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Application of deep ensemble learning for palm disease detection in smart agriculture
(Cell Press, 2024) Savaş, Serkan
Agriculture has notably become one of the fields experiencing intensive digital transformation. Leveraging state-of-the-art techniques in this domain has provided numerous advantages for agricultural activities. Deep learning (DL) algorithms have proven beneficial in addressing various agricultural challenges. This study presents a comprehensive investigation into applying DL models for palm disease detection and classification in the context of smart agriculture. The research aims to address the limitations observed in previous studies and improve the robustness and generalizability of the results. To achieve this, a two-stage optimization methodology is employed. First, transfer learning and fine-tuning techniques are applied using various pretrained deep neural network models. The experiments show promising results, with all models achieving high accuracy rates during training and validation. Furthermore, their performance on unseen test data is also assessed to ensure practical applicability. The top-performing models are MobileNetV2 (92.48 %), ResNet (92.42 %), ResNetRS50 (92.30 %), and DenseNet121 (92.01 %). Second, a deep ensemble learning approach is applied to enhance the models' generalization capability further. The best-performing models with different criteria are combined using the ensemble technique, resulting in remarkable improvements in disease detection tasks. DELM1 emerges as the most successful ensemble model, achieving an ROC AUC Score of 99%. This study demonstrates the effectiveness of deep ensemble learning models in palm disease detection and classification for smart agriculture applications. The findings contribute to advancing disease detection systems and emphasize the potential of ensemble learning. The study provides valuable insights for future research, guiding the application of DL techniques to address critical agricultural challenges and improve crop health monitoring systems. Another contribution is combining various plant diseases and insect pest classes using diverse datasets. A comprehensive classification system is achieved by considering different disease classes and stages within the white scale category, improving the model's robustness.
An Attack Detection Framework Based on BERT and Deep Learning
(IEEE-Inst Electrical Electronics Engineers Inc, 2022) Seyyar, Yunus Emre; Yavuz, Ali Gökhan; Ünver, Halil Murat
Deep Learning (DL) and Natural Language Processing (NLP) techniques are improving and enriching with a rapid pace. Furthermore, we witness that the use of web applications is increasing in almost every direction in parallel with the related technologies. Web applications encompass a wide array of use cases utilizing personal, financial, defense, and political information (e.g., wikileaks incident). Indeed, to access and to manipulate such information are among the primary goals of attackers. Thus, vulnerability of the information targeted by adversaries is a vital problem and if such information is captured then the consequences can be devastating, which can, potentially, become national security risks in the extreme cases. In this study, as a remedy to this problem, we propose a novel model that is capable of distinguishing normal HTTP requests and anomalous HTTP requests. Our model employs NLP techniques, Bidirectional Encoder Representations from Transformers (BERT) model, and DL techniques. Our experimental results reveal that the proposed approach achieves a success rate over 99.98% and an F1 score over 98.70% in the classification of anomalous and normal requests. Furthermore, web attack detection time of our model is significantly lower (i.e., 0.4 ms) than the other approaches presented in the literature.
Almond (Prunus dulcis) varieties classification with genetic designed lightweight CNN architecture
(Springer, 2024) Yurdakul, Mustafa; Atabaş, İrfan; Taşdemir, Şakir
Almond (Prunus dulcis) is a nutritious food with a rich content. In addition to consuming as food, it is also used for various purposes in sectors such as medicine, cosmetics and bioenergy. With all these usages, almond has become a globally demanded product. Accurately determining almond variety is crucial for quality assessment and market value. Convolutional Neural Network (CNN) has a great performance in image classification. In this study, a public dataset containing images of four different almond varieties was created. Five well-known and light-weight CNN models (DenseNet121, EfficientNetB0, MobileNet, MobileNet V2, NASNetMobile) were used to classify almond images. Additionally, a model called 'Genetic CNN', which has its hyperparameters determined by Genetic Algorithm, was proposed. Among the well-known and light-weight CNN models, NASNetMobile achieved the most successful result with an accuracy rate of 99.20%, precision of 99.21%, recall of 99.20% and f1-score of 99.19%. Genetic CNN outperformed well-known models with an accuracy rate of 99.55%, precision of 99.56%, recall of 99.55% and f1-score of 99.55%. Furthermore, the Genetic CNN model has a relatively small size and low test time in comparison to other models, with a parameter count of only 1.1 million. Genetic CNN is suitable for embedded and mobile systems and can be used in real-life solutions.
