Değişken ve kısmi gözlemlenebilir ortamlarda tek ve çoklu etmen gerçek zamanlı yol alma.

In this thesis, we address the problem of real-time path search in partially observable grid worlds, and propose two single agent and one multi-agent search algorithm. The first algorithm, Real-Time Edge Follow (RTEF), is capable of detecting the closed directions around the agent by analyzing the nearby obstacles, thus avoiding dead-ends in order to reach a static target more effectively. We compared RTEF with a well-known algorithm, Real-Time A* (RTA*) proposed by Korf, and observed significant improvement. The second algorithm, Real-Time Moving Target Evaluation Search (MTES), is also able to detect the closed directions similar to RTEF, but in addition, determines the estimated best direction that leads to a static or moving target from a shorter path. Employing this new algorithm, we obtain an impressive improvement over RTEF with respect to path length, but at the cost of extra computation. We compared our algorithms with Moving Target Search (MTS) developed by Ishida and the off-line path planning algorithm A*, and observed that MTES performs significanlty better than MTS, and offers solutions very close to optimal ones produced by A*. Finally, we present Multi-Agent Real-Time Pursuit (MAPS) for multiple predators to capture a moving prey cooperatively. MAPS introduces two new coordination strategies namely Blocking Escape Directions (BES) and Using Alternative Proposals (UAL), which help the predators waylay the possible escape directions of the prey in coordination. We compared our coordination strategies with the uncoordinated one, and observed an impressive reduction in the number of moves to catch the prey.Ph.D. - Doctoral Progra

In Vitro Investigation Of The Effects Of Boron Nitride Nanotubes And Curcumin On Dna Damage

Backround Stem cells provide an opportunity to analyse the effects of xenobiotic on cell viability, differentiation and cell functions. Evaluation of the possible cytotoxic and DNA damaging effects on bone marrow CD34+ stem cells is important for their ability to differentiate into blood cells, and also for bone marrow diseases therapy. Boron nitride nanotubes and curcumin are potential nanoformulation agents that can be used together in the treatment of cancer or bone marrow diseases. Therefore, it is important to evaluate their possible effects on different cell lines. Objectives In this study, it was aimed to evaluate the cytotoxic and DNA damaging effects of boron nitride nanotubes which are commonly used in pyroelectric, piezoelectric and optical applications, but there is not enough information about its biocompatibility. Also, it was intended to research the effects of curcumin being used frequently in treatment processes for antioxidant properties. Methods The possible cytotoxic and DNA damaging effects of boron nitride nanotubes and curcumin on CD34+ cells, HeLa and V79 cells were evaluated by MTT assay and Comet assay, respectively. Results and conclusion Boron nitride nanotubes and curcumin had cytotoxic effects and cause DNA damage on CD34+ cells, HeLa and V79 cells at several concentrations, probably because of increased ROS level. However, there were not concentration - dependent effect and there were controversial toxicity results of the studied cell lines. Its mechanism needs to be enlightened by further analysis for potential targeted drug development., Graphical abstractPubMedWo

Pendimetalin ve Trifluralinin Apopitotik ve Anti-Apopitotik Etkilerinin A549 Hücrelerinde İn Vitro Değerlendirilmesi

Scopu

Pendimetalinin Genotoksik Etkilerinin Çin Hamster Over Hücrelerinde Tek Hücre Jel Elektroforez (Comet) Yöntemiyle Değerlendirilmesi

Objectives: Pendimethalin (N-(1-ethylpropyl)-3,4-dimethyl-2,6-dinitrobenzeneamine) is a dinitroaniline herbicide compound which selectively controls weeds. It is a cell division and growth inhibitor. It descends plants in a short time after seedling. It is a soil and water pollutant due to the widespread use of formulations in Turkey and around the world. Pendimethalin is manufactured in and imported by Turkey. Pendimethalin is a slightly toxic compound that is classified in toxicity class 3 by the United States Environmental Protection Agency (USEPA). Even though it is classified as group C (human possible carcinogen) compound by the USEPA, there are limited number of studies about its genotoxic effects. The aim of this study was to evaluate in vitro genotoxic effects of different concentrations of pendimethalin in Chinese hamster over (CHO) cells by the single cell gel electrophoresis (comet) assay. Materials and Methods: The cells are incubated with 1, 10, 100, 1000 and 10000 µM concentrations of pendimethalin for 30 min at 37°C and DNA damage was compared with CHO cells untreated with pendimethalin. 50 µM hydrogen peroxide was used as positive control. Results: No significant cytotoxic effects were observed within the concentration ranges studied. The DNA damage in CHO cells was significantly increased in the pendimethalin concentrations of 1, 100, 1000 and 10000 µM, however, a significant decrease was observed in 10 µM pendimethalin concentration. Conclusion: Our results show that 1-10000 µM concentrations of pendimethalin induce DNA damage in CHO cells, which was assessed by comet assay.Scopu

Alterations of neutrophil functions in foundry and pottery workers

To assess the immune competence of workers occupationally exposed to mainly silica, neutrophil functions such as the chemotactic and oxidative burst activity in foundry and pottery workers were evaluated. The chemotactic activity was examined in 22 foundry and 10 pottery workers and oxidative burst activity of neutrophils were determined in 22 foundry and 6 pottery workers. Healthy subjects of comparable age, sex, and smoking habits and with no history of silica exposure were used as the control groups. Chemotaxis was carried out in Boyden chambers using Zymosan activated serum as chemotactic stimulus. Oxidative burst activity was measured using nitroblue tetrazolium (NBT) dye reduction test. Both neutrophil functions were significantly reduced in silica-exposed foundry and pottery workers (p<0.001) compared to controls suggesting that human chronic exposure mainly to silica and other chemicals