In this thesis, the integration of a MEMS based inertial measurement unit and a three axis solid state magnetometer are studied. It is a fact that unaided inertial navigation systems, especially low cost MEMS based navigation systems have a divergent behavior. Nowadays, many navigation systems use GPS aiding to improve the performance, but GPS may not be applicable in some cases. Also, GPS provides the position and velocity reference whereas the attitude information is extracted through estimation filters. An alternative reference source is a three axis magnetometer, which provides direct attitude measurements. In this study, error propagation equations of an inertial navigation system are derived / measurement equations of magnetometer for Kalman filtering are developed / the unique method to self align the MEMS navigation system is developed. In the motion estimation, the performance of the developed algorithms are compared using a GPS aided system and magnetometer aided system. Some experiments are conducted for self alignment algorithms.

This thesis involves modeling, controller design, and test case simulations for an underwater vehicle. Firstly, a complete dynamic model of the vehicle is developed with six degrees of freedom. The model includes the nonlinearities associated with the hydrodynamic forces and moments. The thrusters of the vehicle are also modeled. Then, using appropriate linearizations of the model, position and rate controllers are designed for the forward, downward, and turning motions of the vehicle. Finally, the designed controllers are tested for various maneuvers by means of simulations using the nonlinear dynamic model of the vehicle. The simulation results show that the designed controllers are quite satisfactory for the intended maneuvers.

In this thesis, a method to the solution of autonomous navigation problem of a robot working in an outdoor application is sought. The robot will operate in unknown terrain where there is no a priori map present, and the robot must localize itself while simultaneously mapping the environment. This is known as Simultaneous Localization and Mapping (SLAM) problem in the literature. The SLAM problem is attempted to be solved by using the correlation between range data acquired at different poses of the robot. A robot operating outdoors will traverse unstructured terrain, therefore for localization, pitch, yaw and roll angles must also be taken into account along with the (x,y,z) coordinates of the robot. The Iterative Closest Points (ICP) algorithm is used to find this transformation between different poses of the robot and find its location. In order to collect the range data, a system composing of a laser range finder and an angular positioning system is used. During localization and mapping, odometry data is fused with range data.

The purpose of the thesis is to achieve a hybrid force and motion control method of parallel manipulators working in a constrained environment, in the presence of joint flexibility that occurs at the actuated joints. A flexible joint is modeled and the equations of motion of the parallel manipulator are derived by using the Lagrange formulation. The structural damping of the active joints, viscous friction at the passive joints and the rotor damping are also considered in the model. It is shown that in a flexible joint manipulator, the acceleration level inverse dynamic equations are singular because the control torques do not have instantaneous effect on the manipulator end-effector contact forces and accelerations due to the flexibility. Implicit numerical integration methods are utilized for solving the singular equations. As a case study, a two legged constrained planar parallel manipulator with three degrees of freedom is simulated to illustrate the performance of the method.

Current methods to diagnose and treat cancer often involve expensive, time-consuming equipment and materials that may lead to unwanted side effects and may not even increase a patient’s chance of survival. Thus, for a while now, a large part of the research community has focused on developing improved methods to detect, diagnose, and treat cancer on the molecular scale. One of the most recently discovered methods of cancer therapy is targeted therapy. These targeted therapies have potential to provide a patient with a form of personalized medicine because these therapies are biological molecules that specifically target other molecules involved with a cancer’s growth. Past trials using these therapeutic molecules, however, have led to controversial results, where certain patients responded better than others to the therapy for unknown reasons. Elucidating the reason behind these mixed results can be accomplished using metal nanoparticle technologies which could provide a bright signal to monitor the path that these therapeutic molecules take in vivo as well as enhance the molecule’s efficacy. Literature has shown that presenting targeting molecules in a dense manner to their target will increase these molecules’ binding affinity. This concept has been explored here to increase binding affinity of therapeutic molecules by attaching these molecules in a dense manner on the surface of gold nanoparticles, and correlating this increased affinity with therapeutic efficacy. Additionally, gold nanoparticles provide an easy surface for molecules to be functionalized on and have shown to be effective imaging, x-ray, and photothermal therapy agents. A major roadblock to using these gold nanoparticles clinically is their non-degradability and thus potential to cause long-term negative side effects in vivo. A platform for developing biodegradable gold nanoparticles is also explored here to take advantage of the gold nanoparticles’ excellent imaging and drug delivery capabilities while still allowing them to be used safely in the long term. / text

