Fusing inertial sensor data in an extended kalman filter for 3D camera tracking

Due to copyright restrictions, the access to the full text of this article is only available via subscription.In a setup where camera measurements are used to estimate 3D egomotion in an extended Kalman filter (EKF) framework, it is well-known that inertial sensors (i.e., accelerometers and gyroscopes) are especially useful when the camera undergoes fast motion. Inertial sensor data can be fused at the EKF with the camera measurements in either the correction stage (as measurement inputs) or the prediction stage (as control inputs). In general, only one type of inertial sensor is employed in the EKF in the literature, or when both are employed they are both fused in the same stage. In this paper, we provide an extensive performance comparison of every possible combination of fusing accelerometer and gyroscope data as control or measurement inputs using the same data set collected at different motion speeds. In particular, we compare the performances of different approaches based on 3D pose errors, in addition to camera reprojection errors commonly found in the literature, which provides further insight into the strengths and weaknesses of different approaches. We show using both simulated and real data that it is always better to fuse both sensors in the measurement stage and that in particular, accelerometer helps more with the 3D position tracking accuracy, whereas gyroscope helps more with the 3D orientation tracking accuracy. We also propose a simulated data generation method, which is beneficial for the design and validation of tracking algorithms involving both camera and inertial measurement unit measurements in general.TÜBİTA

Effects of intellectual capital on qualitative and quantitative performance: Evidence from Turkey

Intellectual capital is among the new, advanced management notions developed to overcome the inadequacy of previous administrations, to adapt to new situations and forge ahead of the competition. Intellectual capital means the information, experience and skills that offer advantage in competition and reveal the values existing within the structure of an enterprise. These values also exist in the relationship between  the enterprise and the environment  and  with the employees. Although some research studies on intellectual capital (IC) have been conducted, to date no research has been carried out on the effects of IC on qualitative and quantitative organizational performance. For this reason, IC and its effects on firm performance (both qualitative and quantitative) were evaluated in this study. Following the evaluation of the intellectual capital and its sub-elements, the differentiation of the sub-elements is made. Then the reliability and validity of these sub-factors are calculated. The intellectual capital model has been tested by the structural equality model (SEM).  According to research results, IC explains 92  per cent of a firm’s performance. The effect of IC on qualitative performance is 0,84, while on quantitative performance it is 0,72. RC impresses qualitative performance with coefficient 0,94, quantitative performance with coefficient 0,60; HC impresses qualitative performance with coefficient 0,92, quantitative performance with coefficient 0,54 less; SC impresses qualitative performance with coefficient 0,90, quantitative performance with coefficient 0,53. According to the results of the research, IC affects both the qualitative and the quantitative performance of firms by supplying extensive knowledge to the managers

Multivariate sensor data analysis for oil refineries and multi-mode identification of system behavior in real-time

Large-scale oil refineries are equipped with mission-critical heavy machinery (boilers, engines, turbines, and so on) and are continuously monitored by thousands of sensors for process efficiency, environmental safety, and predictive maintenance purposes. However, sensors themselves are also prone to errors and failure. The quality of data received from these sensors should be verified before being used in system modeling. There is a need for reliable methods and systems that can provide data validation and reconciliation in real-time with high accuracy. In this paper, we develop a novel method for real-time data validation, gross error detection and classification over multivariate sensor data streams. The validated and high-quality data obtained from these processes is used for pattern analysis and modeling of industrial plants. We obtain sensor data from the power and petrochemical plants of an oil refinery and analyze them using various time-series modeling and data mining techniques that we integrate into a complex event processing engine. Next, we study the computational performance implications of the proposed methods and uncover regimes where they are sustainable over fast streams of sensor data. Finally, we detect shifts among steady-states of data, which represent systems' multiple operating modes and identify the time when a model reconstruction is required using DBSCAN clustering algorithm.Turkish Petroleum Refineries Inc. (TUPRAS) RD CenterPublisher versio

COVID-19 hastalarında mitral anüler kalsifikasyonun mortalite ve miyokard hasarı ile ilişkisi

