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.


Coronavirus–Related Stressors, Resilient Mindset, Loneliness, Depressive Symptoms in College Students: Testing a Moderated Mediation Model
Arslan, Gökmen; Coşkun, Muhammet (2022-01-01)
© The Author(s) 2022.The coronavirus (COVID-19) outbreak alarmingly threats the mental health and functioning of people globally. The present study aims to examine the moderated mediation role of resilient mindset and loneliness in the association of coronavirus stress and depressive symptoms. We recruited 394 undergraduate students from a state university in Türkiye, ranging in age between 18 and 47 years (M = 22.76, SD = 3.88; 65% female). The main results revealed that resilient mindset mediated the rela...
Comparisons of the NGA-Subduction ground motion models
Gregor, Nick; Addo, Kofi; Abrahamson, Norman A; Al Atik, Linda; Atkinson, Gail M; Boore, David M; Bozorgnia, Yousef; Campbell, Kenneth W; Chiou, Brian S-J; Gülerce, Zeynep; Hassani, Behzad; Kishida, Tadahiro; Kuehn, Nico; Mazzoni, Silvia; Midorikawa, Saburoh; Parker, Grace A; Si, Hongjun; Stewart, Jonathan P; Youngs, Robert R (2022-01-01)
© The Author(s) 2022.In this article, ground-motion models (GMMs) for subduction earthquakes recently developed as part of the Next Generation Attenuation-Subduction (NGA-Sub) project are compared. The four models presented in this comparison study are documented in their respective articles submitted along with this article. Each of these four models is based on the analysis of the large NGA-Sub database. Three of the four current models are developed for a global version as well as separate regionalized m...
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...
Summary of the Abrahamson and Gulerce NGA-SUB ground-motion model for subduction earthquakes
Abrahamson, Norman A; Gülerce, Zeynep (2022-01-01)
© The Author(s) 2022.A set of region-specific ground-motion models (GMMs) for subduction zone earthquakes are developed based on the database compiled by the Pacific Earthquake Engineering Research Center (PEER) Next Generation Attenuation: Subduction project (NGA-SUB). The subset used to develop the GMMs includes 3914 recordings from 113 subduction interface earthquakes with magnitudes between 5 and 9.2 and 4850 recordings from 89 intraslab events with magnitudes between 5 and 7.8. The functional form of t...
Organizational Change in Schools
Beycioglu, Kadir; Kondakçı, Yaşar (2021-12-01)
© The Author(s) 2021.Purpose: This review aims to discuss the meaning of organizational change, change dynamics, and the current state of debates on organizational change in schools. The core purpose of this review is not only to restate the literature on organizational change in schools but also to challenge the current theoretical understanding of change in schools by rising the new perspectives on change in schools. Design/Approach/Methods: As part of this effort, we discuss the dominant perspectives of ...
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: