Bacaklı robotlarda mobil arazi uygulamalarına yönelik öz durum kestirimi ve geri beslemeli dinamik davranışlar

Single and multi-frame motion deblurring for legged robots: characterization using a novel fd-aroc performance metric and a comprehensive motion-blur dataset Gültekin, Gökhan Koray; Saranlı, Afşar; Department of Electrical and Electronics Engineering (2016) Dexterous legged robots are agile platforms that can move on variable terrain at high speeds. The locomotion of these legged platforms causes oscillations of the robot body which become more severe depending on the surface and locomotion speed. Camera sensors mounted on such platforms experience the same disturbances, hence resulting in motion blur. This is a corruption of the image and results in loss of information which in turn causes degradation or loss of important image features. Most of the studies i...
Stochastic analysis and adaptive control studies in legged systems Er, Güner Dilşad; Ankaralı, Mustafa Mert; Saranlı, Uluç; Department of Electrical and Electronics Engineering (2022-6-7) Underactuated legged robots depict highly nonlinear and complex dynamical behaviors that create significant challenges in accurately modeling system dynamics using both first principles and system identification approaches. Hence, the design of stabilizing controllers becomes more challenging due to inaccurate modeling. Suppose physical parameters on mathematical models have miscalibrations due to uncertainty in identifying and modeling processes. In that case, designed controllers could perform poorly or e...
Reactivity of limestones of different sources for flue gas desulfurization application Gülsün, Mehtap; Hoşten, Çetin; Department of Mining Engineering (2003) In today's world where millions of tons of pollutants are discharged into the atmosphere, continually increasing population and industrialization lead to ever increasing demand for energy which, in turn, leads to a continual increase in the amount of pollutants released into the atmosphere. Sulphur dioxide generated as a result of burning coal is one of the most significant pollutants in the atmosphere and has negative effects on both living beings and non-living things. There are wet and dry processes whic...
Determination of metabolic bottlenecks using reaction engineering principles in serine alkaline protease production by recombinant bacillus sp. Telli, İlkin Ece; Çalık, Pınar; Department of Chemical Engineering (2004) In this study, firstly, bioprocess characteristics for Serine Alkaline Protease (SAP) production, using recombinant Bacillus subtilis carrying pHV1431::subC, were examined. The cell concentration, substrate concentration, SAP activity and SAP synthesis rate profiles demonstrated that the system reaches to a steady state in terms of cell growth and SAP synthesis between t=15-25 h, therefore, this time interval is appropriate to employ both metabolic flux analysis and metabolic control analysis, which apply s...
Alçak Geçiren Aktif Filtreler İçin Eleman Değerlerinin Seçiminde Yeni Bir Yaklaşım: Tabu Araştırma Algoritması Kalınlı, Adem (2003-11-01)

Citation Formats

A. Saranlı, U. Saranlı, Y. Yazıcıoğlu, and M. K. Leblebicioğlu, “Bacaklı robotlarda mobil arazi uygulamalarına yönelik öz durum kestirimi ve geri beslemeli dinamik davranışlar,” 2009. Accessed: 00, 2022. [Online]. Available: https://hdl.handle.net/11511/95778.