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Permanent URI for this collectionhttps://hdl.handle.net/20.500.14288/3
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Publication Metadata only Role allocation through haptics in physical human-robot interaction(Institute of Electrical and Electronics Engineers (IEEE), 2013) N/A; N/A; Department of Computer Engineering; Department of Mechanical Engineering; Küçükyılmaz, Ayşe; Sezgin, Tevfik Metin; Başdoğan, Çağatay; PhD Student; Faculty Member; Faculty Member; Department of Computer Engineering; Department of Mechanical Engineering; Graduate School of Sciences and Engineering; College of Engineering; College of Engineering; N/A; 18632; 125489This paper presents a summary of our efforts to enable dynamic role allocation between humans and robots in physical collaboration tasks. A major goal in physical human-robot interaction research is to develop tacit and natural communication between partners. In previous work, we suggested that the communication between a human and a robot would benefit from a decision making process in which the robot can dynamically adjust its control level during the task based on the intentions of the human. In order to do this, we define leader and follower roles for the partners, and using a role exchange mechanism, we enable the partners to negotiate solely through force information to exchange roles. We show that when compared to an “equal control” condition, the role exchange mechanism improves task performance and the joint efficiency of the partners.Publication Metadata only Adaptive path-following control for autonomous semi-trailer docking(Institute of Electrical and Electronics Engineers (IEEE), 2022) Aydemir, Eren; N/A; Department of Mechanical Engineering; Mamuş, Ayşe Ezgi; Lazoğlu, İsmail; PhD Student; Faculty Member; Department of Mechanical Engineering; Graduate School of Sciences and Engineering; College of Engineering; N/A; 179391Maneuvering a truck-trailer system while docking is extremely challenging. This article aims to alleviate this problem by presenting an enhanced path-following control framework for autonomous semi-trailer docking. In the proposed system, adaptive controllers that utilize gain scheduling are introduced for forward and reverse path-following tasks in docking maneuvers to increase the robustness and path-following performance. The system includes an improved pure pursuit controller with adaptive look-ahead distance for forward path following; a cascade controller of reverse pure pursuit and a gain-scheduled LQ control for reverse path-following. In the evaluation of the path-following performance of forward and reverse controllers, the closed-loop system of path-following controllers with the truck-trailer kinematic model is simulated in MATLAB/Simulink for various test cases, and the results are compared with those of other studies. Furthermore, different docking scenarios are generated via the cascade path planning algorithm for autonomous semitrailer docking. These are tested with a high degree semi-trailer model within the IPG TruckMaker simulation environment, and with a full truck-trailer vehicle in the test field. The results of both simulations and physical testing clearly demonstrate improvements in terms of the control problem formulation, i.e., the stabilized path-following is obtained with acceptable path-following errors.Publication Metadata only Design and integration of a bimorph thermal microactuator with electrostatically actuated microtweezers(Institute of Electrical and Electronics Engineers (IEEE), 2008) Yilmaz, Mehmet; Yalcinkaya, Arda D.; Leblebici, Yusuf; Zervas, Michalis; Department of Mechanical Engineering; Alaca, Burhanettin Erdem; Faculty Member; Department of Mechanical Engineering; Koç University Surface Science and Technology Center (KUYTAM) / Koç Üniversitesi Yüzey Teknolojileri Araştirmalari Merkezi (KUYTAM); College of Engineering; 115108A multi-digit gripper is proposed that consists of two electrostatically actuated end-effectors operating in the plane of the device and three thermal end-effectors operating out of plane. The integration of thermal and electrostatic actuation mechanisms is realized by using a three-mask monolithic process. First mask is used to define the silicon electrostatic actuator on SOI wafer. Second mask is used to obtain the bimorph thermal microactuator made of polyimide and aluminum layers on top of the electrostatic actuator. Third and the final mask is used to release the integrated electrostatic and thermal microactuators.Publication Metadata only Space interferometry mission instrument model and astrometric performance validation(Institute of Electrical and Electronics Engineers (IEEE), 2004) Milman, Mark; Department of Mechanical Engineering; Başdoğan, İpek; Faculty Member; Department of Mechanical Engineering; College of Engineering; 179940The Space Interferometry Mission (SIM), will perform very accurate astrometric measurements to measure the positions of stars using a 10 m baseline optical interferometer. The lack of signal from the science targets precludes using the star as a feedback signal to control the science interferometer delay line. In order to solve this problem SIM uses pathlength feed forward (PFF) control of the science interferometer. In the case of controlling the science interferometer optical path, the information to position the science delay line comes from a combination of internal metrology, external metrology, and guide interferometer measurements. The accuracy of the internal and external metrology measurements and the guide interferometer measurements are important for the quality of the feed forward signal and also for the ultimate astrometric performance of the instrument. An instrument model of SIM has been built to evaluate optical performance and to emulate various observational scenarios. I The effect of averaging methods to reduce metrology cyclic error and the viability of on-orbit calibration maneuvers are studied. The model consists of a real-time dynamics formulation of the spacecraft and a real-time attitude control system. Simulation. results investigate the sensitivity of the feed forward signal to the various error sources and time-varying terms.Publication Metadata only Tactile feedback displayed through touchscreens via electrovibration(IEEE, 2020) N/A; N/A; N/A; N/A; Department of Mechanical Engineering; Özdamar, İdil; Alipour, Mohammad; Chehrehzad, Mohammadreza; Başdoğan, Çağatay; Master Student; PhD Student; PhD Student; Faculty Member; Department of Mechanical Engineering; Graduate School of Sciences and Engineering; Graduate School of Sciences and Engineering; Graduate School of Sciences and Engineering; College of Engineering; N/A; N/A; N/A; 125489Displaying tactile feedback through a touchscreen via electrovibration has many potential applications in mobile devices, consumer electronics, home appliances and automotive industry. However, this area of research is new and the electromechanical interactions between human finger and the touchscreen under electrovibration as well as the effect of frictional forces arising from these interactions on our haptic perception have not been fully understood yet. The aim of this study is to investigate the electro-mechanical interactions between human finger and a touchscreen under electrovibration in depth. In particular, we investigate the effect of following factors on the frictional force acting on the finger and the finger contact area; a) the amplitude and signal type (AC or DC) of voltage signal applied to the conductive layer of touchscreen, b) the magnitude of normal force applied by finger on touchscreen, and c) effect of finger speed. The results of this study enable us to better understand the physics of contact interactions between human finger and a touchscreen actuated by electrostatic forces.