Collision-Free Motion Planning for an Aligned Multiple-Turret System Operating in Extreme Environment

Yerlikaya, Ümit
Balkan, Raif Tuna
© The Author(s), 2021. Published by Cambridge University Press.Instead of using the tedious process of manual positioning, an off-line path planning algorithm has been developed for military turrets to improve their accuracy and efficiency. In the scope of this research, an algorithm is proposed to search a path in three different types of configuration spaces which are rectangular-, circular-, and torus-shaped by providing three converging options named as fast, medium, and optimum depending on the application. With the help of the proposed algorithm, 4-dimensional (D) path planning problem was realized as 2-D + 2-D by using six sequences and their options. The results obtained were simulated and no collision was observed between any bodies in these three options.


Efficient exascale discretizations: High-order finite element methods
Kolev, Tzanio; et. al. (2021-01-01)
© The Author(s) 2021.Efficient exploitation of exascale architectures requires rethinking of the numerical algorithms used in many large-scale applications. These architectures favor algorithms that expose ultra fine-grain parallelism and maximize the ratio of floating point operations to energy intensive data movement. One of the few viable approaches to achieve high efficiency in the area of PDE discretizations on unstructured grids is to use matrix-free/partially assembled high-order finite element metho...
Coating of silver nanoparticles on polyurethane film surface by green chemistry approach and investigation of antibacterial activity against S. epidermidis
Kara, Filiz; AKSOY, EDA AYŞE; Aksoy, Serpil; Hasırcı, Nesrin (2022-05-01)
© The Author(s) 2022.Silver nanoparticles with potential antibacterial properties are included in biomaterials for the production of medical devices, which are used for diagnoses or treatment purposes. The aim of the current study was coating the polyurethane (PU) films with silver nanoparticles (AgNPs) due to their antibacterial efficacy. PU films were first modified by chitosan (CH), treated with AgNO3 to let CH chelate with silver ions, and then treated with vitamin-C (vit C) or glucose (Glu) to reduce t...
Tensionless strings and Killing(-Yano) tensors
Lindström, Ulf; Sarıoğlu, Bahtiyar Özgür (2022-06-10)
© 2022 The Author(s)We construct invariants for bosonic and spinning tensionless (null) strings in backgrounds that carry Killing tensors or Killing-Yano tensors of mixed type. This is facilitated by the close relation of these strings to point particles. We apply the construction to the Minkowski and to the Kerr-Newman backgrounds.
Cultural values, national personality characteristics, and intelligence as correlates of corruption: A nation level analysis
Gaygısız Lajunen, Esma; Lajunen, Timo (2022-05-01)
© 2022 The Author(s)Research on national corruption has primarily focused on economics and politics, whereas cultural factors and especially national personality characteristics have attracted less attention. In the present study, the influence of Hofstede's cultural dimensions, Schwartz's values, Eysenckian personality factors (EPQ), and national intelligent quotient (IQ) on Corruption Perception Index (CPI) scores were studied by using aggregated data from 64 countries and ecological design, i.e., correla...
Numerical heat transfer modelling of a centrifugal solar particle receiver
Hiçdurmaz, Serdar; Johnson, Evan F.; Grobbel, Johannes; Amsbeck, Lars; Buck, Reiner; Hoffschmidt, Bernhard (2022-05-12)
© 2022 Author(s).Solar particle receivers promise higher operating temperatures compared to molten salt-based receivers. The Discrete Element Method (DEM) tool LIGGGHTS is used to simulate the particle motion in a centrifugal solar particle receiver. A separate thermal model is developed in MATLAB, which uses the particle positions calculated with the DEM simulation. Heat transfer at the particle scale is accounted for with models of particle-particle conduction, particle-fluid- particle conduction, and a n...
Citation Formats
Ü. Yerlikaya and R. T. Balkan, “Collision-Free Motion Planning for an Aligned Multiple-Turret System Operating in Extreme Environment,” Robotica, pp. 0–0, 2021, Accessed: 00, 2021. [Online]. Available: