Yazar "Sahin, Yusuf" seçeneğine göre listele

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    Deflection Control of Two-Floors Structure Against Northridge Earthquake by Using PI Controlled Active Mass Damping
    (TRANS TECH PUBLICATIONS LTD, 2013) Tinkir, Mustafa; Kalyoncu, Mete; Sahin, Yusuf
    This paper presents an experimental investigation for deflection control of two degree of freedom building-like structure system against scaled Northridge Earthquake by using PI (Proportional-Integral) controlled active mass damping. Proposed structure consist of two floors with a cart mounted on the second floor such as active mass damping (AMID) and which is used to suppress horizontal deflections. Moreover a shake table under the structure is used to create the acceleration effect of scaled earthquake. K-p and K-i gain parameters of PI controller is determined by observing passive mode behaviour of the structure against Northridge and it is used to control cart movement according to pre-determined deflection criterias of the floors. Deflection and acceleration results of the floors are obtained separately for passive and active mode responses of the system in the form of graphics.
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    Design and Actuator Selection of a Lower Extremity Exoskeleton
    (IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2014) Onen, Umit; Botsali, Fatih M.; Kalyoncu, Mete; Tinkir, Mustafa; Yilmaz, Nihat; Sahin, Yusuf
    Lower extremity exoskeletons are wearable robots that integrate human intelligence with the strength of legged robots. Recently, lower extremity exoskeletons have been specifically developed for transportation of disabled individuals. This paper summarizes the anthropomorphic design of a lower extremity exoskeleton named "walking supporting exoskeleton (WSE)." WSE has been developed to support some fundamental motions (walking, sitting, standing, etc.) of disabled individuals who lost leg muscular activities completely or partially. WSE has two degrees of freedom per leg which are powered by electrical actuators. This paper discusses critical design criteria considered in mechanical design and actuator selection of WSE.
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    Experimental Investigation of Full-Order Observered and LQR Controlled Building-Like Structure Under Seismic Excitation
    (TRANS TECH PUBLICATIONS LTD, 2013) Tinkir, Mustafa; Kalyoncu, Mete; Sahin, Yusuf
    In this paper, the dynamic behaviour of two degree of freedom building-like structure system against unexpected input such as seismic excitation is considered by experimentally. Proposed system consists of two floors structure with active mass damping (AMD) and shaker. Passive and active mode deflection responses of the floors are investigated and also a cart is used to suppress vibrations, which moves linear direction and is mounted on the second floor. PV (proportional and velocity) control of the cart is realized in passive mode. Moreover LQR (Linear Quadratic Regulator) control is designed to control the cart in active mode while system under excitation. For this aim a full-order observer is designed and implemented to control strategy. Displacements of cart, deflections and accelerations results of the floors are presented separately for passive and active mode responses of the system in the form of graphics.
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    Force Feedback Control of Lower Extremity Exoskeleton Assisting of Load Carrying Human
    (TRANS TECH PUBLICATIONS LTD, 2014) Sahin, Yusuf; Botsali, Fatih Mehmet; Kalyoncu, Mete; Tinkir, Mustafa; Onen, Umit; Yilmaz, Nihat; Baykan, Omer Kaan
    Lower extremity exoskeletons are wearable robot manipulators that integrate human intelligence with the strength of legged robots. Recently, lower extremity exoskeletons have been specifically developed for rehabilitation, military, industrial applications and rescuing, heavy-weight lifting and civil defense applications. This paper presents controller design of a lower-extremity exoskeleton for a load carrying human to provide force feedback control against to external load carried by user during walking, sitting, and standing motions. Proposed exoskeleton system has two legs which are powered and controlled by two servo-hydraulic actuators. Proportional and Integral (PI) controller is designed for force control of system. Six flexible force sensors are placed in exoskeleton shoe and two load cells are mounted between the end of the piston rod and lower leg joint. Force feedback control is realized by comparing ground reaction force and applied force of hydraulic cylinder. This paper discusses control simulations and experimental tests of lower extremity exoskeleton system.
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    Hybrid Controller Design for Two-Floors Structure Against Northridge Earthquake
    (TRANS TECH PUBLICATIONS LTD, 2013) Tinkir, Mustafa; Kalyoncu, Mete; Sahin, Yusuf
    In this study, an adaptive neural network based fuzzy logic controller (ANNFLC) and a PI (Proportional and Integral) controller are used together as hybrid controller for deflection control of two degree of freedom building-like structure system against scaled Northridge Earthquake experimentally. Proposed structure consist of two floors with a shake table and a cart which is mounted on the second floor as active mass damping (AMD) and controlled by hybrid controller. Training and testing data of ANNFLC are determined by using behaviour of PI controlled system against Northridge. Thus, ANNFLC is created and it's control performance is combined with PI controller's effect to achieve small deflection responses of the floors. Obtained hybrid controlled results are compared with passive and PI controlled results and presented in the form of graphics.
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    Mechanical Design of Lower Extremity Exoskeleton Assisting Walking of Load Carrying Human
    (TRANS TECH PUBLICATIONS LTD, 2014) Sahin, Yusuf; Botsali, Fatih Mehmet; Kalyoncu, Mete; Tinkir, Mustafa; Onen, Umit; Yilmaz, Nihat; Cakan, Abdullah
    Exoskeletons are used in rehabilitation, military, industrial applications and rescuing, heavy-weight lifting and civil defense applications as well. This paper presents to design of a lower-extremity exoskeleton assisting walking of a load carrying human. Proposed exoskeleton system is designed to be appropriate mechanism with human lower extremity and it operates synchronously with the human realizes. The aim of exoskeleton actuator system is to provide forces against to external load carried by user during walking, sitting, and standing motions. Thus, it supports human walking and significant portion of external load carrying by the user. Also it makes possible to user spend less energy, less stress and fatigue. Proposed work involves the following design steps: kinematic synthesis of the exoskeleton, mechanical and electro-hydraulic system design.
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    Modelling and Controller Design for a Flexible Structure System against Disturbance Effects
    (SAGE PUBLICATIONS LTD, 2015) Tinkir, Mustafa; Kalyoncu, Mete; Sahin, Yusuf
    The effects of natural hazards such as earthquakes are serious threat to structures and most researchers have studied structural control systems. Vibration and displacement control of structures under seismic excitation are important problems for which a solution is to use structural control against the disturbances. This paper presents modelling and controller design for flexible structure systems against unexpected disturbance effects such as seismic excitation. The proposed system consists of two flexible floors with active mass damper. The system is set up on a shake-table and disturbances are created by the shake-table. Active mass damper consists of a moving mass actuated by a servomotor, which moves linearly and is mounted on the second floor to suppress structural vibrations and displacements. In simulation works, different types of modeling technique are used to obtain dynamic behaviour of the proposed system and control of the simulated system is carried out using SolidWorks and MATLAB/SimMechanics. Moreover linear quadratic regulator and proportional-integral-derivative controllers are designed to control the moving mass in active mode while the system is under excitation. For this purpose a full-order observer is formed and implemented as control strategy. Furthermore acceleration and displacement responses of the floors and displacement of proportional velocity controlled cart are investigated in passive mode. A set of results verifying the modelling technique, controller performance and effectiveness, displacements of cart, displacements and accelerations of the floors are presented and compared separately for passive and active modes in the form of graphics and tables.