Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
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Conference Object Formulation of Admittance Control of a Surgical Robot About Remote Center of Motion(Springer Science and Business Media B.V., 2025) Balkan, M.A.; Dede, M.İ.C.Minimally invasive surgery procedures require the surgical tools to be moved about an incision point. Robots used for these surgeries must achieve this motion capability. When robots are used alongside the surgeon, additional considerations must be made regulating the surgeon-robot interaction. This paper presents a formulation of a compliance controller, namely an admittance controller, for use in the control of a surgical robot that is directed by physical interaction with the surgeon. The surgical robot in this study is a 6 degrees-of-freedom collaborative robot with a force/torque sensor attached to the distal end of its last joint. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.Conference Object A Gyrostabilizer Test Setup With Vessel Motion Capability About Its Metacenter(Springer Science and Business Media B.V., 2023) Bozelli, M.R.; Kurt, B.; Dede, M.İ.C.The rolling motion of the vessels decreases the comfort of the passengers and may damage the goods inside. Gyrostabilizers are used for generating anti-rolling torque to stabilize the vessel. This study presents a new test system that can imitate sea states resulting in the rolling motion of the vessel about its metacenter. This new system allows the study of gyrostabilizer control and test of sensory systems without the need for an actual vessel and sea environment. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.Conference Object Optimization of the Flywheel of a Gyrostabilizer by Addressing “fair” Performance Criteria(Springer Science and Business Media B.V., 2023) Kurt, B.; Bozelli, M.R.; Dede, M.İ.C.Gyrostabilizers are used for producing anti-rolling torque to stabilize the undesired rolling motion of a vessel. There are several gyrostabilizer products with different specifications for the same size ships. This paper investigates this issue and proposes “fair” performance criteria for gyrostabilizers considering the targeted sea state conditions. A case study is carried out using the new performance criteria in a gyrostabilizer optimization process. The results indicate that the optimized design can outperform the commercially available products. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.