Optimized Graph Search Algorithms for Exploration with Mobile Robot

Graph search algorithms and shortest path algorithms, designed to allow real mobile robots to search unknown environments, are typically run in a hybrid manner, which results in the fast exploration of an entire environment using the shortest path. In this study, a mobile robot explored an unknown environment using separate depth-first search (DFS)  and breadth-first search (BFS) algorithms. Afterward, developed DFS + Dijkstra and BFS + Dijkstra algorithms were run for the same environment. It was observed that the newly developed hybrid algorithm performed the identification using less distance. In experimental studies with real robots, progression with DFS for the first-time discovery of an unknown environment is very efficient for detecting boundaries. After finding the last point with DFS, the shortest route was found with Dijkstra for the robot to reach the previous node. In defining a robot that works in a real environment using DFS algorithm for movement in unknown environments and Dijkstra algorithm in returning, time and path are shortened. The same situation was tested with BFS and the results were examined. However, DFS + Dijkstra was found to be the best algorithm in field scanning with real robots. With the hybrid algorithm developed, it is possible to scan the area with real autonomous robots in a shorter time. In this study, field scanning was optimized using hybrid algorithms known

Effects of rapamycin on the early development of zebrafish (Danio rerio)

Cataloged from PDF version of article.Rapamycin, isolated from the soil bacteria Streptomyces hygroscopicus as an antibiotic, previously was shown to have negative effects on the immune system, cancer development, and cell cycle using different model organisms. Specific effects of rapamycin on the TOR protein activity also was determined by these previous studies. In general, TOR is a kinase that play an important role in the transmission of the signals from growth factors and amino acids to proteins involved in translation processes. In spite of the increasing popularity of zebrafish (Danio rerio) as a model organism in the developmental biological studies, no previous study about the effects of rapamycin on zebrafish exists in the literature. In the present thesis, zebrafish TOR (DrTOR) gene structure was first characterized in silico and then compared in terms of its homology with the mammalian TORs at the cDNA and protein levels. Expression of DrTOR was shown at different embryonic/larval stages and in different tissue samples. Furthermore, different doses of rapamycin were given to the embryos during the early developmental time (2, 3, 4, 5 dpf). Based on the morphometric analyses, rapamycin concentrations greater than 1 µM caused a significant reduction in the larval size. Additionally, 20 µM rapamycin significantly and completely abolished any larval growth supposed to take place during this time period. In the 20 µM rapamycin experiment, also a retardation in the pigment cell (melanocyte) and cranial cartilage development was observed. Expression profiles of the mitfA and DrTOR were analyzed by using the real-time RTPCR. While DrTOR expression was upregulated (3.5 fold) by 20 µM rapamycin, mitfA expression was downregulated (% 40). Finally, a siRNA designed against the TOR gene was tested for its inhibitory activity when given to embryos in a solution.Kuşçu, CemM.S

Radial anjiografi yapılan hastalarda radial arter spazmı ile pon1, ares ve ttl arasındaki ilişki

