M. Selcuk Arslan

M. Selcuk Arslan
Yildiz Technical University · Department of Mechatronics Engineering

PhD

About

44
Publications
15,824
Reads
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231
Citations
Citations since 2016
25 Research Items
210 Citations
20162017201820192020202120220204060
20162017201820192020202120220204060
20162017201820192020202120220204060
20162017201820192020202120220204060
Additional affiliations
December 2010 - present
Yildiz Technical University
Position
  • Professor (Assistant)
April 2009 - December 2010
Tokyo Institute of Technology
Position
  • PostDoc Position

Publications

Publications (44)
Article
The design and control of a cable-driven rehabilitation robot, which can be configured easily for exercising different articulations such as elbows, shoulders, hips, knees and ankles without requiring any orthosis, are introduced. The passive, active-assisted and active-resisted exercises were designed and implemented using impedance control. The c...
Article
Full-text available
It is anticipated that passengers in autonomous vehicles will be more occupied with in-vehicle activities. Loss of the authority on driving and engaging in non-driving tasks could cause lower predictability of car motions. This decrease in predictability is expected to increase the sensitivity to carsickness. It appears that it is crucial to develo...
Article
Full-text available
In this paper, an optimal controller is designed to control the undesired roll motion of a ship under the effect of sea waves by using active fin stabilizers. The roll dynamics is described by a single-degree-offreedom nonlinear model. An actuator dynamics is also included to the dynamic system. Sinusoidal and random wave models are used to describ...
Conference Paper
Sensors are essential in powertrain engineering and exhaust aftertreatment systems due to the increasing need for high performance and fewer emissions. Mostly in diesel oxidation catalysts, the upstream and downstream temperature sensors are attached to the vehicle until their models get calibrated then removed in the end-user version. The modeling...
Conference Paper
A side slip angle free model matching controller (MMC) is designed to improve vehicle yaw stability by active front steering. Optimization of controller gains is specified by a classical LQR problem. Additionally, LQR controller gains are structured to enable side slip angle free design. Design of an LQR having a structured controller gain is formu...
Conference Paper
Full-text available
In this study, effect of look ahead distance on autonomous vehicle control is investigated. A simple output feedback control law with feedback of lateral and heading error at preview distance, is employed to analyze closed loop behavior against various look ahead distance, l s values. Firstly, analysis are performed with linearized vehicle model in...
Conference Paper
In this study, the motion sickness level (defined in the ISO standards) for autonomous vehicles is analyzed as a function of the look-ahead distance. A standard linearized vehicle model is used to design linear quadratic regulators (LQR) for the automated steering. The dynamics of the otolith organ of the human vestibular system is integrated to th...
Article
Full-text available
In this study, a nonlinear predictive control method is developed for the active steering control of a sport utility vehicle. The method is tested on a nonlinear mathematical model of an 11-degree-of-freedom vehicle. The system performance is evaluated by considering that the control law must keep the actual yaw rate close to the desired yaw rate a...
Article
Therapeutic exercises play an important role in the physical therapy and the rehabilitation. The exercises that can be assisted by a physiotherapist are increasingly being performed by the rehabilitation robots partially or fully due to their various merits. This study aims to develop a complete rehabilitation system, which consists of a rehabilita...
Article
Full-text available
A mathematical model of steering feel based on a hysteresis model is proposed for Steer-by-Wire systems. The normalized Bouc-Wen hysteresis model is used to describe the steering wheel torque feedback to the driver. By modifying the mathematical model of the hysteresis model for a steering system and adding custom parameters, the availability of ad...
Article
Full-text available
This paper is concerned with a control design of an electro-hydraulic suspension system. In some practical problems, for instance in the active suspension design, the state derivative signals such as acceleration and velocity are easier to obtain rather than the state variables such as displacement and velocity, since the most commonly used sensors...
Conference Paper
Full-text available
zetçe Bu çalı¸smadaçalı¸smada, lastik tekerlekli bir karayolu ta¸sıtınınta¸sıtının aktif dümenleme kontrolü için bir kontrol yöntemi tasarlanmı¸stasarlanmı¸s ve geli¸stirilengeli¸stirilen kontrol yöntemi ile 11-SD'li bir ta¸sıtta¸sıt modeli kul-lanılarak test edilmi¸stiredilmi¸stir. Do˘ grusal olmayan model öngörülü kontrol yakla¸sımıyakla¸sımı kul...
Article
In rubber-wheeled vehicles, mechanical connection between steering wheel and front wheels provides steering related feedback to the driver. The torque fed back to the driver through the steering linkages and steering wheel, which is called steering feel, helps the driver in controlling the vehicle. The torque feedback is reproduced via artificial m...
Article
Full-text available
In rubber-wheeled road vehicles, the torque fed back to the driver through the steering linkages and steering wheel, which is called steering feel, helps the driver in controlling the vehicle. The torque feedback is reproduced via artificial methods in steer-by-wire systems due to the lack of mechanical connection. Since the mass of vehicle is one...
Conference Paper
Full-text available
This paper is concerned with the design of active control of a vehicle suspension system. In some practical problems, for instance in the active vibration control in mechanical systems, the state derivative signals such as acceleration and velocity are easier to obtain than the states. Hence state derivative feedback LQR controller is preferred. Co...
