Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Article Enhancing trajectory-tracking accuracy of high-acceleration parallel robots by predicting compliant displacements(Cambridge University Press, 2025) Paksoy, Erkan; Dede, Mehmet Ismet Can; Kiper, GokhanFor precision-required robot operations, the robot's positioning accuracy, repeatability, and stiffness characteristics should be considered. If the mechanism has the desired repeatability performance, a kinematic calibration process can enhance the positioning accuracy. However, for robot operations where high accelerations are needed, the compliance characteristics of the mechanism affect the trajectory-tracking accuracy adversely. In this paper, a novel approach is proposed to enhance the trajectory-tracking accuracy of a robot operating at high accelerations by predicting the compliant displacements when there is no physical contact of the robot with its environment. Also, this case study compares the trajectory-tracking characteristics of an over-constrained and a normal-constrained 2degrees-of-freedom (DoF) planar parallel mechanism during high-acceleration operations up to 5 g accelerations. In addition, the influence of the end-effector's center of mass (CoM) position along the normal of the plane is investigated in terms of its effects on the proposed trajectory-enhancing algorithm.Conference Object Determination of Interfacial Heat Transfer Coefficient for a Mixed Convection Heat Transfer in a Vertical Channel Filled With Uniformly Heated Blocks(Begell House Inc., 2015) Çelik, Hasan; Mobedi, Moghtada; Manca,O.; Buonomo,B.The interfacial convective heat transfer coefficient of a periodic porous medium under mixed convection heat transfer is determined computationally by using volume averaging method. The porous medium consists of square blocks in inline arrangement. The continuity, momentum and energy equations are solved in dimensionless form for a representative elementary volume of porous medium and the velocity and temperature fields for different values of Richardson and Reynolds numbers are obtained. Based on the obtained results, the interfacial convective heat transfer coefficient is calculated by using volume average method. The temperature of the solid phase is considered uniform and different than the inlet temperature. A detailed discussion on the effect of the governing dimensionless parameters (i.e. Reynolds, Richardson numbers, and porosity) on the local and average interfacial Nusselt number is done. It is concluded that the local interfacial convective heat transfer coefficient increases with Reynolds number, however the rate of increase depends on Richardson number and porosity. The study is performed for two values of porosity of 0.51 and 0.94. © 2021, Begell House Inc. All rights reserved.Conference Object A Numerical Study on the Determination of the Effects of Pore To Throat Size Ratio on the Thermal Dispersion in Porous Media(Begell House, 2014) Özgümüş, Türküler; Mobedi, Moghtada; Özkol, ÜnverDirect pore-level numerical simulations are widely used to estimate macroscopic properties of fluid flow and heat transfer in porous media. Thermal dispersion is one of the most important macroscopic transport parameters for analyzing convective heat transfer in a porous medium. It should be known in order to predict the macroscopic temperature distribution. In the present study, a microscopic scale analysis is performed for a porous medium with periodic structure. A representative elementary volume is chosen from an infinite medium consists of rectangular rods in inline arrangement. The continuity and momentum equations are solved to obtain flow field and the energy equations for fluid and solid phases are solved to obtain microscopic temperature distributions in two phases. There are velocity and temperature deviations between macroscopic and microscopic local values. Volume averaging method is applied to the computed deviations and thermal dispersion conductivity of porous media is determined. The aim of this study is to analyze the effects of pore to throat size ratio on the longitudinal and transverse thermal dispersion in porous media. The study is performed for representative elementary volumes with different pore to throat size ratios and Reynolds numbers from 1 to 100. The study is performed for high porosity porous media (ε = 0.7 and 0.91). It is shown that the porosity and pore to throat size ratio have more influence on the transverse rather than longitudinal thermal dispersion. © 2014, Begell House Inc. All rights reserved.Book Part Citation - WoS: 1Citation - Scopus: 1A Historical Review of Polyhedral Linkages(Springer, 2024) Kiper, GökhanPolyhedral linkages are linkages that resemble polyhedral shapes at different configurations. This paper summarizes the necessary geometrical fundamentals of polyhedral geometry and presents a historical and critical review of the polyhedral linkage designs available in the literature. Basic definitions of polyhedral geometry and operations are needed to comprehend and design polyhedral linkages. First, early works on polyhedral linkages are presented, where flexible polyhedra with rigid faces and flexible edges are issued. The final part is reserved to conformal polyhedral linkages, which go through shape transformations while plane, dihedral and solid angles are preserved. Conformal polyhedral linkages are examined in four categories: 1) Jitterbug-like linkages with screwing polygonal links connected to each other with dihedral angle preserving links, 2) polyhedral linkages with planar kinematic chains in radial motion planes, 3) polyhedral linkages with planar kinematic chains on faces, that are connected to each other with dihedral angle preserving links, and 4) other conformal polyhedral linkages. