{"id":12,"date":"2016-10-17T16:09:59","date_gmt":"2016-10-17T13:09:59","guid":{"rendered":"http:\/\/blog.metu.edu.tr\/mertan\/?page_id=12"},"modified":"2020-06-18T07:26:01","modified_gmt":"2020-06-18T04:26:01","slug":"publications","status":"publish","type":"page","link":"https:\/\/blog.metu.edu.tr\/mertan\/publications\/","title":{"rendered":"Publications"},"content":{"rendered":"
    \n\n\n\n\n<\/colgroup>\n\n<\/tr>\n\n\n\n\n\n\n\n\n\n\n\n\n\n
    <\/th>\n Journal Publications <\/strong><\/th>\n<\/tr>\n
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  1. <\/li>\n<\/td>\n
    		2. I. Uyanik, U. Saranli, M. M. Ankarali, N. J. Cowan, and O. Morgul. “Frequency-Domain Subspace Identification of Linear Time Periodic (LTP) Systems”<\/a>. IEEE Trans. Automat. Contr., 64(6):2529-2536, 2019.<\/td>\n<\/tr>\n
    \n
  2. <\/li>\n<\/td>\n
    		3.  R. Nickl, M. M. Ankaral\u0131, and Noah J. Cowan. “Complementary spatial and timing control in rhythmic arm movements” <\/a>. J. Neurophysiol., 121(4):1543-1560, 2019.<\/td>\n<\/tr>\n
    \n
  3. <\/li>\n<\/td>\n
    		4.  I. Uyanik, H. Hamzacebi, and M. M. Ankarali. “State-space identification of switching linear discrete time-periodic systems with known scheduling signals” <\/a>. Turk. J. Electr. Eng. Co., 27(4):2755-2768, 2019.<\/td>\n<\/tr>\n
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  4. <\/li>\n<\/td>\n
    		5. E. Ege, and M. M. Ankarali. “Feedback motion planning of unmanned surface vehicles via random sequential composition”<\/a>. Trans. Inst. Measurement Control, 41(12):3321-3330, 2019.<\/td>\n<\/tr>\n
    \n
  5. <\/li>\n<\/td>\n
    		6. E. D. Tytell, J. A. Carr, N. Danos, C. Wagenbach, C M Sullivan, T. Kiemel, N. J. Cowan and M. M. Ankarali. “Body stiffness and damping depend sensitively on the timing of muscle activation in lampreys”<\/a>. Integr Comp Biol, 58(5):860\u2013873, 2018. [pdf] <\/a><\/td>\n<\/tr>\n
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  6. <\/li>\n<\/td>\n
    		7. M. M. Ankarali, S. Sefati, M. S. Madhav, A. Long, A. J. Bastian, and N. J. Cowan. “Walking dynamics are symmetric (enough)”<\/a>. J. R. Soc. Interface, 12: 20150209, 2015. [pdf] <\/a><\/td>\n<\/tr>\n
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  7. <\/li>\n<\/td>\n
    		8. I. Uyanik, M. M. Ankarali, N. J. Cowan, U. Saranli, and O. Morgul. “Identification of a vertical hopping robot model via harmonic transfer functions”<\/a>. Trans. Inst. Measurement Control, 38(5):501-511, 2016. [pdf] <\/a><\/td>\n<\/tr>\n
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  8. <\/li>\n<\/td>\n
    		9.  N. J. Cowan, M. M. Ankarali, J. P. Dyhr, M. S. Madhav, E. Roth, S. Sefati, S. Sponberg, S. A. Stamper, E. S. Fortune, and T. L. Daniel . “Feedback control as a framework for understanding tradeoffs in biology”<\/a>. Integr Comp Biol, 54(2):223-237, 2014. [pdf] <\/a><\/td>\n<\/tr>\n
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  9. <\/li>\n<\/td>\n
    		10.  M. Mert Ankaral\u0131, H. Tutkun \u015een, Avik De, Allison M. Okamura, and Noah J. Cowan. “Haptic Feedback Enhances Rhythmic Motor Control By Reducing Variability, Not Improving Convergence Rate”<\/a>. J Neurophysiol, 111(6):1286-1299, 2014. [pdf]<\/a> [Download cover illustration]<\/a><\/td>\n<\/tr>\n
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  10. <\/li>\n<\/td>\n
