Steering of redundant robotic manipulators and spacecraft integrated power and attitude control-control moment gyroscopes

Altay, Alkan
In this thesis, recently developed Blended Inverse (B-inverse) steering law is applied to two different redundant actuator systems. First, repeatability of Binverse is demonstrated on a redundant robotic manipulator. Its singularity avoidance and singularity transition performance is also demonstrated on the same actuator system. It is shown that B-inverse steering law provides singularity avoidance, singularity transition and repeatability. Second, its effectiveness is demonstrated for an Integrated Power and Attitude Control - Control Moment Gyroscope (IPAC-CMG) cluster, which can perform energy management and attitude control functions simultaneously. For this purpose, an IPAC-CMG flywheel is conceptually designed. A control policy is developed for the energy management.


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Ayık, H. Müjde; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2004)
In this thesis, the dynamic modeling of a wheelchair-human system is performed, and the effects of steering action and sudden slope changes along the path on the system stability are analyzed for different road and driving conditions. For the cases where the wheelchair system is unstable three methods are proposed for stability augmentation. This study is performed to improve the stability of the wheelchair system under varying road conditions so as to increase the limit of independency for wheelchair users...
Design of smart controllers for hybrid electric vehicles
Özen, Ekin; Dölen, Melik; Department of Mechanical Engineering (2005)
This thesis focuses on the feasibility of designing a commercial hybrid electric vehicle (HEV). In this work, relevant system models are developed for the vehicle including powertrain, braking system, electrical machines and battery. Based on these models ten different HEV configurations are assembled for detailed assessment of fuel consumption. This thesis also proposes a smart power management strategy which could be applied to any kind of HEV configuration. The suggested expert system deals with the exte...
Neural network calibrated stochastic processes: forecasting financial assets
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If a given dynamical process contains an inherently unpredictable component, it may be modeled as a stochastic process. Typical examples from financial markets are the dynamics of prices (e.g. prices of stocks or commodities) or fundamental rates (exchange rates etc.). The unknown future value of the corresponding stochastic process is usually estimated as the expected value under a suitable measure, which may be determined from distribution of past (historical) values. The predictive power of this estimati...
An approximate model for kanban controlled assembly systems
Topan, Engin; Avşar, Zeynep Müge; Department of Industrial Engineering (2005)
In this thesis, an approximation is proposed to evaluate the steady-state performance of kanban controlled assembly systems. The approximation is developed for the systems with two components making up an assembly. Then, it is extended to systems with more than two components. A continuous-time Markov model is aggregated keeping the model exact, and this aggregate model is approximated replacing some state-dependent transition rates with constant rates. Decomposition of the approximate aggregate model into ...
Free forming of locally laser heated parts
Özmen, Murat; Tekkaya, A. Erman; Department of Mechanical Engineering (2005)
As metals have high formability at elevated temperatures, hot forming is preferred and widely used in manufacturing of complicated geometries. The term أhot formingؤ is usually used if the whole workpiece is processed at elevated temperatures. However, for certain products high formability is required only locally. Forming by local heating is proposed to provide ease of manufacturing of local forms on the workpiece. Also, tools can be simplified by this method. In this study, local laser heating procedures ...
Citation Formats
A. Altay, “Steering of redundant robotic manipulators and spacecraft integrated power and attitude control-control moment gyroscopes,” M.S. - Master of Science, Middle East Technical University, 2005.