Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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  • Conference Object
    Citation - Scopus: 1
    From Human-Centred To Humanity-Ecosystem Centred Design. How Can We Dialogue With Ai?
    (Cambridge University Press, 2024) Oğrak,Z.; Altıparmakoğulları,Y.
    With the swift entry of artificial intelligence (AI) into everyday life, human-product interactions are becoming increasingly complex. We suggest an ecosystem-minded, humanity-centered design approach to better understand this complexity. Simultaneously with the development of interaction types, discussions and developments on theories of mental models are crucial to understanding and improving the nature of these interactions. In this paper, we address the gap in mental model theories and extend Norman's conceptual model at three dialogue levels: dialogue in language, mind, and use. © 2024 Proceedings of the Design Society. All rights reserved.
  • Article
    Citation - WoS: 5
    Citation - Scopus: 4
    Design of a Novel Hybrid Cable-Constrained Parallel Leg Mechanism for Biped Walking Machines
    (Cambridge University Press, 2023) Demirel, M.; Kiper, G.; Carbone, G.; Ceccarelli, M.
    In this paper, a novel cable-constrained parallel mechanism is presented as a lightweight, low-cost leg mechanism design for walking machines to be used on flat surfaces. The proposed leg mechanism has three translational degrees of freedom. It is based on two specific hybrid kinematic topologies being herewith proposed. The paper reports the kinematic analysis formulation and a position performance evaluation to confirm the main characteristics of the proposed solutions. A 3D CAD model and simulations are carried out to demonstrate the feasibility of the proposed design for performing a human-like gait trajectory. A prototype has been built, and preliminarily tests have been conducted to confirm the motion capabilities of the proposed mechanism design. Then a second, enhanced prototype has been designed and built. An experimental validation is carried out for tracking a planar walking trajectory with the built prototypes by using a real-time PCI controller. Results are presented to validate the operation characteristics of the proposed mechanism and to prove its feasibility for legged walking machines. © The Author(s), 2023.
  • Article
    Citation - WoS: 7
    Citation - Scopus: 6
    Nonlinear Model Identification and Statistical Verification Using Experimental Data With a Case Study of the Ur5 Manipulator Joint Parameters
    (Cambridge University Press, 2022) Abedinifar, Masoud; Ertuğrul, Şeniz; Argüz, Serdar Hakan
    The identification of nonlinear terms existing in the dynamic model of real-world mechanical systems such as robotic manipulators is a challenging modeling problem. The main aim of this research is not only to identify the unknown parameters of the nonlinear terms but also to verify their existence in the model. Generally, if the structure of the model is provided, the parameters of the nonlinear terms can be identified using different numerical approaches or evolutionary algorithms. However, finding a non-zero coefficient does not guarantee the existence of the nonlinear term or vice versa. Therefore, in this study, a meticulous investigation and statistical verification are carried out to ensure the reliability of the identification process. First, the simulation data are generated using the white-box model of a direct current motor that includes some of the nonlinear terms. Second, the particle swarm optimization (PSO) algorithm is applied to identify the unknown parameters of the model among many possible configurations. Then, to evaluate the results of the algorithm, statistical hypothesis and confidence interval tests are implemented. Finally, the reliability of the PSO algorithm is investigated using experimental data acquired from the UR5 manipulator. To compare the results of the PSO algorithm, the nonlinear least squares errors (NLSE) estimation algorithm is applied to identify the unknown parameters of the nonlinear models. The result shows that the PSO algorithm has higher identification accuracy than the NLSE estimation algorithm, and the model with identified parameters using the PSO algorithm accurately calculates the output torques of the joints of the manipulator.