    		11.  M. M. Ankarali, and U. Saranli. “Control of Underactuated Planar Pronking Through an Embedded Spring-Mass Hopper Template”<\/a>. Autonomous Robots. 30(2):217-231, 2011. [pdf]<\/a><\/td>\n<\/tr>\n
    \n
  11. <\/li>\n<\/td>\n
    		12.  M. M. Ankarali and U. Saranli. “Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper”<\/a>. Chaos 20, 033121, 2010. [pdf] <\/a><\/td>\n<\/tr>\n
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  12. <\/li>\n<\/td>\n
    		13.  U. Saranli, O. Arslan, M. M. Ankarali and O. Morgul. “Approximate Analytic Solutions to Non-symmetric Stance Trajectories of the Passive Spring-Loaded Inverted Pendulum with Damping”<\/a>. Nonlinear Dynamics. 62(4):729-742, 2010. [pdf] <\/a><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/ol>\n
      \n\n\n\n\n<\/colgroup>\n\n\n\n<\/tr>\n\n\n\n\n\n\n\n\n\n\n
      <\/th>\n Refereed Conference Papers <\/strong><\/th>\n<\/tr>\n
      \n
    1. <\/li>\n<\/td>\n
      		2. M. Ozcan, and M. M. Ankarali “Feedback Motion Planning For a Dynamic Car Model via Random Sequential Composition” <\/a>. In Proc. IEEE International Conference on Systems, Man and Cybernetics (SMC). Bari, Italy, 2019.<\/td>\n<\/tr>\n
      \n
    2. <\/li>\n<\/td>\n
      		3. F. Golbol, M. M. Ankarali, and A. Saranli. “RG-Trees: Trajectory-Free Feedback Motion
      \nPlanning Using Sparse Random Reference Governor Trees” <\/a>. In Proc. IEEE International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain, 2018.<\/td>\n<\/tr>\n
      \n
    3. <\/li>\n<\/td>\n
      		4. I. Uyanik, U. Saranli, O. Morgul, and M. M. Ankarali, “Parametric Identification of Hybrid Linear- Time-Periodic Systems” <\/a>. In Proc. IFAC Symposium on System Structure and Control. Istanbul, Turkey, 2016.<\/td>\n<\/tr>\n
      \n
    4. <\/li>\n<\/td>\n
      		5. I. Uyanik*, M. M. Ankarali*. N. J. Cowan, U. Saranli, O. Morgul, and Hitay Ozbay, “ Independent Estimation of Input and Measurement Delays for a Hybrid Vertical Spring-Mass-Damper via Harmonic Transfer Functions<\/a>“. In Proc. IFAC Workshop on Time Delay Systems, Ann Arbor, MI, USA, 2015. *Contributed equally.<\/td>\n<\/tr>\n
      \n
    5. <\/li>\n<\/td>\n
      		6. I. Uyanik, M. M. Ankarali. N. J. Cowan, U. Saranli, and O. Morgul “ Toward Data-Driven Models of Legged Locomotion using Harmonic Transfer Functions<\/a>“. In Proc. 17th International Conference on Advanced Robotics, Istanbul, Turkey, 2015.<\/td>\n<\/tr>\n
      \n
    6. <\/li>\n<\/td>\n
      		7.  M. M. Ankarali, and N. J. Cowan. “System Identification of Rhythmic Hybrid Dynamical Systems via Discrete Time Harmonic Transfer Functions” <\/a>. In Proceedings of the Conference on Decisions and Controls (CDC). Los Angeles, CA, USA, 2014.<\/td>\n<\/tr>\n
      \n
    7. <\/li>\n<\/td>\n
      		8.  M. M. Ankarali, E. Sayginer, Y. Yazicioglu , A. Saranli and U. Saranli. “A Dynamic Model of Running with a Half-Circular Compliant Leg” <\/a>. 15th International Conference on Climbing and Walking Robots (CLAWAR) , July 2012, Baltimore, MD, USA. (Best Technical Paper Award, Highly Commended Paper)<\/td>\n<\/tr>\n
      \n
    8. <\/li>\n<\/td>\n
      		9.  A. Demir, M. M. Ankarali, J. P. Dyhr, K. A. Morgansen, T. L. Daniel, and N. J. Cowan. “Inertial redirection of thrust forces for flight stabilization” <\/a>. 15th International Conference on Climbing and Walking Robots (CLAWAR), July 2012, Baltimore, MD, USA.<\/td>\n<\/tr>\n