Conference Paper
Full-text available
In this study, an active trailer braking system is designed for trailer sway mitigation. Motion of car-trailer system on the horizontal plane with three degree of freedom is modelled and its longitudinal velocity dependent dynamical behaviour is analyzed. Due to the analysis of dynamical behaviours, performance objectives for the controller design...
Article
Full-text available
In rubber-wheeled road vehicles, the mechanical connection between steering wheel and front wheels provides steering-related feedback to the driver. The torque fed back to the driver through the steering linkages and steering wheel, which is called steering feel, helps the driver in controlling the vehicle. The torque feedback is reproduced via art...
Conference Paper
Vehicle stability enhancement based on an energy optimal control method is presented. The direct yaw moment control of a road vehicle is aimed by the intervention of individual braking forces. The optimal controller has been designed to minimize the given criteria function. This function has two essential elements: the control performance measure a...
Conference Paper
Full-text available
An Active Trailer Braking system is designed for the mitigation of trailer sway. Motion of the vehicle-trailer system on the horizontal plane with three degrees of freedom is modeled. Variations on the dynamic behaviors are studied due to the changes in longitudinal velocity. Then, performance objectives of controller is specified in terms of robus...
Article
Full-text available
A Steer-By-Wire (SBW) control scheme is proposed for enhancing the lateral stability and handling capability of a super lightweight vehicle by using the energy optimal control method. Tire dissipation power and virtual power, which is the product of yaw moment and the deviation of actual yaw rate from the target yaw rate, were selected as performan...
Conference Paper
Full-text available
In this study, design steps and system concept of a 3 DOF upper limb rehabilitation robot which is called Physiotherabot/WF are introduced. Functional requirements of design, corresponding design parameters and system concept of the robot were examined in detail. Physiotherabot/WF can perform pronation-supination movement for forearm, abduction-add...
Conference Paper
In this study, design steps and system concept of a 3 DOF upper limb rehabilitation robot which is called Physiotherabot/WF are introduced. Functional requirements of design, corresponding design parameters and system concept of the robot were examined in detail. Physiotherabot/WF can perform pronation-supination movement for forearm, abduction-add...
Article
This paper presents an optimal control method which is based on a newly established framework of control problem. This framework is composed of obtaining the ideal characteristics of the system for a given criteria function and solving the equations of motion by using the inverse of ideal characteristics function as an optimal control law for given...
Article
This paper presents an optimal control method which is based on a newly established framework of control problem. This framework is composed of obtaining the ideal characteristics of the system for a given criteria function and solving the equations of motion by using the inverse of ideal characteristics function as an optimal control law for given...
Article
Steer-by-wire systems have the range of the front steer angle about ±30 deg. It is not easy to find a technique theoretically for controlling the control variable region in such a large steering angle independently from the steer of the driver. A certain kind of steer pattern emerged in our control method has better performance than that of state f...
Chapter
Full-text available
In this study, position control of the UUV as the application of a novel optimal control was discussed. The dynamics and control of the 6-DOF UUV are presented and the new optimal control method was introduced. To the best knowledge of the authors, there is no 6-DOF underwater vehicle that can be controlled with one actuator in literature. Based on...
Conference Paper
Full-text available
This paper introduces the application of a newly developed optimal control method for an autonomous underwater vehicle (AUV) and actuator failure performance in case of the failure of either rudder or stern fin. The six degree-of-freedom (DOF) nonlinear equations of motion were used in the control. For failure and no-failure cases, two control syst...
Conference Paper
Full-text available
This paper introduces the application of a new control method for a nonholonomic underwater vehicle (NUV) which has a scalene ellipsoidal shape and only one actuator. A nonlinear model of an autonomous underwater vehicle was studied. For controlling the NUV, a new control method, optimal control of a mechanical system by means of energy equation, w...
Conference Paper
Full-text available
This paper introduces the application of a new control method for a nonholonomic underwater vehicle (NUV). The NUV is a nonlinear and underactuated system; and it necessitates a special control approach because it possesses only one actuator. In the control method, which keeps the general structure of an optimal control approach, the functional def...
Article
Full-text available
In this paper, application of a new optimal control method for a six-degree of freedom underwater vehicle (UV) with one actuator is discussed. The UV is a nonholonomic system since it is nonlinear and underactuated. Therefore, control of this vehicle necessitates a special control method. In the control method, the functional defining criteria func...
Article
Full-text available
In this thesis study, it is aimed to improve the performance of an Internet-based teleoperation system enabling the remote operation of a 6 DOF industrial robot. In order to improve the safety and efficiency of the teleoperation, stability and synchronization (hand-eye coordination) are considered. The selected communication medium between the huma...

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Project (1)
Project
Development and Enhancement of a Steering Feel Model for SBW Vehicles