC/DC dönüştürücünün çıkış gerilimi en yüksek seviyesine getirilmek suretiyle akımın hızlı şekilde sıfıra inmesi sağlanmıştır ve böylelikle makinanın performansı artmıştır. sadece DC/DC çevirici katında yüksek frekanslı anahtarlama olduğundan anahtarlama kayıplarının azalarak ve geleneksel topolojiye göre daha yüksek verim sağlanmıştır. Önerilen sürücü sisteminin AC motorların sürücüleri olarak yenilenebilir enerji sistemlerinde ara yüz elemanı olarak uygulanabilir olması, arıza giderme zamanında önemli ölçüde azalmaya neden olarak üretimdeki sürdürülebilirliğin artırılmasına destek olacağı öngörülmektedir.
AlN Piezoelectric Quad-Actuators for 2D Optical Micro Scanning
(TAYLOR & FRANCIS LTD, 2022) Hah, Dooyoung; 0000-0002-1290-0597; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü; Hah, Dooyoung
Piezoelectric actuation has been one of the frequent choices for optical micro scanning. In most of the cases, lead zirconate titanate (PZT) has been used as the piezoelectric material. However, PZT has a potential issue in biomedical applications due to the content of lead. For this, AlN can be used as an alternative. The main drawback of AlN is its low piezoelectric coefficients. In order to overcome such a drawback, this paper presents a novel actuator configuration, designed for a quasi-static operation mode. Quad-actuators and meander-shaped hinges are the essence of the proposed actuator configuration. Numerical simulation study is carried out to prove the concept of the device. The study also shows that the proposed scanner can have the optical scan angle of 9 degree at a quasi-static mode. Two different scan modes, a raster-like mode and a Lissajous mode are tested, demonstrating the two-dimensional scanning capability of the device.
Amplitude noise suppression by intracavity phase modulation in a harmonically mode-locked laser
(ELSEVIER SCI LTD, THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, OXON, ENGLAND, 2018) Ozharar, Sarper; Ozdur, Ibrahim; 0000-0001-6452-0804; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü
A fiber coupled semiconductor ring laser that employs both an amplitude and a phase modulator was built and actively harmonic mode-locked at a repetition rate of 10 GHz. The phase modulator was driven at the cavity fundamental frequency and its effects on the optical spectrum and the optical pulse train were analyzed. The intracavity phase modulation at the cavity fundamental frequency resulted in 40% lower optical pulse amplitude fluctuations and improved the stability of the optical spectrum. (C) 2018 Elsevier Ltd. All rights reserved.
Analysis of electret-based vibration energy harvesting devices with curved-beam hinges
(SAGE Publications Ltd, 2023) Hah, Dooyoung; 0000-0002-1290-0597; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü; Hah, Dooyoung
Recently, vibration energy harvesting devices have gained growing interests. One of the main requirements for them is a broad bandwidth owing to stochastic spectral characteristics of the general vibration sources. Among various approaches for wide bandwidth, curved-beam hinges are quite attractive due to their simple structures. Although there have been several reports on curved beams, a more detailed study is needed. The device under study is an electret-based one with balanced comb-drive configuration. The whole system is modeled by using nonlinear stochastic differential equations. The numerical analysis results show that there is an optimum curve height for maximum power output, which depends on various conditions, such as external vibration strength, comb-drive dimensions, and initial electret charges. At the external acceleration magnitude of 0.02g and 0.05g, the device with curved beams can produce up to 2.9 times and 4.8 times higher power output, respectively, than one with straight beams for given device geometries. To the contrary, at lower and higher vibration magnitudes, straight-beam devices harvest more energy than curved-beam ones. Therefore, it can be concluded that the curved beam height needs to be carefully determined based on the conditions of the application, especially on the characteristics of the external vibration sources.
Analysis of oscillator phase noise effect on high order QAM links
(SPRINGER, VAN GODEWIJCKSTRAAT 30, 3311 GZ DORDRECHT, NETHERLANDS, 2020) Bicici, Cagri; Ozdur, Ibrahim; Cerezci, Osman; 0000-0001-6624-4874; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü
In this work, the effect of oscillator phase noise on the bit error rate (BER) for high order QAM communication systems is analyzed. Two high frequency oscillators are designed, built and tested to get real phase noise data, and a BER simulation of a 1024 QAM signal through a super-heterodyne frequency down-converter is implemented using the measured data from the two oscillators as local oscillator sources for the down-converter. A third frequency source is also added to the simulation to visualize the dramatic effect of phase noise on the system BER analysis.