06.03.2018 tarihli ve 30352 sayılı Resmi Gazetede yayımlanan “Yükseköğretim Kanunu İle Bazı Kanun Ve Kanun Hükmünde Kararnamelerde Değişiklik Yapılması Hakkında Kanun” ile 18.06.2018 tarihli “Lisansüstü Tezlerin Elektronik Ortamda Toplanması, Düzenlenmesi ve Erişime Açılmasına İlişkin Yönerge” gereğince tam metin erişime açılmıştır.GİRİŞ VE AMAÇ: Girişimsel angiografi uygulamasında bazı hastalarda spazm gelişebilmektedir. Radial arterde ortaya çıkan spazmın nedenleri ise, bilim insanlarınca ayrıca araştırma konusu olmuştur. Bu çalışmada amacımız; angio esnasında ortaya çıkan spazmın, PON1, ARES ve TTL ile ilişkisini araştırmaktır. GEREÇ VE YÖNTEM: Çalışma gruplanın (34 kontrol, 34 anjiografi hastası) yaklaşık 7 ay boyunca kanlarının plazması, Total Tiyol (TTL), Paraoksanaz (PON1), Arilestereaz (ARES) çalışmak için biriktirilmiştir. Hasta plazmaları, kapaklı eppendorf tüplerde -80°Cde saklanmıştır. Çalışmada Rel Assay Diagnostics marka kit kullanılmış ve verilerin istatistiksel analizi SPSS 20 paket programıyla yapılmıştır. BULGULAR: Hasta grubundaki TTL değerleri (ortalama ± standart sapma = (360,29 ± 75,50μmol / L) kontrol grubuna göre (482,25 ± 39,65 μmol / L) anlamlı derecede düşük bulundu (t(66)=8,339, p<0,001). Hasta grubunun ARE değerleri (11,30 ± 2,88U / L) kontrol grubuna göre (14,28 ± 2,49U / L) anlamlı derecede düşük bulundu; (t(66)=4,569, p<0,001).Ayrıca PON1 değerlerini karşılaştırmak için Mann-Whitney U testi yapılmıştır. İstatistiksel sonuçlar anlamlı olmasa da (U=495, p=0,309) hasta grubundaki PON1 değerleri (median = 140,78U / L) kontrol grubundan (153,65 U / L) daha düşük bulundu . SONUÇ: Anjiyografi yapılan hastalardaki plazma değerleri, lipofilik antioksidan özelliklerde azalma olduğunu ortaya koymaktadır. Hasta ARES değerlerindeki anlamlı düşüklük bunun bir göstergesidir. Öte yandan; kontrol grubuna göre hasta gerubundaki PON1 düşüklüğünün ARES kadar olmaması, kontrol grubunun %82.35 oranında sigara içmesi ile açıklanabilir. Bununla birlikte, hasta grubundaki TTL'nin anlamlı olarak düşük değerleri, bu hasta gruplarında tiol/disülfür dengesinin de incelenmesi gerektiğini göstermektedir. Anahtar Kelimler: Arylesterase, Paraoksanaz-1, Radial anjiyografi, Radial Arter Spazmı, Total thiol.INTRODUCTION AND AIM: Some patients may develop spasm in interventional angiography. The causes of spasm in the radial artery have also been the subject of scientists. The aim of this study is to investigate the relationship of the spasm during angio between PON1, ARES and TTL. MATERIALS AND METHODS: Plasma of blood of the study group (34 controls, 34 patients with angiography) for approximately 7 months was collected to use Total Thiol (TTL), Paraoxanase (PON1), Arylesterease (ARES). The patient plasma was stored at -80°C in eppendorf tubes with lids. Rel Assay Diagnostics SPSS 23 package environment. RESULTS: TTL levels in the patient group (mean ± standard deviation = (360,29 ± 75,50μmol / L) were significantly lower than the control group (482,25 ± 39,65 μmol / L); (t(66)=8,339, p<0,001). ARES values of the patient group ( 11,30 ± 2,88U / L) were significantly lower than the control group (14,28 ± 2,49U / L); (t(66)=4,569, p<0,001). In addition, Mann-Whitney U test was used to compare Pon1 values. Although there was no statistical significance (U=495, p=0,309), PON1 values in the patient group (median = 140,78U / L) were found lower than the control group (153,65 U / L) CONCLUSION: Plasma values in patients undergoing angiography revealed a decrease in lipophilic antioxidant properties. A significant decrease in patient ARES values is indicative of this. On the other hand; PON1 in the control group is not as high as expected, 82.35% of the control group can be explained by smoking. However, significantly lower values of TTL in the patient group indicate that the thiol / disulphide balance should also be examined in these patient groups. Keywords: Arylesterase, Paraoxanase-1, Radial angiography, Radial Artery Spasm, Total thiol

Örgütsel İletişimin Örgüt Kültürü Üzerine Etkisinin İncelenmesi: Alışveriş Merkezlerinde Çalışan Özel Güvenlik Görevlileri Üzerine Bir Araşırma

Bu çalışmada alışveriş merkezlerinde çalışan özel güvenlik görevlilerinde örgütsel iletişimin örgüt kültürü üzerine etkisinin incelenmesi amaçlanmaktadır. Bu çalışma kapsamında, Bu amaç doğrultusunda İstanbul Avrupa yakasında alışveriş merkezlerinde görev yapan 286 güvenlik görevlisi üzerine bir araştırma yapılmıştır. Güvenlik görevlilerine örgütsel iletişim ve örgütsel kültür ölçeği uygulanmıştır. Elde edilen veriler istatistik programı ile analiz edilmiştir. Araştırmada tanımlayıcı istatistikler, t-testi, anova testi, korelasyon ve regresyon analizleri kullanılmıştır. Araştırma bulgularına göre örgütsel iletişim ve örgüt kültürü arasında ilişki olduğu saptanmıştır. Örgütsel iletişimin destek, görev, bürokratik kültür ve genel örgüt kültürünü etkilemektedir. Araştırma sonrasında alışveriş merkezi yöneticilerinin örgütsel iletişimi güçlendirmek için çalışmalar yapmaları önerilmektedir. Sonraki araştırmacılar için alışveriş merkezi dışında başka kurumlarda çalışan güvenlik görevlileri üzerinde benzer araştırma yapmaları önerilmektedir

Experimental Study of Heat Transfer in a Container Filled with Water and Cooled by a Peltier Device

Abstract -Heat transfer in a cubical container filled with water and cooled by a Peltier device was investigated experimentally in this study. Hot surface of the Peltier device was cooled by a heat sink. Three temperature sensors were used in each direction in the container. The data measured by temperature sensors are send to an Arduino microprocessor in order to process data and send the results to an LCD screen and a computer to store the measurements. Results show that decrease in temperature inside the container is low in the early stage of cooling and it starts to increase as time progresses as a result of strengthening circulation. Results also show that temperature gets considerably lower values in the lower part of the container than that of the upper part. Results also indicate that temperature difference is low in the direction normal to the cooled surface. Finally, results indicate that heat transfer rate shows a decrease with time as the flow progressively approaches a steady state regime

