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Load transportation by dual arm robot using sliding mode control
Nurkan Yagiz,Yuksel Hacioglu,Yunus Ziya Arslan 대한기계학회 2010 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.24 No.5
In this study, a sliding mode controlled dual arm robotic system was designed. Such multi-arm, collaborative and synchronous robots typically are employed in hazardous situations such as radioactive materials transport explosives disposal and industrial applications. In the present study, a high performance, robust, non-chattering sliding mode controller (SMC) was developed for the purpose of safe load handling, transportation and trajectory realization. First, dynamic equations of robot/load interaction were derived. Then, the robust SMC was designed for the dual arm robotic system. In order to test the robustness of the proposed SMC, parameter variations and external disturbances were introduced to the system. Furthermore, for comparative purposes, the conventional and widely used, PID controller was also applied to the dual arm robot. Significantly, it was found that the SMC made smaller trajectory tracking errors than the PID controller. An overall analysis of the numerical results confirmed that the dual-arm robotic systems with the proposed SMC can safely and effectively be used in hazardous applications.
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On Pseudo Null Bertrand Curves in Minkowski Space-time
Gok, Ismail,Nurkan, Semra Kaya,Ilarslan, Kazim Department of Mathematics 2014 Kyungpook mathematical journal Vol.54 No.4
In this paper, we prove that there are no pseudo null Bertrand curve with curvature functions $k_1(s)=1$, $k_2(s){\neq}0$ and $k_3(s)$ other than itself in Minkowski spacetime ${\mathbb{E}}_1^4$ and by using the similar idea of Matsuda and Yorozu [13], we define a new kind of Bertrand curve and called it pseudo null (1,3)-Bertrand curve. Also we give some characterizations and an example of pseudo null (1,3)-Bertrand curves in Minkowski spacetime.
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Berker Cemil,Emre Cemal Gokce,Ramazan Kahveci,Aysun Gokce,Nurkan Aksoy,Mustafa Fevzi Sargon,Bulent Erdogan,Bahadir Kosem 한국식품영양과학회 2016 Journal of medicinal food Vol.19 No.6
Garlic has been used as a food as well as a component of traditional medicine. Aged garlic extract (AGE) is claimed to promote human health through antioxidant/anti-inflammatory activities with neuroprotective effects. We evaluated the possible beneficial effect of AGE neurologically, pathologically, ultrastructurally, and biochemically in a spinal cord ischemia–reperfusion (I/R) model of rats. Twenty-four Sprague-Dawley rats were divided into three groups: sham (no I/R), I/R, and AGE (I/R+AGE); each group consisted of eight animals. Animals were evaluated neurologically with the Basso, Beattie, and Bresnahan (BBB) scoring system. The spinal cord tissue samples were harvested for pathological and ultrastructural examinations. Oxidative products (Malondialdehyde, nitric oxide), antioxidant enzymes (superoxide dismutase, catalase, glutathione peroxidase), inflammatory cytokines (tissue tumor necrosis factor alpha, interleukin-1), and caspase-3 activity were analyzed. The AGE group had significantly higher BBB scores than the I/R group. Pathologically, AGE group revealed reduced degree of ischemia and spinal cord edema. Ultrastructural results also showed preservation of tissue structure in the AGE group. Oxidative product levels of the I/R group were significantly higher than both the other groups, and antioxidant enzyme levels of AGE group were significantly higher than the I/R group. There was also significant difference between the sham and AGE groups in terms of total antioxidant enzyme levels. Furthermore, AGE treatment significantly reduced the inflammatory cytokines and caspase-3 activity than the I/R group. This study demonstrates the considerable neuroprotective effect of AGE on the neurological, pathological, ultrastructural, and biochemical status of rats with I/R-induced spinal cord injury.
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