Ph.D. in Mechatronics Engineering
- Sabanci University, Istanbul, Turkey (2009 - 2013)
- Thesis: Design, Characterization, Visualization and Navigation of Swimming Micro Robots
- Advisor: Prof. Serhat Yesilyurt
M.Sc. in Mechatronics Engineering
- Universitaet Siegen, Siegen, Germany, (2005 - 2008)
B.Sc. in Mechanical Engineering
- Istanbul Technical University, Istanbul, Turkey (2001 - 2005)
Biology provides many examples of fast motions that are mediated by latch systems to provide a rapid release of energy using an articulated system, distributed energy storage units, and soft actuation. In my recent work at Harvard University, I designed and manufactured mechanisms inspired by mantis shrimp and trap-jaw ants.
Origami-inspired printable robotics is a novel and efficient approach to fabricate lightweight, low-cost, fully functional 3D robots using 2D sheet materials and planar fabrication methods. I am working on a millimeter-scale Delta robot to valitate that conventional robot designs can be implemented using alternate manufacturing methods at smaller scales. This device can be implemented in millimeter-scale robotic applications that require high precision and accuracy, including micropositioning stages, novel wrist mechanisms for robotic arms, and micro-scale pick-and-place applications.
In addition, I have successfully demonstrated the laminate design and fabrication technology is a pop-up anchor device which is designed for an implantable ventricular assistive device.
Recent advances in micro- and nano-technology and their manufacturing systems enabled the development of small robots that can travel in human vasculature by means of external magnetic fields. Bio-inspired micro swimmers are promising tools for minimally invasive surgery, diagnosis, targeted drug delivery, and material removal inside the human body. However, in order to design and control these robots, their interaction with flow inside channels (diameter ranging from 1 mm to 1 cm) needs to be understood.
My PhD thesis emphasizes the in-channel swimming behavior of bacteria-inspired robots with helical tails in a low Reynolds number environment. I analyzed the locomotion with micro-particle image velocimetry and computational fluid dynamics models and achieved controlled navigation of micro swimmers inside fluid-filled channel networks using Hall-effect sensors. I demonstrated that the rotational flow field inside the channel, that occurs due to the motion of the swimmer, affects the swimming characteristics, validated the model for swimmers inside channels using experimental results. In addition, I showed that robots move faster and more efficiently near the wall than at the center of the channel and forces acting on microrobots are asymmetrical due to the chirality of the robot’s tail and its motion.
Locomotion of microorganisms
During my postdoctoral research at Brown University, I focused on the motility of microorganisms using real-time three dimensional tracking microscopy techniques. I helped develop a tracking algorithm to observe microorganisms at various sizes for 20 s whereas a typical run-and-tumble takes ~2 s. We performed tracking experiments specifically with the bacteria E. coli and the parasite T. brucei, in water-like and viscous media. Our research reveals the complicated motility modes of both of the microorganisms using the time history of their motion and the increase in flagellar bundling time with increasing viscosity due to decreasing rotation rates