  • Article
    Citation - WoS: 7
    Citation - Scopus: 7
    Gravity Compensation of a 2r1t Mechanism With Remote Center of Motion for Minimally Invasive Transnasal Surgery Applications [article]
    (Cambridge University Press, 2023) Aldanmaz, Ataol Behram; Ayit, Orhan; Kiper, Gökhan; Dede, Mehmet İsmet Can
    This work addresses the gravity balancing of a 2R1T (2 rotations – 1 translation) mechanism with remote center of motion. A previously developed balancing solution is modified and applied to a prototype and test results are presented. The mechanism is an endoscope holder for minimally invasive transnasal pituitary gland surgery. In this surgery, the endoscope is inserted through a nostril of the patient through a natural path to the pituitary gland. During the surgery, it is vital for the manipulator to be statically balanced so that in case of a motor failure, the patient is protected against any harmful motion of the endoscope. Additionally, static balancing takes the gravitational load from the actuators and hence facilitates the control of the mechanism. The mechanism is a 2URRR-URR type parallel manipulator with three legs. The payload mass is distributed to the legs on the sides. By using counter-masses for two links of each leg, the center of mass of each leg is lumped on the proximal link which simplifies the problem to balancing of a two degree-of-freedom inverted pendulum. The two proximal links with the lumped mass are statically balanced via springs. Dynamic simulations indicate that when the mechanism is statically balanced, generated actuator torques are reduced by 93.5%. Finally, the balancing solution is implemented on the prototype of the manipulator. The tests indicate that the manipulator is statically balanced within its task space when the actuators are disconnected. When the actuators are connected, the torque requirements decrease by about 37.8% with balancing.
  • Article
    Citation - WoS: 3
    Citation - Scopus: 6
    Use of Analogies, Metaphors, and Similes by Students and Reviewers at an Undergraduate Architectural Design Review
    (Cambridge University Press, 2019) Doğan, Fehmi; Taneri, Batuhan; Erbil, Livanur
    This study investigates the use of similarities in the form of analogy, metaphor, and simile by students and reviewers in an undergraduate architectural design review. In contrast to studies conducted in vitro settings, this study emphasizes the importance of studying analogies, metaphors, and similes in a natural setting. All similarity relationships were coded according to their type, the level of expertise, range, frequency, goal, value judgment, and depth. The results indicate that analogies, metaphors, and similes were used spontaneously and without any difficulty by both reviewers and students. Reviewers, however, were almost twice as likely to evoke similarities. Metaphor was the most frequently used similarity relationship among the three. It was found that there was a significant relationship between the level of expertise and type of similarity, with students more likely to use analogies and less likely to use similes. It was also found that goal is the most important factor, with a significant relation to all other variables, and that embodiment is often invoked in both students' and reviewers' metaphors. We conclude that design education should take full advantage of students' natural ability to benefit from similarity relationships.
  • Article
    Citation - WoS: 5
    Citation - Scopus: 5
    Functionalization of Single-Layer Tas2 and Formation of Ultrathin Janus Structures
    (Cambridge University Press, 2020) Kahraman, Zeynep; Yağmurcukardeş, Mehmet; Şahin, Hasan
    Ab initio calculations are performed to investigate the structural, vibrational, electronic, and piezoelectric properties of functionalized single layers of TaS2. We find that single-layer TaS2 is a suitable host material for functionalization via fluorination and hydrogenation. The one-side fluorinated (FTaS2) and hydrogenated (HTaS2) single layers display indirect gap semiconducting behavior in contrast to bare metallic TaS2. On the other hand, it is shown that as both surfaces of TaS2 are saturated anti-symmetrically, the formed Janus structure is a dynamically stable metallic single layer. In addition, it is revealed that out-of-plane piezoelectricity is created in all anti-symmetric structures. Furthermore, the Janus-type single-layer has the highest specific heat capacity to which longitudinal and transverse acoustical phonon modes have contribution at low temperatures. Our findings indicate that single-layer TaS2 is suitable for functionalization via H and F atoms that the formed, anti-symmetric structures display distinctive electronic, vibrational, and piezoelectric properties.
  • Article
    Citation - WoS: 14
    Citation - Scopus: 12
    Injective modules over down-up algebras
    (Cambridge University Press, 2010) Carvalho, Paula A.A.B.; Lomp, Christian; Pusat, Dilek
    The purpose of this paper is to study finiteness conditions on injective hulls of simple modules over Noetherian down-up algebras. We will show that the Noetherian down-up algebras A(α, β, γ) which are fully bounded are precisely those which are module-finite over a central subalgebra. We show that injective hulls of simple A(α, β, γ)-modules are locally Artinian provided the roots of X2 − αX − β are distinct roots of unity or both equal to 1.