Coronavirus disease-2019 (COVID-19) can particularly affect the respiratory and cardiovascular systems and cause serious mortality. Mitral annular calcification (MAC) is a mitral valve pathology associated with cardiac mortality. We aimed to evaluate the effect of MAC on myocardial injury (MI) and mortality, which can develop secondary to COVID-19 infection. Materials and Methods After applying the exclusion criteria, thorax computed tomography (CT) images of the remaining 1151 consecutive COVID-19 patients were evaluated. Calculation of MAC scores was done by two expert radiologists blinded to the study data. MI was defined as those with hs-TnI level (≥34 ng/dl). Patients included in the study were classified as having mortality and not occurring. Results Male gender, advanced age (>65), hypertension, diabetes mellitus, chronic obstructive pulmonary disease, chronic kidney disease (CKD), coronary artery disease, heart failure and atrial fibrillation rates were statistically higher in the mortality group (p<0.05). The presence of MAC was 34.1% in the mortality group, while it was 16% in the survival group (p<0.001). MI was observed 49.3% in the mortality group, while it was 16.2% in the survival group (p<0.001). Presence of MAC was associated with MI (14.8% vs 38.7%, p<0.001). Age (OR=1.976, 95% CI 1.166-3.346, p=0.011), male gender (OR=1.784, 95% CI 1.101-2.892, p=0.019), CKD (OR=2.293, 95% CI 1.085-4.485, p=0.030), MI (OR=2.893, 95% CI 1.735-4.823, p<0.001) and advanced lung involvement on CT (OR=2.231, 95% CI 1.084-4.594, p=0.029) were the independent predictors of mortality Conclusion In terms of MI and mortality risk in COVID-19 patients, it may be recommended to evaluate MAC from the CT images.Koronavirüs hastalığı-2019 (COVID-19) özellikle solunum ve kardiyovasküler sistemleri etkileyerek mortaliteye ve ciddi morbiditelere neden olabilir. Mitral halka şeklindeki kalsifikasyon (MAC), kardiyak mortalite ile ilişkili bir mitral kapak patolojisidir. Bu çalışmada, MAC’ın COVID-19 enfeksiyonuna sekonder gelişebilen miyokard hasarı (MI) ve mortalite üzerine etkisini değerlendirmeyi amaçladık. Gereç ve Yöntemle Dışlama kriterleri uygulandıktan sonra geriye kalan 1151 ardışık COVID-19 hastasının toraks bilgisayarlı tomografi (BT) görüntüleri değerlendirildi. MAC puanlarının hesaplanması, çalışma verilerine kör olan iki uzman radyolog tarafından yapıldı. MI, hs-TnI düzeyi (≥34 ng/dl) olanlar olarak tanımlandı. Çalışmaya dahil edilen hastalar mortalitesi olan ve olmayan olarak sınıflandırıldı. Bulgular Mortalite grubunda erkek cinsiyet, ileri yaş (>65), hipertansiyon, diabetes mellitus, kronik obstrüktif akciğer hastalığı, kronik böbrek hastalığı (KKD), koroner arter hastalığı, kalp yetmezliği ve atriyal fibrilasyon oranları istatistiksel olarak daha yüksekti (p<0.05). Mortalite grubunda MAC varlığı %34.1, sağkalım grubunda ise %16 idi (p<0.001). Miyokardiyal hasar mortalite grubunda %49.3, sağkalım grubunda ise %16.2 olarak saptandı (p<0.001). MAC varlığı MI ile ilişkiliydi (%14.8’e karşılık %38.7, p<0.001).Yaş (OR=1.976, 95% CI 1.166-3.346, p=0.011), erkek cinsiyet (OR=1.784, 95% CI 1.101-2.892, p=0.019), kronik böbrek yetersizliği (OR=2.293, 95% CI 1.085-4.485, p=0.030), MI (OR=2.893, 95% CI 1.735-4.823, p<0.001) ve küçük hücreli akciğer tutulumu (OR=2.231, 95% CI 1.084-4.594, p=0.029) mortalitenin bağımsız belirleyicileri idi. Sonuç COVID-19 hastalarında MI ve mortalite riski açısından BT görüntülerinden MAC değerlendirilmesi önerilebilir

