System design and control framework for an autonomous mobile robot application on predefined ferromagnetic surfaces

Date

2000-01-01

Author

Fettahlioglu, M
Ersak, Aydın

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

101
views

0
downloads

Maintenance tasks of ferromagnetic. surfaces present a suitable field for robotic applications. A system and controller software design satisfying the system requirements of an autonomous robotic system moving on a ferromagnetic surface accomplishing several tasks such as crack detection, welding, painting and emergency recovery actions is presented. The controller software developed here is a hierarchical control system based on the RCS Reference Model Architecture. The software shell and selected developed modules of the controller are presented.

URI

https://hdl.handle.net/11511/62426

Journal

INTELLIGENT PROBLEM SOLVING: METHODOLOGIES AND APPROACHES, PRODEEDINGS

Collections

Department of Electrical and Electronics Engineering, Article

Suggestions

OpenMETU
Core

Design optimization of tool extension components in machine tool assemblies based on the absorber effect between subcomponent modes Tola, Hatice Elif; Özşahin, Orkun; Department of Mechanical Engineering (2022-9) Regenerative vibrations, called chatter, are a major problem limits productivity due to poor surface finish, low material removal rates and decrease in life of machine tool and equipment. Stability lobe diagrams are graphs that give a stable cutting limit at a given spindle speed, developed by the researchers as a chatter prevention tool. Various methods have been investigated to increase the critical cutting limit and suppress the most flexible mode in the machine tool frequency response function(FRF). Tun...
Joint Optimization of Maintenance and Spare Part Inventory Policies Bayındır, Zeynep Pelin; Bakal, İsmail Serdar (2020-07-13) Joint Optimization of Maintenance and Spare Part InventoryPoliciesZ. Pelin Bayindir, Pinar Bulbul, Ismail Serdar BakalIn this study, we consider maintenance planning and spare part inventoryplanning problem simultaneously. Our main focus is the jointoptimization of preventive replacement and spare part inventory management.We propose an exact dynamic programming algorithm andseveral heuristics for a finite planning horizon situation. In a computationalstudy the heuristics are compared against the optimal so...
Design of energy efficient hopper by using parallel elasticity and wrapping cam mechanisms Candan, Sinan Şahin; Yazıcıoğlu, Yiğit; Department of Mechanical Engineering (2019) Improving energy efficiency and control accuracy in legged robot design are important due to demand for complex tasks and prolonged operation time. Solving such a problem can be tackled by the determination of mathematical models, selecting appropriate controllers, integrating actuators and mechanical leg design. Model and control method is selected as Spring Loaded Inverted Pendulum (SLIP) with constant forcing and virtual tunable damping. Parallel elastic and series elastic architectures are considered fo...
Active compliance control structure design for a robotic-grinding machine Dönder, Abdülhamit; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2017) Grinding operation has an advantage of precise form shaping in machining processes. However, if the surface profile is not known before the machining process, it is hard to obtain an accurate surface profile using a grinding operation. In this work, a novel method to compensate the form shaping errors in grinding operations due to the lack of a priori knowledge of the surface profile will be presented. Grinding operation on a workpiece with an unknown surface profile is aimed. Compliance force control is im...
Analysis and modelling of machine tool dynamics and cutting stability during operation Özşahin, Orkun; Özgüven, Hasan Nevzat; Budak, Erhan; Department of Mechanical Engineering (2014) Self-excited vibrations of machine tools during cutting result in process instability, poor surface finish and reduced material removal rate. In order to obtain stability lobe diagrams to avoid chatter vibration, tool point frequency response function (FRF) must be determined. In classical machine tool studies, tool point FRF is obtained experimentally or analytically for the idle state of the machine. However, during cutting operations, discrepancies are frequently observed between the stability diagrams o...

Citation Formats

M. Fettahlioglu and A. Ersak, “System design and control framework for an autonomous mobile robot application on predefined ferromagnetic surfaces,” INTELLIGENT PROBLEM SOLVING: METHODOLOGIES AND APPROACHES, PRODEEDINGS, pp. 705–710, 2000, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/62426.