In this thesis a mechatronics education desk is developed. The system developed is a low cost, versatile mechatronics education and teaching environment that aims to facilitate hands-on education of undergradutate level mechatronics students. The desk is formed of three main modules that address the needs of mechatronics education: The WorkDesk, Mechatronic Building Blocks and Experimental Setups. These parts are well designed and presented to form a complete and coordinated solution for mechatronics education. The WorkDesk is a platform devoted to the mechatronics engineering trainee, which provides mechanical, electrical and software prototyping that enables studying, testing and parts integration for mechatronic projects. The components building up the WorkDesk are selected or developed to facilitate mechatronics design and prototyping. Mechatronic building blocks necessary for mechatronics teaching are identified and selected to be a part of the system. In order to support these modules, low cost custom building blocks are also developed. These include, an autonomous mobile robot kit and a versatile interface board called ready2go. Demonstrative experiments with custom developed building blocks are also presented. Two experimental setups are developed and presented in the scope of the thesis. The setups, Intelligent Money Selector and Heater/Cooler, address and demonstrate many aspects of mechatronic systems as well as aid introducing systems approach in mechatronics education. As a consequence, a mechatronics education desk is developed and presented with many hands-on educational case studies. The system developed forms an extensible and flexible software and hardware architecture and platform that enables integration of additional mechatronics education modules.

Ankara Wind Tunnel (AWT) operated by T&Uuml / BiTAK-SAGE is the only big sized wind tunnel in Turkey. The AWT was constructed in late 1940&rsquo / s but was not operated until 1993 when the tunnel was turned over T&Uuml / BiTAK-SAGE. Since 1993, a series of modernization work has been undergoing in order to match the demands of the 21st century. In wind tunnels, models are positioned by special mechanisms that are instrumented to get the test data specific to the test performed. Models are assembled from their rear sides on these mechanisms called model support systems in order not to influence the flow around them. In this thesis, a conceptual design of a 6 degrees-of-freedom model support system for AWT is accomplished. A detailed system model is developed for the controller design. A force controller to perform store separation tests in real time is designed, tuned, and validated with computer simulations.

No description available.

This thesis will answer, “How do ethnic labels function in the Gospel of John?” In order to answer this question properly, this thesis draws on social-scientific theories on ethnic groups, deviancy, and labeling. The primary examples of ethnic labeling for this thesis are John 4:9 and 8:48. In each instance, members from “the Jews” (ʼΙουδαῖοι) and “Samaritans” label Jesus as a member of each other’s group. The Gospel of John’s dual ethnic labeling of Jesus participates in a history of discourse between “the Jews” and “Samaritans.” Both people groups adhere to an “us” versus “them” mentality because they both identify themselves as Israelites while rejecting the other group’s claim to that identity. The parameters of the discourse are determined by not only how each ethnic group identifies themselves but particularly how they construct the category for the other’s group. Once the parameters of discourse are in place, then we can address the function of ethnic labels in the Gospel of John. On both occasions Jesus is labeled because he deviates from what are deemed to be acceptable practices as a member of “the Jews.” The function of Jesus’s dual ethnic labeling in the Gospel of John is to establish a new pattern of practices and categories for the “children of God” who are a trans-ethnic group united as a fictive-kinship and who are embedded within the Judean ethnic group’s culture and traditions. The Johannine Jesus is portrayed as “the Jews’” Messiah (1:45; 20:31), who brings “salvation from the Jews” (4:22), and who is “the savior of the world” (4:42). The Gospel of John presents Jesus as broadening the more restrictive boundaries within “his own people” (1:11) in order to “draw all people to myself” (12:32).

No description available.