Abc-based weighted voting deep ensemble learning model for multiple eye disease detection
(Elsevier Sci Ltd, 2024) Uyar, Kübra; Yurdakul, Mustafa; Taşdemir, Şakir
Background and objective: The unique organ that provides vision is eye and there are various disorders cause visual impairment. Therefore, the identification of eye diseases in early period is significant to take necessary precautions. Convolutional Neural Network (CNN), successfully used in various imageanalysis problems due to its automatic data-dependent feature learning ability, can be employed with ensemble learning. Methods: A novel approach that combines CNNs with the robustness of ensemble learning to classify eye diseases was designed. From a comprehensive evaluation of fifteen pre-trained CNN models on the Eye Disease Dataset (EDD), three models that exhibited the best classification performance were identified. Instead of employing traditional ensemble methods, these CNN models were integrated using a weighted-voting mechanism, where the contribution of each model was determined based on ABC (Artificial Bee Colony). The core innovation lies in our utilization of the ABC algorithm, a departure from conventional methods, to meticulously derive these optimal weights. This unique integration and optimization process culminates in ABCEnsemble, designed to offer enhanced predictive accuracy and generalization in eye disease classification. Results: To apply weighted-voting and determine the optimized-weights of the best-performing three CNN models, various optimization methods were analyzed. Average values for performance evaluation metrics were obtained with ABCEnsemble as accuracy 98.84%, precision 98.90%, recall 98.84%, and f1-score 98.85% applied to EDD. Conclusions: The eye diseases classification success of 93.17% obtained with DenseNet169 was increased to 98.84% by ABCEnsemble. The design of ABCEnsemble and the experimental findings of the proposed approach provide significant contributions to the related literature.
A review on the evolution of induction fluid heaters
(Taylor & Francis Inc, 2022) Keleşoğlu, Alper; Kanmaz, Nergiz; Ünver, Halil Murat; Ünver, Ümit
Fossil fuel firing heating systems will be substantially abandoned in the near future due to the zero-carbon goals. They will be replaced with heating systems that use renewable energy sources. Since the investment costs and area requirements of the renewable energy systems are high, the developments of highly efficient electric fluid heating systems have critical importance for a sustainable, environmentally friendly and clean heating. Among the electrical heating systems, induction heaters offer quite easy to use and better adaptability to most heating systems by allowing fluid heating without the necessity for contact. In this paper, a comprehensive review of the evolution of the induction fluid heaters is given by presenting the historical background. The most important milestones of induction fluid heating systems are presented. The development strategies suggested by the different papers including patents are investigated. The findings revealed that induction fluid heating systems, which reach approximately 100% thermal efficiency. These systems are introduced as follows: clean, non-emitting fluid heating system. Because of this, the study concludes that induction fluid heaters are one of the most promising alternatives to other electric heating systems in the long run.
A novel image watermarking scheme using ULV decomposition
(Elsevier Gmbh, 2022) Horasan, Fahrettin
Matrix decompositions play an important role in most of watermarking techniques. Especially Singular Value Decomposition (SVD) is one of the most preferred techniques. In addition, matrix decompositions such as Non-negative Matrix Factorization (NMF), QR, LU are some of the methods used in previous studies. In this study, a new scheme using ULV Decomposition (ULVD) technique is proposed as an alternative matrix decomposition. In this scheme, which is a frequency-based technique using R-level Discrete Wavelet Transform (DWT), the scaling factor is determined adaptively according to the cover image and watermark used. Another issue to be solved in watermarking studies is the False Positive Problem (FFP). For this purpose, a control mechanism is used against the FFP in watermark embedding and watermark extracting processes. In addition, the watermarking process is carried out in any size, depending on the size of the cover image. As a result, the performed experiments show that the proposed scheme provides high imperceptibility and robustness.
