Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Article Early Dynamics of the Collapse of a Wedge-Shaped Depression on a Water Free Surface(Cambridge Univ Press, 2025) Ucar, Yagmur Ece; Kayaslan, Hamdi; Yilmaz, Oguz; Korobkin, Alexander A.The early stage of a gravity-driven flow resulting from the sudden removal of a floating body is investigated. Initially, the fluid is at rest, with a rigid, symmetric wedge floating on its surface. The study focuses on the initial evolution of the wedge-shaped depression formed on the water's free surface. The fluid has finite depth, and the resulting flow is assumed to be governed by potential theory. The initial flow is described by a linear boundary-value problem, which is solved using conformal mapping and the theory of complex analytic functions. The behaviour of the flow velocity near the corner points of the fluid domain is analysed in detail. It is shown that the linear theory predicts a power-law singularity in the flow velocity at the vertex of the wedge-shaped depression, with the exponent depending on the wedge angle. As the cavity extends toward the bottom, the flow singularity at the vertex becomes stronger. The local flow near the vertex is shown to be self-similar at leading order in the short-time limit. At the other two corner points - where the initial free surface intersects the surface of the wedge - the linear theory predicts continuous velocities with singular velocity gradients. Theoretical predictions are compared with numerical results obtained using OpenFOAM. Good agreement is observed at short times, except in small vicinities of the corner points, where inner solutions are required. In practical applications, understanding the short-time behaviour of the depressions is important for predicting jet formation in regions of high surface curvature.Article Citation - WoS: 32Citation - Scopus: 37Teleoperation With Kinematically Redundant Robot Manipulators With Sub-Task Objectives(Cambridge Univ Press, 2009) Nath, Nitendra; Tatlicioglu, Enver; Dawson, Darren M.In this paper, control of nonlinear teleoperator systems where both the master and slave systems are kinematically redundant robot manipulators is addressed. The controller is developed under the assumption that the user and environmental input forces arc unmeasurable. Lyapunov-based stability analysis is used to prove that the proposed controller yields asymptotic tracking results and ensures the coordination of the master and slave systems while satisfying a sub-task objective. Numerical simulation results are presented to illustrate the effectiveness of the proposed controller.Article Citation - WoS: 9Citation - Scopus: 10The Design and Kinematic Representation of a Soft Robot in a Simulation Environment(Cambridge Univ Press, 2024) Emet, Hazal; Gur, Berke; Dede, Mehmet Ismet CanThe increase of human presence in the subsea and seabed environments necessitates the development of more capable and highly dexterous, innovative underwater manipulators. Biomimetic soft-robot arms represent a promising candidate for such manipulation systems. However, the well-known modeling techniques and control theories of traditional rigid robots do not apply to soft robots. The challenges of kinematic and dynamic modeling of soft robots with infinite degrees of freedom require the development of dedicated modeling methods. A novel procedure for representing soft-robotic arms and their motion in a rigid-body simulation environment is proposed in this paper. The proposed procedure relies on the piecewise constant curvature approach to simplify the very complex model of hyper-redundant soft-robotic arms, making it suitable for real-time applications. The proposed method is implemented and verified to be used in model-mediated teleoperation of the soft arms of a biomimetic robotic squid designed for underwater manipulation as a case study.