Design and implementation of dual band microstrip patch antenna for WLAN energy harvesting system

Since the demand for self-sustained wireless systems is increasing, there is a trend towards RF energy harvesting. It is a key solution to energize the low power systems such as the Internet of Things (IoT) devices without replacing the batteries periodically. This paper presents the design and analysis of RF energy harvesting system that consists of dual-band microstrip patch antenna operating at 2.4 GHz and 5.8 GHz, an impedance matching network, 4-stage voltage doubler and a storing circuit. The antenna is designed using ADS Agilent and sonnet suites software that provides a directivity of 5.5 dBi and 6.3 dBi at 2.4 GHz and 5.8 GHz respectively. The measured results of the fabricated antenna are well agreement with the simulated results. Simulated results show that for an input received power of 10 mW, the proposed system can provide 4.5 mW power at the output of 4-stage voltage rectifier with an overall efficiency of 45%.TÜBİTAKPublisher versio

New CagL amino acid polymorphism patterns of helicobacter pylori in peptic ulcer and non-ulcer dyspepsia

Background and Objectives: Helicobacter pylori infection is associated with chronic gastritis, ulcers, and gastric cancer. The H. pylori Type 4 secretion system (T4SS) translocates the CagA protein into host cells and plays an essential role in initiating gastric carcinogenesis. The CagL protein is a component of the T4SS. CagL amino acid polymorphisms are correlated with clinical outcomes. We aimed to study the association between CagL amino acid polymorphisms and peptic ulcer disease (PUD) and non-ulcer dyspepsia (NUD). Materials and Methods: A total of 99 patients (PUD, 46; NUD, 53) were enrolled and screened for H. pylori by qPCR from antrum biopsy samples. The amino acid polymorphisms of CagL were analyzed using DNA sequencing, followed by the MAFFT sequence alignment program to match the amino acid sequences. Results: Antrum biopsy samples from 70 out of 99 (70.7%) patients were found to be H. pylori DNA-positive. A positive band for cagL was detected in 42 out of 70 samples (PUD, 23; NUD, 19), and following this, these 42 samples were sequenced. In total, 27 different polymorphisms were determined. We determined three CagL amino acid polymorphism combinations, which were determined to be associated with PUD and NUD. Pattern 1 (K35/N122/V134/T175/R194/E210) was only detected in PUD patient samples and was related to a 1.35-fold risk (p = 0.02). Patterns 2 (V41/I134) and 3 (V41/K122/A171/I174) were found only in NUD patient samples and were linked to a 1.26-fold increased risk (p = 0.03). Conclusions: We observed three new patterns associated with PUD and NUD. Pattern 1 is related to PUD, and the other two patterns (Patterns 2 and 3) are related to NUD. The patterns that we identified include the remote polymorphisms of the CagL protein, which is a new approach. These patterns may help to understand the course of H. pylori infection.Istanbul Aydin University Scientific Research Projects Uni

Increased oxidative stress is associated with insulin resistance and infertility in polycystic ovary syndrome

Objectives: The present study aims to investigate the role of oxidant-antioxidant status in young women with polycystic ovary syndrome (PCOS).Material and methods: Seventy-one women with PCOS and 53 healthy controls are compared in aspect of demographic characteristics, biochemical data, hormones, and oxidant-antioxidant status.Results: The PCOS group had significantly lower zinc, higher malondialdehyde and gluthathione peroxidase and lower serum catalase levels than the control group (p = 0.016, p &lt; 0.001, p = 0.043 and p = 0.025 respectively). The PCOS patients with IR had significantly higher malondialdehyde, lower catalase and serum zinc levels than the PCOS patients without IR (p = 0.015, p = 0.010, p = 0.001 respectively). The infertile PCOS patients had significantly higher malondialdehyde, lower catalase and serum zinc levels than the fertile PCOS patients (p = 0.022, p = 0.045,p = 0.001 respectively). There was a statistically significant and positive correlation between HOMA-IR and malondialdehyde values (r = 0.523, p = 0.001), between HOMA-IR and glutathione peroxidase values (r = 0.468, p = 0.001) and between HOMA-IR and zinc values (r = 0.601, p = 0.001). There was a statistically significant and negative correlation between HOMA-IR and catalase values (r = –0.493, p = 0.001).Conclusions: The patients with PCOS are under oxidative stress and this oxidative stress seems to be the highest in patients with IR and with infertility. Despite the prominent increase in the oxidative stress, there was a variation in the antioxidant response

Students’ attitudes towards vocational foreign language course.