A novel model based collaborative filtering recommender system via truncated ULV decomposition
(Elsevier, 2023) Horasan, Fahrettin; Yurttakal, Ahmet Haşim; Gündüz, Selçuk
Collaborative filtering is a technique that takes into account the common characteristics of users and items in recommender systems. Matrix decompositions are one of the most used techniques in collabo-rative filtering based recommendation systems. Singular Value Decomposition (SVD) and Non-negative Matrix Factorization (NMF) based approaches are widely used. Although they are quite good at dealing with the scalability problem, their complexities are high. In this study, the Truncated-ULV decomposition (T-ULVD) technique was used as an alternative technique to improve the accuracy and quality of recom-mendations. The proposed method has been tested with Movielens 100 k, Movielens 1 M, Filmtrust, and Netflix datasets, which are widely used in recommender system researches. In order to assess the perfor-mance of the proposed model, standart metrics (MAE, RMSE, precision, recall, and F1 score) were used. It is seen that while progress was achieved in all experiments with the T-ULVD compared to the NMF, very close or better results were obtained compared to the SVD. Moreover, this study may guide T-ULVD based future studies on solving the cold-start problem and reducing the sparsity in collaborative filtering based recommender systems.& COPY; 2023 The Author(s). Published by Elsevier B.V. on behalf of King Saud University. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
A novel deep learning-based perspective for tooth numbering and caries detection
(Springer Heidelberg, 2024) Ayhan, Baturalp; Ayan, Enes; Bayraktar, Yusuf
ObjectivesThe aim of this study was automatically detecting and numbering teeth in digital bitewing radiographs obtained from patients, and evaluating the diagnostic efficiency of decayed teeth in real time, using deep learning algorithms.MethodsThe dataset consisted of 1170 anonymized digital bitewing radiographs randomly obtained from faculty archives. After image evaluation and labeling process, the dataset was split into training and test datasets. This study proposed an end-to-end pipeline architecture consisting of three stages for matching tooth numbers and caries lesions to enhance treatment outcomes and prevent potential issues. Initially, a pre-trained convolutional neural network (CNN) utilized to determine the side of the bitewing images. Then, an improved CNN model YOLOv7 was proposed for tooth numbering and caries detection. In the final stage, our developed algorithm assessed which teeth have caries by comparing the numbered teeth with the detected caries, using the intersection over union value for the matching process.ResultsAccording to test results, the recall, precision, and F1-score values were 0.994, 0.987 and 0.99 for teeth detection, 0.974, 0.985 and 0.979 for teeth numbering, and 0.833, 0.866 and 0.822 for caries detection, respectively. For teeth numbering and caries detection matching performance; the accuracy, recall, specificity, precision and F1-Score values were 0.934, 0.834, 0.961, 0.851 and 0.842, respectively.ConclusionsThe proposed model exhibited good achievement, highlighting the potential use of CNNs for tooth detection, numbering, and caries detection, concurrently.Clinical significanceCNNs can provide valuable support to clinicians by automating the detection and numbering of teeth, as well as the detection of caries on bitewing radiographs. By enhancing overall performance, these algorithms have the capacity to efficiently save time and play a significant role in the assessment process.
A Novel Deep Dense Block-Based Model for Detecting Alzheimer's Disease
(Mdpi, 2023) Çelebi, Selahattin Barış; Emiroğlu, Bülent Gürsel
Alzheimer's disease (AD), the most common form of dementia and neurological disorder, affects a significant number of elderly people worldwide. The main objective of this study was to develop an effective method for quickly diagnosing healthy individuals (CN) before they progress to mild cognitive impairment (MCI). Moreover, this study presents a unique approach to decomposing AD into stages using machine-learning architectures with the help of tensor-based morphometric image analysis. The proposed model, which uses a neural network built on the Xception architecture, was thoroughly assessed by comparing it with the most recent convolutional neural network (CNN) models described in the literature. The proposed method outperformed the other models in terms of performance, achieving an impressive average classification accuracy of 95.81% using the dataset. It also had very high sensitivity, specificity, accuracy, and F1 scores, with average scores of 95.41%, 97.92%, 95.01%, and 95.21%, respectively. In addition, it showed a superior classification ability compared to alternative methods, especially for MCI estimation, as evidenced by a mean area under the ROC curve (AUC) of 0.97. Our study demonstrated the effectiveness of deep-learning-based morphometric analysis using brain images for early AD diagnosis.
