Vorticity based manipulability and stability criteria for robot hand preshaping.

Canbolat, Hüseyin


Quadrature error compensation and its effects on the performance of fully decoupled MEMS gyroscopes
Tatar, Erdinç; Akın, Tayfun; Department of Electrical and Electronics Engineering (2010)
This thesis, for the first time in the literature, presents the effect of quadrature error compensation on the performance of a fully decoupled MEMS gyroscope and provides experimental data on the sources of quadrature error. Dedicated quadrature error cancellation electrodes operating with only differential DC potentials are designed. Gyroscopes with intentionally placed imperfections are fabricated with SOG based SOI process which provides higher yield and uniformity compared to SOG process. Tests show th...
Bicriteria scheduling of a material handling robot in an m-machine cell to minimize the energy consumption of the robot and the cycle time
Gultekin, Hakan; Gürel, Sinan; Taspinar, Rabia (2021-12-01)
This study considers a flowshop type production system consisting of m machines. A material handling robot transports the parts between the machines and loads and unloads the machines. We consider the sequencing of the robot moves and determining the speeds of these moves simultaneously. These decisions affect both the robot's energy consumption and the production speed of the system. In this study, these two objectives are considered simultaneously. We propose a second order cone programming formulation to...
Stochastic dynamic programming based resource allocation for multi target tracking for electronically steered antenna radar /
Uzun, Çağlar; Demirekler, Mübeccel; Department of Electrical and Electronics Engineering (2015)
In this work, the concept of sensor management is introduced and stochastic dynamic programming based resource allocation approach is proposed to track multiple targets. The core of this approach is to use Lagrange relaxation for decreasing the state space dimension. By this approximation, the overall problem is separated into components instead of using joint Markov model to optimize large scale stochastic control problem. The aim of this study is to adaptively allocate radar resources in an optimal way in...
Impedance boundary conditions for time-domain computational aeroacoustics methods
Özyörük, Yusuf (null; 1997-01-01)
A time-domain impedance condition method has been developed for computational aeroacoustics applications. The basis for this method is the standard impedance condition stated in the frequency domain as the particle displacement continuity equation. The development of the time-domain impedance condition follows the relations among the frequency, z-, and discrete-time domains and a rational function representation of the impedance in the z-domain. The resultant impedance condition is finite, infinite-impulse-...
Quadrature-Error Compensation and Corresponding Effects on the Performance of Fully Decoupled MEMS Gyroscopes
Tatar, Erdinc; Alper, Said Emre; Akın, Tayfun (2012-06-01)
This paper presents experimental data about the sources of the quadrature error in a fully decoupled microelectromechanical systems gyroscope and demonstrates the extent of performance improvement by the cancellation of this error. Quadrature sources including mass, electrostatic-force, and mechanical-spring imbalances have been compared by FEM simulations, and spring imbalance has been found as the dominant source of the quadrature error. Gyroscopes have been designed with intentional spring imbalances and...
Citation Formats
H. Canbolat, “Vorticity based manipulability and stability criteria for robot hand preshaping.,” Middle East Technical University, 1993.