Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Article Citation - WoS: 4Citation - Scopus: 7On Operational Space Tracking Control of Robotic Manipulators With Uncertain Dynamic and Kinematic Terms(American Society of Mechanical Engineers, 2019) Çetin, Kamil; Tatlıcıoğlu, Enver; Zergeroǧlu, ErkanIn this study, a continuous robust-adaptive operational space controller that ensures asymptotic end-effector tracking, despite the uncertainties in robot dynamics and on the velocity level kinematics of the robot, is proposed. Specifically, a smooth robust controller is applied to compensate the parametric uncertainties related to the robot dynamics while an adaptive update algorithm is used to deal with the kinematic uncertainties. Rather than formulating the tracking problem in the joint space, as most of the previous works on the field have done, the controller formulation is presented in the operational space of the robot where the actual task is performed. Additionally, the robust part of the proposed controller is continuous ensuring the asymptotic tracking and relatively smooth controller effort. The stability of the overall system and boundedness of the closed loop signals are ensured via Lyapunov based arguments. Experimental results are presented to illustrate the feasibility and performance of the proposed method.Conference Object Citation - WoS: 1Citation - Scopus: 2Development of an R-Cube Based General Purpose Haptic Device System(American Society of Mechanical Engineers, 2010) Bilgincan, Tunç; Dede, Mehmet İsmet CanA novel 6-Degree-of-Freedom (DoF) hybrid haptic device is presented in this paper. Hybrid mechanism consists of parallel kinematic structure, R-CUBE and a 3-DoF orientation mechanism. In our previous study, the original configuration of the R-CUBE mechanism was investigated. In this work, the original design of R-CUBE is reconfigured as a haptic mechanism and the final mechanism is reoriented in order to equally distribute the gravitational effects to all grounded actuators. Rotational motions of the end-effector are monitored through the 3-DoF orientation mechanism placed on the moving platform of the parallel platform. The design of this haptic device is suitable to reflect forces in translational motions, thus point-type of contact is available for this system. The designed device is manufactured utilizing various types of manufacturing processes, such as wire erosion, laser cutting, milling and turning. Finally manufactured mechanism is integrated with electromechanical components and tested for manipulability.Article Citation - WoS: 33Citation - Scopus: 35Thermal Dispersion in Porous Media - a Review on the Experimental Studies for Packed Beds(American Society of Mechanical Engineers, 2013) Özgümüş, Türküler; Mobedi, Moghtada; Özkol, Ünver; Nakayama, AkiraThermal dispersion is an important topic in the convective heat transfer in porous media. In order to determine the heat transfer in a packed bed, the effective thermal conductivity including both stagnant and dispersion thermal conductivities should be known. Several theoretical and experimental studies have been performed on the determination of the effective thermal conductivity. The aim of this study is to review the experimental studies done on the determination of the effective thermal conductivity of the packed beds. In this study, firstly brief information on the definition of the thermal dispersion is presented and then the reported experimental studies on the determination of the effective thermal conductivity are summarized and compared. The reported experimental methods are classified into three groups: (1) heat addition/removal at the lateral boundaries, (2) heat addition at the inlet/ outlet boundary, (3) heat addition inside the bed. For each performed study, the experimental details, methods, obtained results, and suggested correlations for the determination of the effective thermal conductivity are presented. The similarities and differences between experimental methods and reported studies are shown by tables. Comparison of the correlations for the effective thermal conductivity is made by using figures and the results of the studies are discussed. Copyright © 2013 by ASME.