A New Hybrid Approach Using GWO and MFO Algorithms to Detect Network Attack
(Tech Science Press, 2023) Dalmaz, Hasan; Erdal, Erdal; Ünver, Halil Murat
This paper addresses the urgent need to detect network security attacks, which have increased significantly in recent years, with high accuracy and avoid the adverse effects of these attacks. The intrusion detection system should respond seamlessly to attack patterns and approaches. The use of metaheuristic algorithms in attack detection can produce near-optimal solutions with low computational costs. To achieve better performance of these algorithms and further improve the results, hybridization of algorithms can be used, which leads to more successful results. Nowadays, many studies are conducted on this topic. In this study, a new hybrid approach using Gray Wolf Optimizer (GWO) and Moth-Flame Optimization (MFO) algorithms was developed and applied to widely used data sets such as NSL-KDD, UNSW-NB15, and CIC IDS 2017, as well as various benchmark functions. The ease of hybridization of the GWO algorithm, its simplicity, its ability to perform global optimal search, and the success of the MFO algorithm in obtaining the best solution suggested that an effective solution would be obtained by combining these two algorithms. For these reasons, the developed hybrid algorithm aims to achieve better results by using the good aspects of both the GWO algorithm and the MFO algorithm. In reviewing the results, it was found that a high level of success was achieved in the benchmark functions. It achieved better results in 12 of the 13 benchmark functions compared. In addition, the success rates obtained according to the evaluation criteria in the different data sets are also remarkable. Comparing the 97.4%, 98.3%, and 99.2% classification accuracy results obtained in the NSL-KDD, UNSW-NB15, and CIC IDS 2017 data sets with the studies in the literature, they seem to be quite successful.
A comparative study for glioma classification using deep convolutional neural networks
(Amer Inst Mathematical Sciences-Aims, 2021) Özcan, Hakan; Emiroğlu, Bülent Gürsel; Sabuncuoglu, Hakan; Özdoğan, Selçuk; Soyer, Ahmet; Saygı, Tahsin
Gliomas are a type of central nervous system (CNS) tumor that accounts for the most of malignant brain tumors. The World Health Organization (WHO) divides gliomas into four grades based on the degree of malignancy. Gliomas of grades I-II are considered low-grade gliomas (LGGs), whereas gliomas of grades III-IV are termed high-grade gliomas (HGGs). Accurate classification of HGGs and LGGs prior to malignant transformation plays a crucial role in treatment planning. Magnetic resonance imaging (MRI) is the cornerstone for glioma diagnosis. However, examination of MRI data is a time-consuming process and error prone due to human intervention. In this study we introduced a custom convolutional neural network (CNN) based deep learning model trained from scratch and compared the performance with pretrained AlexNet, GoogLeNet and SqueezeNet through transfer learning for an effective glioma grade prediction. We trained and tested the models based on pathology-proven 104 clinical cases with glioma (50 LGGs, 54 HGGs). A combination of data augmentation techniques was used to expand the training data. Five-fold cross-validation was applied to evaluate the performance of each model. We compared the models in terms of averaged values of sensitivity, specificity, F1 score, accuracy, and area under the receiver operating characteristic curve (AUC). According to the experimental results, our custom-design deep CNN model achieved comparable or even better performance than the pretrained models. Sensitivity, specificity, F1 score, accuracy and AUC values of the custom model were 0.980, 0.963, 0.970, 0.971 and 0.989, respectively. GoogLeNet showed better performance than AlexNet and SqueezeNet in terms of accuracy and AUC with a sensitivity, specificity, F1 score, accuracy, and AUC values of 0.980, 0.889, 0.933, 0.933, and 0.987, respectively. AlexNet yielded a sensitivity, specificity, F1 score, accuracy, and AUC values of 0.940, 0.907, 0.922, 0.923 and 0.970, respectively. As for SqueezeNet, the sensitivity, specificity, F1 score, accuracy, and AUC values were 0.920, 0.870, 0.893, 0.894, and 0.975, respectively. The results have shown the effectiveness and robustness of the proposed custom model in classifying gliomas into LGG and HGG. The findings suggest that the deep CNNs and transfer learning approaches can be very useful to solve classification problems in the medical domain.
Determining the Location of Tibial Fracture of Dog and Cat Using Hybridized Mask R-CNN Architecture
(Kafkas Univ, Veteriner Fakultesi Dergisi, 2021) Baydan, Berker; Barışçı, Necaattin; Ünver, Halil Murat
The aim of this study is to hybridize the original backbone structure used in the Mask R-CNN framework, and to detect fracture location in dog and cat tibia fractures faster and with higher performance. With the hybrid study, it will be ensured that veterinarians help diagnose fractures on the tibia with higher accuracy by using a computerized system. In this study, a total of 518 dog and cat fracture tibia images that obtained from universities and institutions were used. F1 score value of this study on total dataset was found to be 85.8%. F1 score value of this study on dog dataset was found to be 87.8%. F1 score value of this study on cat dataset was found to be 77.7%. With the developed hybrid system, it was determined that the localization of the fracture in an average tibia image took 2.88 seconds. The results of the study showed that the hybrid system developed would be beneficial in terms of protecting animal health by making more successful and faster detections than the original Mask R-CNN architecture.