Analytical design of MEMS variable capacitors based on shaped-finger comb-drives
(SPRINGER HEIDELBERG, 2022) Hah, Dooyoung; 0000-0002-1290-0597; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü; Dooyoung, Hah
A variable capacitor is one of the widely used components in radio frequency (RF) circuits. Variable capacitors can benefit from the microelectromechanical systems (MEMS) technology, to be equipped with attractive characteristics such as high quality factor and wide tuning range. One of the design goals for MEMS varactors has been to realize linear capacitance-voltage (C-V) characteristics, for which a design method is proposed in this paper, based on shaped-finger comb-drive actuators. The shaped-finger design method, originally developed for a tunable optical filter application by the author, is redeveloped in this work for a linear C-V varactor. Moreover, the conformal mapping method is employed in calculation of capacitances, making the whole design process more time-efficient, being almost all-analytical with the minimum usage of numerical analysis methods. Effects of sense capacitor finger shapes to the optimized drive capacitor finger shapes and the corresponding C-V characteristics are investigated as well. Variable capacitors with the shaped-finger design show linearity factor (LF)-defined as the maximum deviation from the perfect linear relationship-as good as 0.4%, enormously improved from that of the conventional constant-finger-gap devices (LF: 49.9%). Further probed by 3-D numerical analysis, the C-V characteristics of the designed variable capacitor show LF better than 2.62% in the case of constant-gap sense capacitors, and as good as 0.77% in the case of shaped-finger sense capacitors. Versatility of the design method is further demonstrated by presenting a varactor for linear resonant frequency-voltage (f-V) characteristics in voltage-controlled oscillator (VCO) applications. Finally, effects of etch bias, one of common fabrication imperfections, to the linearity of C-V characteristics are studied. The developed analytical design method with shaped fingers can find a wide range of applications where comb-drive actuators are used.
An Approximate Spectral Clustering Ensemble for High Spatial Resolution Remote-Sensing Images
(IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2015) Tasdemir, Kadim; Yildirim, Isa; Moazzen, Yaser; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü; Yildirim, Isa
Unsupervised clustering of high spatial resolution remote-sensing images plays a significant role in detailed landcover identification, especially for agricultural and environmental monitoring. A recently promising method is approximate spectral clustering (SC) which enables spectral partitioning for large datasets to extract clusters with distinct characteristics without a parametric model. It also facilitates the use of various information types via advanced similarity criteria. However, it requires an empirical selection of a similarity criterion optimal for the corresponding application. To address this challenge, we propose an approximate SC ensemble (ASCE2) which fuses partitionings obtained by different similarity representations. Contrary to existing spectral ensembles for remote-sensing applications, the proposed ASCE2 employs neural gas quantization instead of random sampling, advanced similarity criteria instead of traditional distance-based Gaussian kernel with different decay parameters, and a two-level ensemble. We evaluate the proposed ASCE2 with three measures (accuracy, adjusted Rand index, and normalized mutual information) using five remote-sensing images, two of which are commonly available. We apply the ASCE2 in two applications for agricultural monitoring: 1) land-cover identification to determine orchard fields using a WorldView-2 image (0.5-m spatial resolution) and 2) finding lands in good agricultural condition using multitemporal RapidEye images (5-m spatial resolution). Experimental results indicate a significant betterment of the resulting partitionings obtained by the proposed ensemble, with respect to the evaluation measures in these applications.
Arrays of multi-color emitting cesium lead halide perovskite nanocrystals and efficient white light generation by tailored anion exchange reactions and electrohydrodynamic jet printing
(Optica Publishing Group (formerly OSA), 2018) Altintas, Yemliha; Torun, Ilker; Yazici, Ahmet Faruk; Beskazak, Emre; Onses, M. Serdar; Mutlugun, Evren; 0000-0003-2747-7856; 0000-0003-3715-5594; AGÜ, Mühendislik Fakültesi, Malzeme Bilimi ve Nanoteknoloji Mühendisliği Bölümü; Altintas, Yemliha; Yazici, Ahmet Faruk; Beskazak, Emre; Mutlugun, Evren
We employ highly efficient and narrow band emitter Cesium-lead-halide perovskite nanocrystals, optimized by the anion exchange method, for efficient white light generation by patterning multiple lines of different colors via proposed electrohydrodynamic jet printing.
ATOM: AI-Powered Sustainable Resource Management for Serverless Edge Computing Environments
(IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2024) Golec, Muhammed; Gill, Sukhpal Singh; Cuadrado, Felix; Parlikad, Ajith Kumar; Xu, Minxian; Wu, Huaming; Uhlig, Steve; AGÜ, Fen Bilimleri Enstitüsü, Elektrik ve Bilgisayar Mühendisliği Ana Bilim Dalı; Golec, Muhammed
Serverless edge computing decreases unnecessary resource usage on end devices with limited processing power and storage capacity. Despite its benefits, serverless edge computing's zero scalability is the major source of the cold start delay, which is yet unsolved. This latency is unacceptable for time-sensitive Internet of Things (IoT) applications like autonomous cars. Most existing approaches need containers to idle and use extra computing resources. Edge devices have fewer resources than cloud-based systems, requiring new sustainable solutions. Therefore, we propose an AI-powered, sustainable resource management framework called ATOM for serverless edge computing. ATOM utilizes a deep reinforcement learning model to predict exactly when cold start latency will happen. We create a cold start dataset using a heart disease risk scenario and deploy using Google Cloud Functions. To demonstrate the superiority of ATOM, its performance is compared with two different baselines, which use the warm-start containers and a two-layer adaptive approach. The experimental results showed that although the ATOM required more calculation time of 118.76 seconds, it performed better in predicting cold start than baseline models with an RMSE ratio of 148.76. Additionally, the energy consumption and CO2 emission amount of these models are evaluated and compared for the training and prediction phases.
