Afsar Saranli

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In this paper, we study the kinematics of a legged robot with half-circular leg morphology. In particular, our focus is on the RHex hexapod platform. A new kinematic model for RHex is developed considering the leg shape and its consequences, which was over simplified in the previous models seen in literature. The formulation is an accurate kinematic(More)
Widening applications of inertial sensors has triggered the search for cost effective sensors and those based on MEMS technology has been gaining popularity in particular for the lower cost applications. However, inertial sensors are subject to various error sources and characteristics of these should be modelled carefully and corrective calibration(More)
In this paper, we consider a tracker-aware radar detector threshold optimization formulation for tracking maneuvering targets in clutter. The formulation results in an online method with improved transient performance. In our earlier works, the problem was considered in the context of the probabilistic data association filter (PDAF) for nonmaneuvering(More)
This study presents a theoretical analysis of output independence and complementariness between classi ers in a rank based multiple classi er decision system in the context of the Partitioned Observation Space theory To enable such an analysis an Information Theoretic interpretation of a rank based multiple classi er system is developed and basic concepts(More)
A promising line of research attempts to bridge the gap between radar detector and radar tracker by means of considering jointly optimal parameter settings for both of these subsystems. This approach, which can also be considered as a form of feedback from the tracker to the detector results in an adaptive radar system. In the present work, we attempt to(More)
Pronking (aka. stotting) is a gait in which all legs are used in synchrony, resulting in long flight phases and large jumping heights that may potentially be useful for mobile robots on rough terrain. Robotic instantiations of this gait suffer from severe pitch instability either due to underactuation, or the lack of sufficient feedback. Nevertheless, the(More)