Detection of tibial fractures in cats and dogs with deep learning
(Ankara Univ Press, 2021) Baydan, Berker; Ünver, Halil Murat
The aim of this study is to classify tibia (fracture/no fracture) on whole/partial body digital images of cats and dogs, and to localize the fracture on fracture tibia by using deep learning methods. This study provides to diagnose fracture on tibia more accurately, quickly and safe for clinicians. In this study, a total of 1488 dog and cat images that were obtained from universities and institutions were used. Three different studies were implemented to detect fracture tibia. In the first phase of the first study, tibia was classified automatically as fracture or no fracture with Mask R-CNN. In the second phase, the fracture location in the fracture tibia image that obtained from the first phase was localized with Mask R-CNN. In the second study, the fracture location was directly localized with Mask R-CNN. In the third study, fracture location in the fracture tibia that obtained from the first phase of first study was localized with SSD. The accuracy and F1 score values in first phase of first study were 74% and 85%, respectively and F1 score value in second phase of first study was 84.5%. The accuracy and F1 score of second study were 52.1% and 68.5%, respectively. The F1 score of third study was 46.2%. The results of the research showed that the first study was promising for detection of fractures in the tibia and the dissemination of the fracture diagnosis with the help of such smart systems would also be beneficial for animal welfare.
Keyword Extraction for Search Engine Optimization Using Latent Semantic Analysis
(Gazi Univ, 2021) Horasan, Fahrettin
It is now difficult to access desired information in the Internet world. Search engines are always trying to overcome this difficulty. However, web pages that cannot reach their target audience in search engines cannot become popular. For this reason, search engine optimization is done to increase the visibility in search engines. In this process, a few keywords are selected from the textual content added to the web page. A responsible person who is knowledgeable about the content and search engine optimization is required to determine these words. Otherwise, an effective optimization study cannot be obtained. In this study, the keyword extraction from textual data with latent semantic analysis technique was performed. The latent semantic analysis technique models the relations between documents/sentences and terms in the text using linear algebra. According to the similarity values of the terms in the resulting vector space, the words that best represent the text are listed. This allows people without knowledge of the SEO process and content to add content that complies with the SEO criteria. Thus, with this method, both financial expenses are reduced and the opportunity to reach the target audience of web pages is provided.
U2-Net Segmentation And Multi-Label Cnn Classification Of Wheat Varieties
(Konya Teknik Univ, 2024) Argun, Mustafa Şamil; Türk, Fuat; Civelek, Zafer
There are many varieties of wheat grown around the world. In addition, they have different physiological states such as vitreous and yellow berry. These reasons make it difficult to classify wheat by experts. In this study, a workflow was carried out for both segmentation of wheat according to its vitreous/yellow berry grain status and classification according to variety. Unlike previous studies, automatic segmentation of wheat images was carried out with the U2-NET architecture. Thus, roughness and shadows on the image are minimized. This increased the level of success in classification. The newly proposed CNN architecture is run in two stages. In the first stage, wheat was sorted as vitreous-yellow berry. In the second stage, these separated wheats were grouped by multi-label classification. Experimental results showed that the accuracy for binary classification was 98.71% and the multi-label classification average accuracy was 89.5%. The results showed that the proposed study has the potential to contribute to making the wheat classification process more reliable, effective, and objective by helping the experts.
