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Mekatronik Mühendisliği Bölümü Yayın Koleksiyonu

Permanent URI for this collectionhttps://hdl.handle.net/20.500.12416/255

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    Article
    Citation - WoS: 2
    Citation - Scopus: 6
    Controller Area Network With Priority Queues and Fifo Queues: Improved Schedulability Analysis and Message Set Extension
    (inderscience Enterprises Ltd, 2016) Schmidt, Klaus Werner; Alkan, Burak; Schmidt, Ece Guran; Karani, Duygu Culum; Karakaya, Utku; 17337
    Controller area network (CAN) enables communication of electronic control units (ECUs) via messages using priority-based arbitration, which requires the implementation of priority queues (PQs) in the ECU device driver. Nevertheless, it is possible that not all ECUs on a CAN support PQs but use FIFO queues (FQs) instead. In this case, the classical CAN scheduling model with PQs is not suitable for the computation of message worst-case responsetimes (WCRTs) that are essential for verifying the correct vehicle operation. This paper considers an existing scheduling model for CAN with both PQs and FQs. First, an improved algorithm for speeding up the WCRT computation is proposed. Second, the practical case where an existing CAN message set is extended by new messages is addressed. An original algorithm for assigning priorities to new messages while keeping the priority order of existing messages is developed. Both algorithms are evaluated by computational experiments.
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    Article
    Citation - WoS: 2
    Investigation on the Influence of Parameter Uncertainties in the Position Tracking of Robot Manipulators
    (Univ North, 2019) Ghanbarpour Asl, Habib; Han, Kerim Youde
    This paper presents a novel trajectory tracking method for robot arms with uncertainties in parameters. The new controller applies the robust output feedback linearization method and is designed so that it is robust to the variation of parameters. Robustness of the algorithm is evaluated when the parameters of the system are floating over 10 percent up and down. An Unscented Kalman Filter (UKF) is applied for state and parameter estimation purposes. As the considered system has 8 unknown parameters while only 5 of them are independent parameters, UKF is applied only to the augmented system with independent parameters. Three types of simulations are applied depending on sensor groups - first with both position and joint sensors, second with only position sensors and third with only joint sensors. The observation of parameters in these groups is discussed. Simulation results show that when both position sensors and joint sensors are used, all the parameters and states are observable and good tracking performances are obtained. When only position sensors are used, the accuracy of the estimated parameters is reduced, and low tracking performances are revealed. Finally, when only joint sensors are applied, the lengths of robot arms are unobservable, but other parameters related to the dynamic system are observable, and poor tracking performances are given.
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    Article
    A Parametric Study on the Elastic-Plastic Deformation of a Centrally Heated Two-Layered Composite Cylinder With Free Ends
    (Polish Acad Sciences inst Fundamental Technological Research, 2016) Yalcin, F.; Gülgeç, Müfit; Ozturk, A.; Gulgec, M.; 4168; Mekatronik Mühendisliği
    In this paper, an elastic-plastic deformation of a centrally heated two-layered composite cylinder with free ends subjected to uniformly distributed internal energy generation within an inner cylinder is studied using Tresca's yield condition and its associated flow rule. Stress, strain and displacement distributions in the composite cylinder made of elastic-perfectly plastic material are derived considering the influence of geometric parameters as well as material properties such as yield strength, modulus of elasticity, Poisson's ratio, coefficient of thermal conduction and coefficient of thermal expansion. Yielding starts at the outer boundary or at the axis corresponding to an 'edge regime' of Tresca's prism in both cases. Propagations of the plastic regions are studied due to an increase of a heat generation.