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Yesim A. Baysal - IEEE Xplore Author Profile

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Biological snakes can perfectly move on almost all natural environments. Snake robots should be adaptive changing environment in order to have these motion abilities of their biological counterparts. This feature is important for potential applications of snake robots. This work investigates optimal gait parameters for energy efficient locomotion of a wheel-less snake robot under environments with...Show More
Energy efficient locomotion is critical for untethered snake robots. Despite enhancements in the development of snake robots in terms of modelling and control, a little attention has been given to find optimal locomotion for the snake robot. In this paper, symbiotic organism search algorithm is used to generate the optimum gait parameters for a wheel-less snake robot both minimizing the average po...Show More
In this paper, kinematic and dynamic modelling of a wheel-less snake robot that has more potential for adapting to the environment is implemented in Matlab/Simulink and effect of friction between its body with the ground, which plays a highly important role in some snake locomotion such as lateral undulation on motion is analyzed. Moreover, the relationship between number of links of the snake rob...Show More
This paper presents one of the latest nature-inspired meta-heuristics algorithms known as Cuckoo Search Algorithm (CSA) to solve optimal capacitor placement and sizing (OCPS) problem in radial power systems for the purpose of maximizing annual net saving by reducing the power losses with the acceptable voltage ranges. In the proposed algorithm, discrete nature of the capacitors is considered. Forw...Show More
A fuzzy reasoning based decision maker is developed in this study in order to determine the optimal capacitor location and sizing in radial distribution systems for the purpose of minimizing the power loss and capacitor cost with voltage limit constraints. The solution methodology includes two main parts. The first part is a fuzzy expert system that selects suitable candidate buses for capacitor l...Show More