SIMULATION OF FLUID ENVIRONMENTS ON ROBOTIC ORTHOSES FOR REHABİLİTATİON PURPOSES

Control of Robotic Swarm Behaviors based on Smoothed Particle Hydrodynamics Erkmen, Aydan Müşerref; Paç, Raşid (2007-10-28) The paper presents a fluid dynamics based framework for control of emergent behaviors of robot swarms that are modeled as fluids. A distributed low-level control mechanism is developed based on Smoothed Particle Hydrodynamics (SPH) and it is coupled with a high-level control layer that is responsible for the control of fluid parameters to generate desired behaviors from the swarming characteristics of the robots. It is shown by simulations that using the same low-level SPH model, different swarming behavior...
Modeling and motion simulation of an underwater simulation Küçük, Koray; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2007) This thesis involves modeling, controller design, and test case simulations for an underwater vehicle. Firstly, a complete dynamic model of the vehicle is developed with six degrees of freedom. The model includes the nonlinearities associated with the hydrodynamic forces and moments. The thrusters of the vehicle are also modeled. Then, using appropriate linearizations of the model, position and rate controllers are designed for the forward, downward, and turning motions of the vehicle. Finally, the designed...
Modeling oxidation and plasticity induced damage in thermal barrier coatings (TBCS) Sait, Ferit; Gürses, Ercan; Department of Aerospace Engineering (2020) Computational analysis and simulation of multi-physics phenomena taking place in coating systems is still a challenging task. Specifically, for ceramic coatings used as protective systems for base materials against elevated temperatures, known as thermal barrier coating (TBC) systems, construction of continuum level models which can express coupled nonlinear phenomena has attracted great attention. Thermal stresses, oxidation, creep and numerous other mechanisms and phenomena make it even harder to model an...
Software development for analyzing fluid transients in pipelines Habibi Topraghghaleh, Saber; Bozkuş, Zafer; Department of Civil Engineering (2020) A computer program is developed to analyze and simulate fluid transients in hydraulic systems contributing to finding practical solutions for unsteady flow conditions in pipelines. This program is built up using C sharp programming language in the visual studio platform. In the software, the method of characteristics is used for solving the non-linear partial differential equations of the transient flow. This software’s primary purpose is to find quick solutions for a phenomenon called water hammer, which h...
Modeling and control of autonomous underwater vehicle manipulator vehicle manipulator systems Korkmaz, Ozan; İder, Kemal S.; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2012) In this thesis, dynamic modeling and nonlinear control of autonomous underwater vehicle manipulator systems are presented. Mainly, two types of systems consisting of a 6-DOF AUV equipped with a 6-DOF manipulator subsystem (UVMS) and with an 8-DOF redundant manipulator subsystem (UVRMS) are modeled considering hydrostatic forces and hydrodynamic effects such as added mass, lift, drag and side forces. The shadowing effects of the bodies on each other are introduced when computing the hydrodynamic forces. The ...

Citation Formats

E. İ. Konukseven, “SIMULATION OF FLUID ENVIRONMENTS ON ROBOTIC ORTHOSES FOR REHABİLİTATİON PURPOSES,” 2017. Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/61252.