Browsing Faculty of Engineering by Author "Jabeen, Saher"
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Development of an antagonistically actuated smart joint Vahidyeganeh, Ali; Şimsek, Görkem Muttalip; Jabeen, Saher; Bebek, Özkan; Yapıcı, Güney Güven (Trans Tech Publications, 2017)Shape memory alloys with their phase transformation properties; have been broadly implemented in smart structures. In this study, a functional design is presented where two wires actuate antagonistically to achieve motion ...
Discrete-time integral sliding mode control of a smart joint for minimally invasive surgeries Jabeen, Saher; Yeganeh, Ali Vahid; Şimsek, Görkem Muttalip; Yapıcı, Güney Güven; Abidi, K.; Bebek, Özkan (IEEE, 2016)In this work, a shape memory alloy(SMA) actuator based joint (smart joint) is controlled using a discrete-time integral sliding mode (DISM) control to guide the motion of an active catheter. Controller is designed on the ...
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