Browsing by Author "Raheem, Haider"

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Open Access
A compliant, force-controlled active tail for miniature robots
(IEEE, 2024-05-13) Raheem, Haider; Ozbek, Doga; Ugur, Mustafa; Ozcan, Onur
Climbing up the slopes and scaling the obstacles are challenging tasks for miniature robots. By taking inspiration from nature, this paper investigates the use of a tail, like a lizard to aid the climbing capabilities of our miniature robot. We present the design of an active soft tail controlled by the force feedback from a 3D-printed, custom, soft force sensor. This paper also investigates the benefit of using an active tail controlled by force to climb slopes and obstacles. Increasing the slope that the miniature robot attempts to scale increases the need for the force applied by the tail to avoid the pitch-back movement of the robot. We can observe a positive correlation between the force applied by the tail and the slope of the surface. The experiments were conducted until the maximum degree of incline of slope that the robot could climb without any adhesive feet, i.e., 20 degrees. Additionally, this paper proves that the tail also improves the tail obstacle scaling capability of the robot. The maximum heights of the obstacle that the robot scales with and without the tail are 19 mm and 9 mm respectively.
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The Braggiotti Family and their contribution to Turkish culture
(Bilkent University, 2020) Asrar, Maira; Raheem, Haider; Ali, Noman; Almahfoodh, Hashim; Deeder, Danish
The Braggiotti family, one of the Levantine families who migrated to Turkey during the early 1800s, is considered to be a suitable topic regarding microhistory. Their early lives which were directly affected by events in Turkey, such as the Great Fire of Smyrna, combined with their ef fects on the economy due to a few members specializing in specific professions such as banking, emphasize the potential of members in the family. Additionally, the Braggiotti family has made significant progress regarding the cultural, culinary and theatrical preservation of their fami lies' traditions, as well as the preservation of Levantine culture in general. Albeit minimalistic in nature, their contributions also helped in influencing other processes such as trade, entertain ment, expressiveness etc. and their importance should not be understated.