Scopus İndeksli Yayınlar Koleksiyonu
Permanent URI for this collectionhttps://hdl.handle.net/20.500.12573/395
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Article Citation - Scopus: 6Wind Turbine Inspection With Drone: Advantages and Disadvantages(Erol Kurt, 2023-03-31) Tanrıverdi, Harun; Karakuş, Güzide; Ulukan, AhmetThe facilities on wind energy generation are increasingly finding usage areas in line with the ecologically friendly energy generation approach. One of the important activities of wind power generation facilities, which have high investment cost, low operating cost and low environmental impact is the maintenance and repair of wind turbines. A preventive maintenance approach is dominant to reduce maintenance times and eliminate lost time in wind turbines. Damage inspection of turbines has been evolved from tower crane access, rope access, camera viewing, and other applications to image with manual drones over the years. However, when these methods are evaluated within the framework of criteria such as cost, performance, occupational safety and data reliability, they are still insufficient and the need for inspection with autonomous drones arises. The advantages and disadvantages of autonomous drones used in the determination of damage in wind turbines are analyzed and the results are considered to contribute to the practitioners operating in the sector and academicians working in the field. © 2023 Elsevier B.V., All rights reserved.Book Part Citation - Scopus: 3Deep Learning Based Formation Control of Drones(Springer Science and Business Media Deutschland GmbH, 2021) Kabore, Kader Monhamady; Guler, SametRobot swarms can accomplish demanding missions fast, efficiently, and accurately. For a robust operation, robot swarms need to be equipped with reliable localization algorithms. Usually, the global positioning system (GPS) and motion capture cameras are employed to provide robot swarms with absolute position data with high precision. However, such infrastructures make the robots dependent on certain areas and hence reduce robustness. Thus, robots should have onboard localization capabilities to demonstrate a swarm behavior in challenging scenarios such as GPS-denied environments. Motivated by the need for a reliable onboard localization framework for robot swarms, we present a distance and vision-based localization algorithm integrated into a distributed formation control framework for three-drone systems. The proposed approach is established upon the bearing angles and the relative distances between the pairs of drones in a cyclic formation where each drone follows its coleader. We equip each drone with a monocular camera sensor and derive the bearing angle between a drone and its coleader with the recently developed deep learning algorithms. The onboard measurements are then relayed back to the formation control algorithm in which every drone computes its control action in its own frame based on its neighbors only, forming a completely distributed architecture. The proposed approach enables three-drone systems to perform in coordination indepen- dent of any external infrastructure. We validate the performance of our approach in a realistic simulation environment. © 2021 Elsevier B.V., All rights reserved.