Automated quantification of immunomagnetic beads and leukemia cells from optical microscope images
(ELSEVIER SCI LTD, THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, OXON, ENGLAND, 2019) Uslu, Fatma; Icoz, Kutay); Tasdemir, Kasim; Yilmaz, Bulent; 0000-0003-4542-2728; 0000-0002-0947-6166; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü
Quantification of tumor cells is crucial for early detection and monitoring the progress of cancer. Several methods have been developed for detecting tumor cells. However, automated quantification of cells in the presence of immunomagnetic beads has not been studied. In this study, we developed computer vision based algorithms to quantify the leukemia cells captured and separated by micron size immunomagnetic beads. Color, size based object identification and machine learning based methods were implemented to quantify targets in the images recorded by a bright field microscope. Images acquired by a 40x or a 20x objective were analyzed, the immunomagnetic beads were detected with an error rate of 0.0171 and 0.0384 respectively. Our results reveal that the proposed method attains 91.6% precision for the 40x objective and 79.7% for the 20x objective. This algorithm has the potential to be the signal readout mechanism of a biochip for cell detection. (C) 2019 Elsevier Ltd. All rights reserved.
Automatic blurry colon image detection using laplacian operator-based features
(ELSEVIER SCIENCE BV, PO BOX 211, 1000 AE AMSTERDAM, NETHERLANDS, 2018) Yilmaz, Bulen; Kacmaz, Rukiye Nur; Dundar, Mehmet Sait; 0000-0002-0336-4825; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü
Conference Conference: European Biotechnology Congress Location: Athens, GREECE Date: APR 26-28, 2018
Automatic body part and pose detection in medical infrared thermal images
(TAYLOR & FRANCIS LTD2-4 PARK SQUARE, MILTON PARK, ABINGDON OR14 4RN, OXON, ENGLAND, 2021) Ozdil, Ahmet; Yilmaz, Bulent; 0000-0002-6651-1968; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü; Ozdil, Ahmet; Yilmaz, Bulent
Automatisation and standardisation of the diagnosis process in medical infrared thermal imaging (MITI) is crucial because the number of medical experts in this area is highly limited.The current studies generally need manual intervention. One of the manual operations requires physician's determination of the body part and orientation. In this study automatic pose and body part detection on medical thermal images is investigated. The database (957 thermal images - 59 patients) was divided into four classes upper-lower body parts with back-front views. First, histogram equalization (HE) method was applied on the pixels only within the body determined using Otsu'sthresholding approach. Secondly, DarkNet-19 architecture was used for feature extraction, and principal component analysis (PCA) and t-distributed stochastic neighbour embedding (t-SNE) approaches for feature selection. Finally, the performances of various machine learning based classification methods were examined. Upper vs. lower body parts and back vs. front of upper body were classified with 100% accuracy, and back vs. front classification of lower body part success rate was 93.38%. This approach will improve the automatisation process of thermal images to group them for comparing one image with the others and to perform queries on the labeled images in a more user-friendly manner.
Automatic classification of Alzheimer disease based on MRI volumetric features
(ELSEVIER, RADARWEG 29, 1043 NX AMSTERDAM, NETHERLANDS, 2019) Dundar, M. S.; Yilmaz, B.; 0000-0002-0336-4825; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü
Automatic classification of Alzheimer disease based on MRI volumetric features
Autonomous UAV Navigation via Deep Reinforcement Learning Using PPO
(Institute of Electrical and Electronics Engineers Inc., 2022) Kabas, Bilal; AGÜ, Mühendislik Fakültesi, Elektrik - Elektronik Mühendisliği Bölümü; Kabas, Bilal
Bu çalışmada, otonom hareket edebilen insansız hava araçları (˙IHA) için bilgisayar görüsü tabanlı bir navigasyon sistemi önerilmektedir. Önerilen navigasyon sistemi yapay sinir ağı tabanlı yüksek seviyeli bir kontrolcüye dayalıdır. Bu çalışmada bir derin pekiştirmeli öğrenme yöntemi olan PPO (yakınsal politika optimizasyonu) algoritması kullanılarak yapay sinir ağının sürekli bir ödül fonksiyonu ile uçtan uca eğitilmesi sağlanmaktadır. Önerilen sistem, Unreal Engine ve Microsoft AirSim kullanılarak oluşturulan simülasyon ortamlarında farklı kamera modlarından alınan imge türleri için test edilmiştir. Bu çalışmada ele alınan navigasyon problemi için RGB kamera kullanılarak %96 başarı oranına ulaşılmıştır. RGB kameraların derinlik kameralarına göre daha hafif olması ve eğitilen yapay sinir ağının 170.000’den daha az parametreye sahip olması, önerilen navigasyon sisteminin mikro hava araçlarında kullanılmasını mümkün kılmaktadır. Kaynak kodları erişime açık olarak paylaşılmaktadır.

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