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A stability analysis for the acceleration-based robust position control of robot manipulators via disturbance observer
(IEEE, 2018-10)
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using disturbance observer (DOb). It is shown that if the nominal inertia matrix is properly ...
Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller
(IEEE, 2015)
This paper describes a novel controller that is capable of simultaneously controlling torque and variable stiffness in real-time, for actuators with antagonistically driven pneumatic artificial muscles (PAMs). To this end, ...
Towards balance recovery control for lower body exoskeleton robots with variable stiffness actuators: spring-loaded flywheel model
(IEEE, 2015)
This paper presents a biologically-inspired real-time balance recovery control strategy that is applied to a lower body exoskeleton with variable physical stiffness actuators at its ankle joints. For this purpose, a torsional ...
Environmental force estimation for a robotic hand : compliant contact detection
(IEEE, 2015)
This paper presents a model based compensation method to enable environmental force estimation for a robotic hand with no tactile or force sensors. To this end, we utilize multi-joint robot dynamics and disturbance observer ...
A comparison study on observer-based force control of series elastic actuators
(IEEE, 2018)
This paper presents a comparison study for the robust force control of series elastic actuators (SEAs). In most robotics systems, SEAs are used as an essential actuation method due to the benefits such as lower reflected ...
Alt kesit seviyeleri arasında oy çoğunluğu ile sahne tanıma
(2016)
In this paper, scene recognition problem, which is a frequently-studied field of computer vision, is tackled. Proposed algorithm utilizes bag of words (BoW) method along with considering sub-segments in the image during ...
Mars gezgini prototipi Merih-2
(Gazi Üniversitesi, 2018-12)
Merih-2, Özyeğin Üniversitesi Rover Takımı tarafından University Rover Challenge 2016 ve European Rover Challenge 2016’ya katılmak ve Mars koşullarında görev yapmak için tasarlanan gezgindir. Sürüş için Merih-2’nin 6 adet ...
Erratum 2: Search for dark matter and unparticles in events with a Z boson and missing transverse momentum in proton-proton collisions at s√=13 TeV
(Springer Nature, 2018-01)
In the original paper, figure 10 was incorrect. The correct figure is shown below. Additionally, the unparticle entries in table 3, as well as figure 4 and 5 were labelled with incorrect values of ΛU.
High temperature characteristics of Al2024/SiC metal matrix composite fabricated by friction stir processing
(Elsevier, 2018-07-25)
In the present study, friction stir processing (FSP) is used for the synthesis of an aluminum metal matrix composite (MMC) reinforced by SiC particles. MMC specimens with reinforced microstructures exhibited significant ...
Colliding urban transformation process: the case of historical peninsula, Istanbul
(ArchNet-IJAR, 2018)
Over the last three decades, the disruptive quality of urban and social restructuring processes in Turkey has been intensified by the government’s decision to embrace the concept of urban transformation as a tool to boost ...
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