Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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Article Citation - WoS: 1Sol-Derived Hydroxyapatite Ddip-Coating of a Porous Ti6al4v Powder Compact(Al-Farabi Kazakh State National University, 2009) Altındiş, Mustafa; Güden, Mustafa; Ni, ChaoyingA sintered porous Ti6Al4V powder compact with a mean pore size of 63 µm and an average porosity of 37±1% was dip-coated at soaking times varying between 1- and 5-minute using a sol-derived calcium Hydrooxyapatite (HA) powder. The coated compacts were heat-treated at 840 °C. The coating thickness was found to increase with increasing soaking time, from 1.87 µm at 1-minute soaking to 9 µm at 5-minute soaking on the average. It was shown that at increasing soaking times, the originally open pores started to close, while at low soaking times the Ti6Al4V particles were partially coated. The coating layer was shown to be nano porous and the depth of coating was observed to be relatively shallow: only few particles near the compact surface were HA-coated.Article Citation - WoS: 3Citation - Scopus: 7Completely Mechanical Quick Changeable Joints for Multipurpose Explosive Ordnance Disposal Robots(Cambridge University Press, 2009) Keçeci, Emin FarukThis paper is an investigation of completely mechanical quick changeable joints for multipurpose explosive ordnance disposal (EOD) robots. With the assistance of a quick changeable joint, an ordinary EOD robot becomes a multipurpose robot with an end effector which can be switched during the task. This exchangeable end effector permits the robot to perform more complex duties. Making the joint completely mechanical increases its capacity and decreases its complexity of control and risk of failure. In this paper, the design, manufacturing, and testing stages are explained for four quick changeable joints each possessing different physical working principles. The test results reveal the best design for a multipurpose EOD robot and give ideas for other uses of quick changeable joints. Employing the quick changeable joints in other mobile robot applications can increase a robot's capacity and efficiency.Article Citation - WoS: 9Citation - Scopus: 16Design and Prototype of Mobile Robots for Rescue Operations(Cambridge University Press, 2009) Keçeci, Emin FarukThis study concerns the design and prototype of four different mobile robot platforms for rescue robot operations after an earthquake. At first, a test field is constructed to represent a mildly damaged earthquake zone. The test field consists of eight different sections: sand, gravel, ditch, water, bridge, incline, decline, and turn. The mechanical structure, electronics, software, communication, and possible sensory systems are explained. After the robots are manufactured, they are physically tested for their performance in the test field for 18 different parameters. The test results show the effective body structure. Challenges of the rescue robot design are explained and future expectations are given.Conference Object Citation - WoS: 7Citation - Scopus: 12Adaptive Actuator Failure Compensation for Redundant Manipulators(Cambridge University Press, 2009) Keçeci, Emin Faruk; Tang, Xidong; Tao, GangThis paper presents an adaptive actuator failure compensation method, which compensates for uncertainties due to unknown actuator failures for redundant manipulator systems. The method is first developed for manipulators whose joints are concurrently actuated. While physical realization of concurrently actuated manipulators and the advantages of their use have been understood before, in this paper failure modeling, controller structure, and adaptive update rules for handling uncertainties from the actuator failures are studied. The adaptive actuator failure compensation method is then expanded for a cooperating multiple manipulator system with uncertain actuator failures. Dynamic equations of such a multiple manipulator system in the task space are derived and the adaptive actuator failure compensation problem is formulated in the task space, for which a compensation controller structure is proposed with stable adaptive parameter update laws. The adaptive control scheme is able to compensate for the uncertainties of system parameters and actuator failures in a more general sense. For both cases, closed-loop system stability and asymptotic tracking are proved, despite uncertain system failures.Article Citation - WoS: 38Citation - Scopus: 42Layered Clay/Epoxy Nanocomposites: Thermomechanical, Flame Retardancy, and Optical Properties(John Wiley and Sons Inc., 2008) Kaya, Elçin; Tanoğlu, Metin; Okur, SalihIn this study, layered clay/polymer nano-composites were developed based on epoxy resins and montmorillonite as the nanoplatelet reinforcement. Clay particles were treated with hexadecyltrimethylammonium chloride (HTCA) through an ion exchange reaction. In this way, Na+ interlay er cations of the clay is exchanged with onium cation of the surfactant that turns the hydrophilic clays (MMT) to organophilic (OMMT) characteristics. Thermal analysis results revealed that the glass transition temperature (Tg) and the dynamic mechanical properties including the storage and loss modulus of the neat epoxy resin increases by the incorporation of clay particles. It was also found that flame resistance of the polymer is improved by the addition of the clay particles.Article Citation - WoS: 17Citation - Scopus: 22Vibration Analysis of Rotating Tapered Timoshenko Beams by a New Finite Element Model(Hindawi Publishing Corporation, 2006) Yardımoğlu, BülentA new finite element model is developed and subsequently used for transverse vibrations of tapered Timoshenko beams with rectangular cross-section. The displacement functions of the finite element are derived from the coupled displacement field (the polynomial coefficients of transverse displacement and cross-sectional rotation are coupled through consideration of the differential equations of equilibrium) approach by considering