Robot-Assisted Drilling on Curved Surfaces with Haptic Guidance under Adaptive Admittance Control

Scientific and Technological Research Council of Turkey (TUBITAK) [EEEAG-117E645]This work was supported by the Scientific and Technological Research Council of Turkey (TUBITAK) under contract number EEEAG-117E645Drilling a hole on a curved surface with a desired angle is prone to failure when done manually, due to the difficulties in drill alignment and also inherent instabilities of the task, potentially causing injury and fatigue to the workers. On the other hand, it can be impractical to fully automate such a task in real manufacturing environments because the parts arriving at an assembly line can have various complex shapes where drill point locations are not easily accessible, making automated path planning difficult. In this work, an adaptive admittance controller with 6 degrees of freedom is developed and deployed on a KUKA LBR iiwa 7 cobot such that the operator is able to manipulate a drill mounted on the robot with one hand comfortably and open holes on a curved surface with haptic guidance of the cobot and visual guidance provided through an AR interface. Real-time adaptation of the admittance damping provides more transparency when driving the robot in free space while ensuring stability during drilling. After the user brings the drill sufficiently close to the drill target and roughly aligns to the desired drilling angle, the haptic guidance module fine tunes the alignment first and then constrains the user movement to the drilling axis only, after which the operator simply pushes the drill into the workpiece with minimal effort. Two sets of experiments were conducted to investigate the potential benefits of the haptic guidance module quantitatively (Experiment I) and also the practical value of the proposed pHRI system for real manufacturing settings based on the subjective opinion of the participants (Experiment II). The results of Experiment I, conducted with 3 naive participants, show that the haptic guidance improves task completion time by 26% while decreasing human effort by 16% and muscle activation levels by 27% compared to no haptic guidance condition. The results of Experiment II, conducted with 3 experienced industrial workers, show that the proposed system is perceived to be easy to use, safe, and helpful in carrying out the drilling task.IEEE,Royal Soc Japan,IEEE Robot & Automat Soc,IES,SICE,New Technol FdnWOS:0009083682021152-s2.0-85146352560Conference Proceedings Citation Index – ScienceProceedings PaperUluslararası işbirliği ile yapılmayan - HAYIRMart2022YÖK - 2022-2

Yenikent sağlık ocağı yerleşim bölgesi populasyonunda normal kan basıncı değerleri

TEZ34Tez (Uzmanlık) -- Çukurova Üniversitesi, Adana, 1978.Kaynakça (s. 64-70) var.70 s. : res. ; 30 cm.

Water and energy security in the case of Armenia

This chapter puts emphasis on the water security and aims to clarify the role of hydropower in the energy security of Armenia. Armenia can be considered one of the water-rich countries in the region, considering its significant water resources and the high amount of precipitation that feeds these resources. The universal water stress index categorizes Armenia as a water-rich nation (renewable water per capita > 2000 m3), although most of the renewable water resources of the country are transboundary, and the country’s water security is yet to be subjected to a comprehensive analysis. Water security has a crucial impact also on energy security, and in the case of Armenia, as the country has no fossil fuel, it depends on foreign resources. In this context, hydropower stands as the most significant domestic resource, with the electricity sector relying heavily on hydroelectric power plants (HPPs). To enhance production and sustain the current role of hydropower in the energy supply mechanism, first, the country’s water security needs to be maintained. This chapter concludes that energy security in the country is primarily dependent on hydropower, and so the significance of water is double for Armenia. The chapter comprises three main parts: The first part explains the status of water security in Armenia; the second part examines Armenian energy policies, with specific focus on hydropower; and the third part concludes the chapter with a summary of the findings, and reveals the specific role of hydropower in the context of energy security.Kapadokya Üniversites

Rusya'nın 2000-2019 yılları arasındaki dış politika dinamikleri:

This thesis examines the dynamics of Russian foreign policy between 2000-2019 by specifically focusing on the civilian aspect of nuclear energy and how it shapes Russia’s relations with Turkey. It aims to clarify the role and the importance of nuclear energy as a foreign policy tool, specifically in the case of Turkey. To this end, Russian nuclear energy policy is scrutinized in detail. This thesis argues that the marketing and trading of nuclear power plants (NPPs) for civilian purposes not only provides surpluses for Russian economy but also increases the influence and power of Russia over those places where nuclear reactors are sold or other nuclear goods and services are supplied. Specifically, it examines the extent of the influence of the exportation of NPPs on the Russian foreign policy dynamics in Turkey. In this context, first a brief historical background information on Russian nuclear power status as well as the utilization of nuclear energy as a foreign policy tool during Putin’s presidency is given. This is followed by the Russia’s nuclear energy policies towards Turkey and the effects of this policy on the Russian foreign policy dynamics in Turkey. The study concludes that the Akkuyu NPP project will result in Moscow’s domination in the foreign policy dynamics between Turkey and Russia. As a result of such dominance Turkey will become much less sovereign in its foreign policy options and will feel the pressure coming from Moscow about the possible consequences of its actions which will not please Russia. The primary methodological tool of the work was qualitative analysis utilizing primary and secondary sources in Russian, English and Turkish on the topic, including academic books, articles, newspapers, magazines and relevant official websites.Thesis (M.S.) -- Graduate School of Social Sciences. Eurasian Studies