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

Date

2021-01-01

Author

Yerlikaya, Ümit
Balkan, Raif Tuna

Metadata

Show full item record

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

Item Usage Stats

222
views

0
downloads

© 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.

URI

https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108251706&origin=inward
https://hdl.handle.net/11511/91221

Journal

Robotica

DOI

https://doi.org/10.1017/s026357472100076x

Collections

Department of Mechanical Engineering, Article

Suggestions

OpenMETU
Core

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 ...
Comparative biological network analysis for differentially expressed proteins as a function of bacilysin biosynthesis in Bacillus subtilis Kutnu, Meltem; İşlerel, Elif Tekin; Tunçbağ, Nurcan; Özcengiz, Gülay (2022-08-03) © The Author(s) 2022. Published by Oxford University Press. All rights reserved. For permissions, please e-mail: journals.permission@oup.com.The Gram-positive bacterium Bacillus subtilis produces a diverse range of secondary metabolites with different structures and activities. Among them, bacilysin is an enzymatically synthesized dipeptide that consists of L-alanine and L-anticapsin. Previous research by our group has suggested bacilysin's role as a pleiotropic molecule in its producer, B. subtilis PY79. H...

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: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85108251706&origin=inward.