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.Article Citation - WoS: 5Citation - Scopus: 5A Continuously Variable Transmission-Based Variable Stiffness Actuator for Phri: Design Optimization and Performance Verification(American Society of Mechanical Engineers, 2024) Mobedi, Emir; Dede, Mehmet İsmet CanPhysical human–robot interfaces (pHRIs) enabled the robots to work alongside the human workers complying with the regulations set for physical human–robot interaction systems. A variety of actuation systems named variable stiffness/impedance actuators (VSAs) are configured to be used in these systems’ design. Recently, we introduced a new continuously variable transmission (CVT) mechanism as an alternative solution in configuring VSAs for pHRI. The optimization of this CVT has significant importance to enhance its application area and to detect the limitations of the system. Thus, in this paper, we present a design optimization approach (an adjustment strategy) for this system based on the design goals, desired force, and minimization of the size of the system. To implement such design goals, the static force analysis of the CVT is performed and validated. Furthermore, the fabrication of the optimized prototype is presented, and the experimental verification is performed considering the requirements of VSAs: independent position and stiffness variation, and shock absorbing. Finally, the system is calibrated to display 6 N continuous output force throughout its transmission variation range. © 2024 by ASME.Conference Object Energy and Exergy Analysis of a Roof-Mounted Photovoltaic System in Gebze-Turkey(Springer, 2024) Khalejan, Seyed Hamed Pour Rahmati; Cankurt, Tolga; Dede, Mehmet İsmet CanThis study investigates the electrical and thermal exergy, power conversion efficiency and exergy efficiency of a roof-mounted photovoltaic (PV) system considering environmental parameters such as solar irradiation, ambient temperature and wind speed over a year. The values of solar exergy and solar potential are obtained by taking into account the solar insolation. Experimental and theoretical results indicate that wind speed and surface temperature have significant effects on the thermal exergy and exergy efficiency of solar PV systems. The mean solar potential in the region was found to be 93%. In addition, the electrical exergy was varied from 9145 W to 40460 W and the thermal exergy of PV systems was varied from 1639 W to 6193 W. While the range of PV power conversion efficiency varies from 6.15% to 11.56% over a year, the range of exergy efficiency varies from 5.31% to 9.78%. © 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.Article Citation - WoS: 18Citation - Scopus: 20Cold Plate Enabling Air and Liquid Cooling Simultaneously: Experimental Study for Battery Pack Thermal Management and Electronic Cooling(Elsevier, 2023) Coşkun, Turgay; Çetkin, ErdalThe temperature of cells varies greatly during dis/charge while their performance and lifetime are greatly affected by this fluctuation. Elevated temperatures may yield battery fire due to thermal runaway as well they accelerate ageing and capacity fade of cells. Thermal management systems are a necessity for electric vehicles to extend the lifetime of battery cells and eliminate any fire risks, especially for fast dis/charging applications. Here, we document a hybrid cold plate with a working fluid(s) of sole air or liquid as well as both of them. Hybridization of air and liquid cooling promises to minimize energy consumption requirements during a charge/ discharge cycle by combining the benefits of both thermal management strategies if energy management is controlled accordingly. The temperature of each cell can be kept below 30 degrees C with the proposed hybrid cooling heat exchanger, and the temperature difference between the cells is reduced by 30 % relative to liquid cooling. The maximum temperatures are decreased by 18 % and 3 % in hybrid cooling when compared to air and water cooling, respectively. Furthermore, a step function combining various discharge rates (1C and 3C) was employed in experiments to mimic a realistic situation, i.e. variable C-rate rather than constant. The results show that the temperature of the battery cells can be kept below 30 degrees C with air cooling for variable discharge rate and the effect of contact resistance should not be overlooked for liquid cooling. Furthermore, the possible use of the proposed hybrid cold plates is surveyed in the cooling of electronic devices which produce more and continuous heat than cells. Therefore, three resistance heaters with a capacity of 50W are used in experiments as well. The results show that the proposed cold plates could be used in both electronics cooling and battery thermal management with a control algorithm to switch between sole working fluid and combination modes which could be developed based on the results of this paper.Article Citation - WoS: 5Citation - Scopus: 5Investigation and Validation of the Flow Stress Equation and Damage Model Parameters of an Electron