the tapering functions of breadth and depth of the beam. This procedure reduces the number of nodal variables. The new model can also be used for uniform beams. The stiffness and mass matrices of the finite element model are expressed by using the energy equations. To confirm the accuracy, efficiency, and versatility of the new model, a semi-symbolic computer program in MATLAB® is developed. As illustrative examples, the bending natural frequencies of non-rotating/rotating uniform and tapered Timoshenko beams are obtained and compared with previously published results and the results obtained from the finite element models of solids created in ABAQUS. Excellent agreement is found between the results of new finite element model and the other results.Article Doe and Ann Models for Powder Mixture Packing(American Ceramic Society, 2007) Akkurt, Sedat; Romagnoli, Marcello; Sütçü, MücahitDesign of experiments (DOE) and artificial neural network (ANN) techniques were used to study packing of fused alumina powders composed of three different sizes of particles. The first is the mixture design technique that produces a polynomial model of the powder-packing system. While, the ANN technique is extensively used to model complex systems in many fields. The methodological approach used is mixture design, which can be used to study the influences of two or more additives. It is a structured and organized method for determining the relationship between the components and the output of that process. The mixture design approach permits optimization of size distribution to obtain a target value of porosity. Sensitivity analysis involves the use of the developed ANN model to predict outputs (porosity) at varying levels of the input factor effects.Article Citation - WoS: 121Citation - Scopus: 136Quantification of Caco3-Caso3·0.5h 2o-Caso4·2h2o Mixtures by Ftir Analysis and Its Ann Model(Elsevier Ltd., 2004) Böke, Hasan; Akkurt, Sedat; Özdemir, Serhan; Göktürk, E. Hale; Caner Saltık, Emine N.A new quantitative analysis method for mixtures of calcium carbonate (CaCO3), calcium sulphite hemihydrate (CaSO 3·1/2H2O) and gypsum (CaSO 4·2H2O) by FTIR spectroscopy is developed. The method involves the FTIR analysis of powder mixtures of several compositions on KBr disc specimens. Intensities of the resulting absorbance peaks for CaCO 3, CaSO3·1/2H2O and CaSO 4·2H2O at 1453, 980, 1146 cm-1 were used as input data for an artificial neural network (ANN) model, the output being the weight percent compositions of the mixtures. The training and testing data were randomly separated from the complete original data set. Testing of the model was done with successfully low-average error levels. The utility of the model is in the potential ability to use FTIR spectrum to predict the proportions of the three substances in unknown mixtures.Article Citation - WoS: 11Citation - Scopus: 14Coupled Bending-Bending Vibration of a Rotating Pre-Twisted Beam With Aerofoil Cross-Section and Flexible Root by Finite Element Method(Hindawi Publishing Corporation, 2004) Yardımoğlu, Bülent; Inman, Daniel J.The purpose of this paper is to extend a previously published beam model of a turbine blade including the centrifugal force field and root flexibility effects on a finite element model and to demonstrate the performance, accuracy and efficiency of the extended model for computing the natural frequencies. Therefore, only the modifications due to rotation and elastic root are presented in great detail. Considering the shear center effect on the transverse displacements, the geometric stiffness matrix due to the centrifugal force is developed from the geometric strain energy expression based on the large deflections and the increase of torsional stiffness because of the axial stress. In this work, the root flexibility of the blade is idealized by a continuum model unlike the discrete model approach of a combination of translational and rotational elastic springs, as used by other researchers. The cross-section properties of the fir-tree root of the blade considered as an example are expressed by assigning proper order polynomial functions similar to cross-sectional properties of a tapered blade. The correctness of the present extended finite element model is confirmed by the experimental and calculated results available in the literature. Comparisons of the present model results with those in the literature indicate excellent agreement.Article Citation - WoS: 8Citation - Scopus: 6Coupled Bending-Bending Vibration of a Pre-Twisted Beam With Aerofoil Cross-Section by the Finite Element Method(Hindawi Publishing Corporation, 2003) Yardımoğlu, Bülent; Inman, Daniel J.The present study deals with a finite element model for coupled bending-bending-torsion vibration analysis of a pretwisted Timoshenko beam with varying aerofoil cross-section. The element derived in this paper has two nodes, with seven degrees of freedom at each node. The nodal variables are transverse displacements, cross-section rotations and the shear angles in two planes and torsional displacement. The advantage of the present element is the exclusion of unnecessary derivatives of fundamental nodal variables, which were included to obtain invertable square matrix by other researchers, by choosing proper displacement functions and using relationship between cross-sectional rotation and the shear deformation. Element stiffness and mass matrices are developed from strain and kinetic energy expressions by assigning proper order polynomial expressions for cross-section properties and considering higher order coupling coefficients. The correctness of the present model is confirmed by the experimental results available in the literature. Comparison of the proposed model results with those in the literature indicates that a faster convergence is obtained. The results presented also provide some insights in the formulation by clearly indicating that higher order coupling terms have considerable influence on the natural frequencies.