The aim of the study was to determine students’ attitudes towards Vocational Foreign Language Course and if the their attitudes display significant differences in terms of gender, age, department, the place they live, passing marks, the type of high school they graduated from, their mothers’ and fathers’ graduation levels and being abroad. The study was carried out in descriptive survey method. The population of the study comprised of senior students at two vocational colleges of Nevşehir Hacı Bektaş Veli University in 2015-2016 spring semester. “Attitude Scale towards Vocational Foreign Language Course” was used to collect data. Data were analyzed using independent samples t-test and one-way ANOVA. The findings revealed that students, in general, have positive attitudes towards Vocational Foreign Language Course and their attitudes differed in terms of gender, age, department and passing mark; however, their attitudes did not have a difference in terms of other variable

Düşünme stillerine göre farklılaştırılmış öğretim etkinliklerinin erişi, tutum ve kalıcılığa etkisi

The aim of the study is to investigate the effect of thinking-style- based differentiated instruction on achievement, attitude and retention in vocational foreign language, specifically in two units. Pre-test/post-test control group model and quasi-experimental design were used in the study. The study was carried out in Vocational Foreign Language-II course with 43 sophomores studying Tourism and Hotel Management at Nevşehir Vocational College, Nevşehir Hacı Bektaş Veli University. Data were collected using Thinking Styles Inventory, Vocational Foreign Language-II Achievement Test and Vocational Foreign Language Attitude Scale. Functions, levels and scope of thinking styles were taken into consideration. Process was differentiated in the study through entry points (narrational, foundational, experiential), learning centres, complex instruction, orbital studies, stations and learning contracts. According to the results of the study, it was found out that achievement and retention scores of the students in the experimental group were significantly higher than the ones in the control group; however, there was no significant difference between groups’ attitude scores towards the course.Bu araştırmanın amacı, öğrencilerin düşünme stillerine göre tasarlanan farklılaştırılmış öğretim etkinliklerinin öğrencilerin erişileri, Mesleki Yabancı Dil dersine yönelik tutumları ve öğrenilenlerin kalıcılığı üzerindeki etkisini incelemektir. Araştırmada, deneysel desen türlerinden ön test – son test kontrol gruplu yarı-deneysel desen kullanılmıştır. Araştırma; 2014–-2015 Bahar yarıyılında, Nevşehir Hacı Bektaş Veli Üniversitesi Meslek Yüksekokulu Turizm ve Otel İşletmeciliği Programı 2. sınıf öğrencileriyle Mesleki Yabancı Dil-II dersinde yürütülmüştür. Toplam 43 öğrenci çalışma grubunda yer almıştır. Araştırmada veriler, Düşünme Stilleri Ölçeği, Mesleki Yabancı Dil- II Dersi Başarı Testi ve Mesleki Yabancı Dil Dersine Yönelik Tutum Ölçeği kullanılarak elde edilmiştir. Çalışmada, düşünme stillerinin işlev, düzey ve kapsam boyutları dikkate alınmıştır. Farklılaştırma süreç boyutunda yapılmıştır. Süreç farklılaştırılırken, giriş noktaları (anlatımsal, temel, deneyimsel), öğrenme merkezleri, karmaşık öğretim, yörünge çalışmaları, istasyon ve öğrenme sözleşmeleri stratejilerinden faydalanılmıştır. Araştırma sonunda, deney grubu öğrencilerinin erişi ve kalıcılık puanlarının kontrol grubununki öğrencilerin puanlarına göre anlamlı derecede daha yüksek olduğu; fakat tutum ölçeğinden almış oldukları puanlar arasında anlamlı düzeyde fark olmadığı ortaya çıkmıştır