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Electronic System and Software Architecture of Modular Reconfigurable Robot Module OMNIMO

100%
Kiliç A., Kapucu S.
|
EN
A robot is an electromechanical system, which is guided by software via electronic circuitry. In the absence of electronic systems, there is no way to make a connection between software and mechanical components. This means that all robotic systems require mechanical systems, electronic systems and software. OMNIMO, as a modular reconfigurable robot, has sophisticated electronic systems and software. Electronic system of OMNIMO includes controllers, actuators, transducers, communication units, regulators, batteries, user interface units and complementary components. In addition, OMNIMO is controlled by four different layers of software. In this paper, electronic hardware details, system integration and control software architecture of modular reconfigurable robot module OMNIMO are presented. In addition, adaptation of components and communication protocol details of hardware are given.
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Analysis of Observed Voltage Oscillations in Silver Doped High Temperature Superconductor YBCO

71%
Altinkok A., Olutas M., Yetis H., Kiliç A., Kiliç K.
Acta Physica Polonica A
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2018
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vol. 133
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issue 4
1030-1034
EN
The effect of square wave current was investigated by the voltage-time (V-t curves) measurements at various external magnetic fields and periods (P) in silver doped YBCO. The general sinusoidal behavior of V-t curves was mainly interpreted as a dynamic competition between driving and pinning forces. It is observed that as the period of square wave current is increased, the amplitude of oscillation is also increased. The observed oscillations in the voltage was fitted by an common sinusoidal equation V(t)ımın(ω t+φ). It is also found that there is different phase angle φ values for each cycle. Fast Fourier transform measurements is applied to oscillation period (P_{I}) of the square wave current. The results give us that a physical mechanism is related with charge density waves. Intrinsically, in Ag doped YBCO, the pinned flux line system evokes the general behavior of charge density waves. Due to properties of the converting the square wave current to sinusoidal voltage oscillations, Ag doped YBCO sample can behave as double-integrator for the defined period, amplitude of square wave current and magnetic field values in time.
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