Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

Permanent URI for this collectionhttps://hdl.handle.net/11147/7148

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Now showing 1 - 5 of 5
  • Article
    A Hybrid Actuation System for Enhancing the Performance Metrics Related to Kinesthetic-Type Haptic Devices
    (IEEE-Inst Electrical Electronics Engineers Inc, 2025) Kucukoglu, Sefa Furkan; Can Dede, Mehmet ismet
    High torque to volume ratio, fast response, and high dynamic range are some of the desired performance metrics for kinesthetic-type haptic device actuation systems. In this article, we present a hybrid actuation system consisting of an active actuator and a magnetorheological fluid-based brake (MRF brake). MRF brake's tradeoffs, namely, off-state torque and slow response (compared to an electric motor), are investigated and resolved by this hybrid actuation system. First, the transient behavior of the MRF brake is investigated and an mathematical model is proposed to mimic its transient response behavior. It is found that the performance of the proposed model performs better than the conventionally used first-order transfer function. Second, hybrid actuation system is constructed. The active actuator is used for compensating for the speed of the response and the off-state torque based on the proposed mathematical model of the MRF brake. It is measured that the off-state torque is largely eliminated from 0.178 to 0.008 N center dot m, the dynamic range is enlarged from 15 to 42.4 dB, and its time constant is improved from 69.6 to 4.4 ms when the hybrid actuation system is used instead of just an MRF brake.
  • Conference Object
    Citation - WoS: 5
    Citation - Scopus: 7
    Nonlinear Control of Tendon Driven Robot Manipulators: Elimination of Actuator Side Position Measurements
    (Institute of Electrical and Electronics Engineers Inc., 2015) Okur, Beytullah; Zergeroğlu, Erkan; Tatlıcıoğlu, Enver
    In this study, a partial state feedback controller is proposed for the link position tracking control problem of flexible tendon driven robotic systems. Specifically; a nonlinear model based controller is formulated for tendon driven robot manipulators under the constraint that only the link position and tendon expansion force measurements are available. Despite the lack of link and actuator side velocity and actuator position measurements, the proposed controller ensures exponential link position tracking. To eliminate the need of actuator position and velocity measurements, a model based velocity observer has been utilized. Stability of the closed loop system and boundedness of system states are proven via Lyapunov based arguments. The performance of the purposed observer-controller couple is then verified by a set of numerical simulations.
  • Article
    Citation - WoS: 3
    Citation - Scopus: 3
    High-Speed Tapping-Mode Atomic Force Microscopy Using a Q-Controlled Regular Cantilever Acting as the Actuator: Proof-Of Experiments
    (American Institute of Physics, 2014) Balantekin, Müjdat; Satır, Sarp; Torello, David; Değertekin, F. L.
    We present the proof-of-principle experiments of a high-speed actuationmethod to be used in tapping-mode atomic force microscopes (AFM). In this method, we do not employ a piezotube actuator to move the tip or the sample as in conventional AFM systems, but, we utilize a Q-controlled eigenmode of a cantilever to perform the fast actuation. We show that the actuation speed can be increased even with a regular cantilever.
  • Article
    Citation - WoS: 15
    Citation - Scopus: 15
    The Isoelectric Point of Lead Magnesium Niobate
    (John Wiley and Sons Inc., 2007) Deliormanlı, Aylin M.; Çelik, Erdal; Polat, Mehmet
    Lead magnesium niobate (PMN) is an important relaxor ferroelectric material commonly used in multilayer capacitor and actuator manufacturing owing to its high dielectric constant and superior electrostrictive properties. However, the isoelectric point of this material in water is not known and there is justification for a detailed investigation. In this work, the isoelectric point (IEP) of aqueous PMN suspensions were determined as a function of solids concentration. Results showed that IEP of the PMN suspensions strongly depended on the solids loading. The IEP was between pH 9 and 10 at particle concentrations between 10 to 20 vol%. The IEP shifted gradually to a lower pH value as the particle concentration decreased. Solubility experiments showed that Pb2+ and Mg2+ ions dissolved from the PMN surface, especially in the acidic pH range. The study provides a new insight on the aqueous stability of perovskite materials which possess more than one soluble cation in their structure.
  • Article
    Citation - WoS: 70
    Citation - Scopus: 91
    Effects of Glass-Fiber Sizings on the Strength and Energy Absorption of the Fiber/Matrix Interphase Under High Loading Rates
    (Elsevier Ltd., 2001) Tanoğlu, Metin; McKnight, Steven H.; Palmese, Giuseppe R.; Gillespie, John W.
    The interphases of various sized E-glass-fiber/epoxy-amine systems were tested at displacement rates in the range 230-2450 μm/s by a new experimental technique (dynamic micro-debonding technique). By this method, the rate-dependent interphase properties, apparent shear strength and absorbed energies due to debonding and frictional sliding, were quantified. The systems include unsized, epoxy-amine compatible, and epoxy-amine incompatible glass fibers. The high displacement rates that induce high-strain-rate interphase loading were obtained by using the rapid expansion capability of piezoelectric actuators (PZT). The results of dynamic micro-debonding experiments showed that the values of interphase strength and specific absorbed energies varied in a manner that is dependent on the sizing and exhibited significant sensitivity to loading rates. The unsized fibers exhibit greater frictional sliding energies that could provide better ballistic resistance, while the compatible sized fibers show higher strength values that improve the structural integrity of the polymeric composites. In addition, significantly higher amounts of energy are absorbed within the frictional sliding regime compared to debonding. By using the experimental data obtained, a case study was performed to reveal the importance of the interphase related micro damage modes on energy absorption (and therefore ballistic performance) of glass/epoxy composite armor.