      \n
    9. <\/li>\n<\/td>\n
      		10.  M. M. Ankarali and U. Saranli. “Analysis and Control of a Dissipative Spring-Mass Hopper with Torque Actuation” <\/a>. In Proceedings of Robotics: Science and Systems (RSS), June 2010, Zaragoza, Spain.<\/td>\n<\/tr>\n
      \n
    10. <\/li>\n<\/td>\n
      		11.  M. M. Ankarali, U. Saranli and A. Saranli. “Control of Underactuated Planar Hexapedal Pronking Through a Dynamically Embedded SLIP Monopod” <\/a>. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May 2010, Anchorage, USA.<\/td>\n<\/tr>\n
      \n
    11. <\/li>\n<\/td>\n
      		12.  M. M. Ankarali, O. Arslan and U. Saranli. “An analytical solution to the stance dynamics of passive spring-loaded inverted pendulum with damping” <\/a>. In Proceedings of the 12th International Conference on Climbing and Walking Robots (CLAWAR) , September 2009, \u0130stanbul , Turkey.<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/ol>\n
        \n\n\n\n\n<\/colgroup>\n\n\n\n\n
        <\/th>\n Theses <\/strong><\/th>\n<\/tr>\n
        \n
      1. <\/li>\n<\/td>\n
        		2. M. M. Ankarali. “Variability, Symmetry, and Dynamics in Human Rhythmic Motor Control”<\/a>. Doctoral thesis, Johns Hopkins University, 2015.<\/td>\n<\/tr>\n
        \n
      2. <\/li>\n<\/td>\n
        		3.  M. M. Ankarali. “Control of Hexapedal Pronking Through a Dynamically Embedded Spring-Loaded Inverted Pendulum Template”<\/a>. M.S. thesis, Middle East Technical University, January 2010.<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/ol>\n
          \n\n\n\n\n<\/colgroup>\n\n\n\n
          <\/th>\n Datasets <\/strong><\/th>\n<\/tr>\n
          \n
        1. <\/li>\n<\/td>\n
          		2. \nM. M. Ankarali, A. Long, A. J. Bastian, and N. J. Cowan (2015) Data from: Walking dynamics are symmetric (enough). Version 1, Johns Hopkins University Data Archive. http:\/\/dx.doi.org\/10.7281\/T15Q4T12 <\/a><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"

          Journal Publications I. Uyanik, U. Saranli, M. M. Ankarali, N. J. Cowan, and O. Morgul. “Frequency-Domain Subspace Identification of Linear Time Periodic (LTP) Systems”. IEEE Trans. Automat. Contr., 64(6):2529-2536, 2019. R. Nickl, M. M. Ankaral\u0131, and Noah J. Cowan. “Complementary spatial and timing control in rhythmic arm movements” . J. Neurophysiol., 121(4):1543-1560, 2019. I. Uyanik, […]<\/p>\n","protected":false},"author":4351,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":"","_links_to":"","_links_to_target":""},"class_list":["post-12","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/blog.metu.edu.tr\/mertan\/wp-json\/wp\/v2\/pages\/12","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blog.metu.edu.tr\/mertan\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/blog.metu.edu.tr\/mertan\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/blog.metu.edu.tr\/mertan\/wp-json\/wp\/v2\/users\/4351"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.metu.edu.tr\/mertan\/wp-json\/wp\/v2\/comments?post=12"}],"version-history":[{"count":0,"href":"https:\/\/blog.metu.edu.tr\/mertan\/wp-json\/wp\/v2\/pages\/12\/revisions"}],"wp:attachment":[{"href":"https:\/\/blog.metu.edu.tr\/mertan\/wp-json\/wp\/v2\/media?parent=12"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}