LSTM Network Based Sentiment Analysis for Customer Reviews
(Gazi Univ, 2022) Bilen, Burhan; Horasan, Fahrettin
Continuously increasing data bring new problems and problems usually reveal new research areas. One of the new areas is Sentiment Analysis. This field has some difficulties. The fact that people have complex sentiments is the main cause of the difficulty, but this has not prevented the progress of the studies in this field. Sentiment analysis is generally used to obtain information about persons by collecting their texts or expressions. Sentiment analysis can sometimes bring serious benefits. In this study, with singular tag-plural class approach, a binary classification was performed. An LSTM network and several machine learning models were tested. The dataset collected in Turkish, and Stanford Large Movie Reviews datasets were used in this study. Due to the noise in the dataset, the Zemberek NLP Library for Turkic Languages and Regular Expression techniques were used to normalize and clean texts, later, the data were transformed into vector sequences. The preprocessing process made 2% increase to the model performance on the Turkish Customer Reviews dataset. The model was established using an LSTM network. Our model showed better performance than Machine Learning techniques and achieved an accuracy of 90.59% on the Turkish dataset and an accuracy of 89.02% on the IMDB dataset.
A Linear Time Pattern Based Algorithm for N-Queens Problem
(Gazi Univ, 2022) Karabulut, Bergen; Erguzen, Atilla; Unver, Halil Murat
The n-queens problem is the placing of n number of queens on an nxn chessboard so that no two queens attack each other. This problem is important due to various usage fields such as VLSI testing, traffic control job scheduling, data routing, dead-lock or blockage prevention, digital image processing and parallel memory storage schemes mentioned in the literature. Besides, this problem has been used as a benchmark for developing new artificial intelligence search techniques. However, it is known that backtracking algorithms, one of the most frequently used algorithms to solve this problem, cannot produce all solutions in large n values due to the exponentially growing time complexity. Therefore, various methods have been proposed for producing one or more solutions, not all solutions for each n value. In this study, a pattern based approach that produces at least one unique solution for all n values (n>3) was detected. By using this pattern, a new algorithm that produces at least one unique solution for even very large n values in linear time was developed. The developed algorithm with.(n) time complexity produces quite faster solution to n-queens problem and even in some values, this algorithm produces (n-1)/2 unique solutions in linear time.
Analysis of Digital Participation with Text Mining Method and 2017 Turkey Social Media Referendum
(Istanbul Univ, 2022) Savaş, Serkan
Social networks have recently become a guiding factor for communities in many areas. Twitter is one of the most important platforms on the social network for setting instant agendas among these networks. Especially in the last decade, social networks have been used in political processes globally. Social networks have become important platforms for political parties to manage their propaganda and for the public to express their opinion. Based on this, a text mining study was carried out on Twitter during Turkey's 2017 referendum process. In the study, public opinions posted on Twitter were examined to reveal the effectiveness of political processes. For this purpose, the ratios of yes/no opinions, political parties, and political party leaders were analyzed, which are the preferred options of the referendum. With these analyses, an empirical study on social-cyber intelligence was carried out, and the potential of decision support systems for policymakers was revealed
Detection of Web Attacks Using the BERT Model
(IEEE, 2022) Seyyar, Yunus Emre; Yavuz, Ali Gökhan; Ünver, Halil Murat
This paper presents a web intrusion detection system that addresses security threats with the increasing use of web applications in almost all domains, as well as the increase in attacks against web applications. Our web intrusion detection system consists of a model that can distinguish between normal and abnormal URLs. In the URL analysis phase, our model uses the BERT model of Transformers, a prominent natural language processing technique. In the classification phase, we use a CNN model, which is a popular deep learning technique. We utilize the CSIC 2010, FWAF, and HttpParams datasets for training and testing. The experimental results show that our model performs the classification of normal and abnormal requests in 0.4 ms, which is an extremely fast detection time when compared to the reported results in the literature and an accuracy of over 96%.
Design of a Tracking Welding Robot Automation System for Manufacturing of Steam and Heating Boilers
(2018) Ersöz, Süleyman; Türker, Ahmet Kürşad; Aktepe, Adnan; Atabaş, İrfan; Kokoç, Melda
For satisfying customers companies want to respond to customer requests on time. At the same time, they expect production process to be completed with low cost and low loss. For this reason, the importance of mechanization and automation in production sector has increased. As a result, companies have begun to give more importance to robotic systems, which are the basic components of automation systems. Despite the likelihood of mistakes caused by physiological and mental states of humans, these systems can perform operations precisely without any variability. In this study, an application was carried out for the automation of welding process of industrial type boilers in different sizes and features. For products of which standard measurements or welding operations are difficult to perform manually, a robotic system was proposed in which measurement and welding operations can be performed automatically. In addition, operators are prevented from exposure to gas and light via the proposed system which enables a safer working condition.

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