Beam Melted Ti6al4v Alloy With a Martensitic Phase(Elsevier, 2023) Güden, Mustafa; Bin Riaz, Arslan; Toksoy, Ahmet Kaan; Yıldıztekin, Murat; Erten, Hacer İrem; Çimen, Gülden; Hızlı, BurakThe Johnson and Cook flow stress and damage model parameters of an electron beam melt (EBM)-Ti64 alloy composed of & alpha;' (martensite) and & alpha;+& beta; and an extruded-annealed conventional Ti64 alloy were determined experimentally. The validities of the determined flow stress equations and damage model parameters were then verified by the numerical simulations of the compression tests on the Body Centered Cubic lattices produced using the same EBM parameters with the solid EBM samples. In addition, a compression flow stress equation was extracted from the small-size test specimens (1 and 2 mm diameter) taken directly from the struts of the as-built lattices. The microscopic observations, XRD analyses and hardness tests confirmed the presence of & alpha;& PRIME; phase in the EBM solid samples and in the struts of the BCC lattices, which reduced the ductility of the EBM solid specimens and struts compared to the conventional Ti64. Furthermore, the partially melt particles on the surfaces of the struts acted as the stress concentration sides for micro-cracking; hence, the compression flow stresses of the struts were found to be significantly lower than those of the as-built EBM solid specimens. The flow stress equation derived from the struts predicted more accurately the compression behavior of the lattices. The compression tests and models showed that early damage formation in the lattices was noted to decrease the initial peak and post peak stresses. As with the experiments, the initial damage occurred in the models with the separation of the nodes at the lattice cell surface edges. This resulted in an abrupt reduction in the stresses after the peak stress. The numerical lattices without damage showed a localized lattice deformation at the mid-sections and the stress increased continuously as a function of normal strain.Article Citation - WoS: 9Citation - Scopus: 13Analysis of Adhesively Bonded Joints of Laser Surface Treated Composite Primary Components of Aircraft Structures(Elsevier, 2023) Martin, Seçkin; Nuhoğlu, Kaan; Aktaş, Engin; Tanoğlu, Metin; İplikçi, Hande; Barışık, Murat; Yeke, Melisa; Türkdoğan, Ceren; Esenoğlu, Gözde; Dehneliler, SerkanThe performance of the adhesively bonded aerospace structures highly depends on the adhesion strength between the adhesive and adherents, which is affected by, in particular, the condition of the bonding surface. Among the various surface treatment methods, as state of the art, laser surface treatment is a suitable option for the CFRP composite structures to enhance the adhesion performance, adjusting the roughness and surface free energy with relatively minimizing the damage to the fibers. The aim of this study is the validation and evaluation of the adhesive bonding behavior of the laser surface-treated CFRP composite structures, using the finite element technique to perform a conservative prediction of the failure load and damage growth. Such objectives were achieved by executing both experimental and numerical analyses of the secondary bonded CFRP parts using a structural adhesive. In this regard, to complement physical experiments by means of numerical simulation, macro-scale 3D FEA of adhesively bonded Single Lap Joint and Skin-Spar Joint specimens has been developed employing the Cohesive Zone Model (CZM) technique in order to simulate bonding behavior in composite structures especially skin-spar relation in the aircraft wing-box.Article Citation - WoS: 15Citation - Scopus: 17Effects of Nanosecond Laser Ablation Parameters on Surface Modification of Carbon Fiber Reinforced Polymer Composites(SAGE Publications, 2023) Martin, Seçkin; İplikçi, Hande; Barışık, Murat; Türkdoğan, Ceren; Yeke, Melisa; Nuhoğlu, Kaan; Esenoğlu, Gözde; Tanoğlu, Metin; Aktaş, Engin; Dehneliler, Serkan; İriş, Mehmet ErdemRemoval of contaminants and top polymer layer from the surface of carbon-fiber-reinforced polymer (CFRP) composites is critical for high-quality adhesive-joining with direct bonding to the reinforcing fiber constituents. Surface treatment with a laser beam provides selective removal of the polymer matrix without damaging the fibers and increasing the wettability. However, inhomogeneous thermal properties of CFRP make control of laser ablation difficult as the laser energy absorbed by the carbon fibers is converted into heat and transmitted through the fiber structures during the laser operation. In this study, the effect of scanning speed and laser power on nanosecond laser surface treatment was characterized by scanning electron microscope images and wetting angle measurements. Low scanning speeds allowed laser energy to be conducted as thermal energy through the fibers, which resulted in less epoxy matrix removal and substantial thermal damage. Low laser power partially degraded the epoxy the surface while the high power damaged the carbon fibers. For the studied CFRP specimens consisting of unidirectional [45/0/?45/90]2s stacking of carbon/epoxy prepregs (HexPly®-M91), 100 mJ/mm2 generated by 10 m/s scanning speed and 30 W power appeared as optimum processing parameters for the complete removal of epoxy matrix from the top surface with mostly undamaged carbon fibers and super hydrophilic surface condition. © The Author(s) 2023.