  • Article
    Citation - WoS: 13
    Citation - Scopus: 15
    Synthesis of Poly-2 Methacrylate-Montmorillonite Nanocomposite Via in Situ Atom Transfer Radical Polymerization
    (Cambridge University Press, 2008) Oral, Ayhan; Shahwan, Talal; Güler, Çetin
    The poly-2-hyroxyethyl methacrylate (PHEMA)/clay nanocomposite was synthesized by in situ atom transfer radical polymerization (ATRP) from initiator moieties immobilized within the silicate galleries of the clay particles. To produce organically modified montmorillonite (MMT) that has ATRP initiator moiety, a new catalyst that consists of quaternary ammonium salt moiety and an initiator moiety was synthesized. This initiator was intercalated into the interlayer spacing of the MMT. The polymerization reaction was carried out in a mixed solvent system consisting of methyl ethyl ketone and 1-propanol at 50 °C, using the initiator that has been already synthesized with a copper bromide catalyst. The 2, 2′-bipyridyl (bpy) complex was used as ligand. The products were characterized via Fourier transform infrared, nuclear magnetic resonance (1H NMR, 12C NMR), transmission electron microscopy, x-ray diffraction, thermogravimetric analysis, and differential scanning calorimetry. © 2008 Materials Research Society.
  • Article
    Citation - WoS: 81
    Citation - Scopus: 79
    The Resonant Nonlinear Schrödinger Equation in Cold Plasma Physics. Application of Bäcklund-Darboux Transformations and Superposition Principles
    (Cambridge University Press, 2007) Lee, Jiunhung; Pashaev, Oktay; Rogers, Colin; Schief, W. K.
    A system of nonlinear equations governing the transmission of uni-axial waves in a cold collisionless plasma subject to a transverse magnetic field is reduced to the recently proposed resonant nonlinear Schrödinger (RNLS) equation. This integrable variant of the standard nonlinear Schrödinger equation admits novel nonlinear superposition principles associated with Bäcklund-Darboux transformations. These are used here, in particular, to construct analytic descriptions of the interaction of solitonic magnetoacoustic waves propagating through the plasma.
  • Article
    Citation - WoS: 13
    Citation - Scopus: 18
    Stimuli Responsive Polymer-Based Strategies for Polynucleotide Delivery
    (Cambridge University Press, 2017) Uz, Metin; Alsoy Altınkaya, Sacide; Mallapragada, Surya K.
    In recent years, stimuli responsive polymer based gene delivery vehicle design for cancer treatment and treatment of other genetic disorders has received extensive attention. Early studies focusing on DNA delivery have been facilitated by functional polymers and this area has seen further growth spurred by recent gene silencing strategies developed for small RNA [i.e., small interfering RNA (siRNA) or micro RNA (miRNA)] delivery. DNA and small RNAs possess analogous properties; however, their explicit differences define the specific challenges associated with the delivery route and the design of functional materials to overcome distinct challenges. Apart from classical gene delivery, the recent advances in genome editing have revealed the necessity of new delivery devices for genome editing tools. A system involving CRISPR (clustered, regularly interspaced, short palindromic repeats) and an endonuclease CRISPR-associated protein 9 (Cas9) coupled with a short, single-guide RNA (sgRNA) has emerged as a promising tool for genome editing along with functional delivery systems. For all these nucleic acid based treatments, the internal or external physiochemical changes in the biological tissue/cells play a major role in the design of stimuli responsive delivery materials for both in vitro and in vivo applications. This review emphasizes the recent advances in the use of pH, temperature, and redox potential-responsive polymers overcoming hurdles for delivery of gene and gene editing tools for both in vitro and in vivo applications. Specifically the chapter focuses on recently proposed delivery strategies, types of delivery systems, and polymer synthesis/modification methods. The recent advances in CRISPR/Cas9-sgRNA technology and delivery are also described in a separate section. The review ends with current clinical trials, concluding remarks, and future perspectives.