Potential risks and their analysis in the application of geographic based engineering projects

Mnogo je različitih problema na koje se može naići kod podataka vezanih uz projekte ili uz projektne radove nastale na osnovu tih podataka tijekom realizacije geografski utemeljenih tehničkih projekata (GBEP). Među takvim greškama su greške nastale zbog projekata vezanih uz horizontalan ili vertikalan položaj i implementaciju GBEPa, greške zbog nezadovoljavajuće definicije o odgovarajućem korištenju zemljišta, problema stabilnosti vezanih uz područje implementacije projekta itd. Kako bi se ovi problemi riješili bitno je provesti odgovarajuće geometrijske provjere na svakom stadiju projekata kao i analizu i upravljanje rizicima osnovnih elemenata koji dovode do tih problema. U našem se članku te potencijalne greške i rizici pokušavaju analizirati metodom analize utjecaja posljedica kvara (FMEA) i Pareto tablicama.Numerous different problems can be encountered either on project linked data or on the design works that are generated on the basis of these data during the realization of geographic based engineering projects (GBEP). Among the failures in this regard are failures originating from the horizontal and vertical position relevant design and implementation for the realized GBEP, failures relevant to project due to insufficient definition of land usage suitability, stability problems that are relevant to the implementation field of the Project, etc. For the solution of these problems it is essential to carry out necessary geometric controls at each stage of these projects, as well as to do risk management in an appropriate way for the basic elements that are causing these problems. In our article, it is attempted to analyze these potential failures and risks with Failure Mode Effect Analysis method and Pareto Charts

Maternal Psychological Problems Associated with Neonatal Intensive Care Admission

Background. Mothers of infants admitted to a neonatal intensive care unit (NICU) are believed to have heightened distress. The purpose of this paper was to determine depression and anxiety symptoms and attachment style in NICU mothers. Methods. The NICU group consisted of mothers whose infants were admitted to the NICU and the control group consisted of mothers of healthy term infants. The psychosocial assessments were done at the first month. Results. The mean Edinburgh Postpartum Depression (EPDS) score of NICU mothers was significantly higher than that of the control group mothers (9.6 ± 5.6 versus 7.3 ± 4.9, P = .005). NICU mothers who had high EPDS (≥13) scores had significantly higher anxiety scores and insecure attachment style in comparison to the subgroup of NICU mothers who had low EPDS scores. Conclusion. Mothers of NICU babies had higher EPDS scores. Mothers who had higher EPDS scores had higher anxiety scores as well. These NICU mothers should receive appropriate counseling during the hospitalization of their babies

Treatability of nitrobenzene in sequential anaerobic (AMBR)/aerobic (CSTR) reactor system and biodegradation of nitrobenzen

Bu &ccedil;alışmada nitrobenzen (NB)'in arıtılabilirliği anaerobik hareketli yatak reakt&ouml;r (AHYR) ve onu takip eden aerobik s&uuml;rekli karıştırmalı tank reakt&ouml;r (SKTR) sistemi kullanılarak araştırılmıştır. AHYR reakt&ouml;r 20 mg/L den 400 mg/L'ye artırılan NB konsantrasyonlarında (1.93 g/m3.g&uuml;n'den 38.54 g/m3.g&uuml;n'e arttırılan NB y&uuml;kleme hızlarında) birincil substrat olarak glikoz kullanılarak 128 g&uuml;n boyunca 10.38 g&uuml;nl&uuml;k sabit hidrolik bekleme s&uuml;resinde (HBS) s&uuml;rekli olarak işletilmiştir. S&uuml;rekli işletim boyunca giriş KOİ konsantrasyonu 3000 mg/L glikoz-KOİ'sine eşdeğerdir. Fakat NB'nin ortama KOİ vermesi nedeniyle, NB konsantrasyonu 20 mg/L den 400 mg/L' ye arttığı zaman, giriş KOİ konsantrasyonu 3000 mg/L den 3400 mg/L'ye artmıştır. &Ccedil;alışmada maksimum KOİ ve NB uzaklaştırma verimi veren optimum NB konsantrasyonu ve NB y&uuml;kleme hızı, 60 mg/L ve 3.85 g NB /m3.g&uuml;n olarak bulunmuştur. Optimum NB konsantrasyonu ve y&uuml;kleme hızında KOİ uzaklaştırma verimi % 93 ve NB uzaklaştırma verimi ise 100% d&uuml;r. Maksimum toplam gaz, metan gaz &uuml;retimi ve % metan miktarı 5.78 g/m3.g&uuml;n'l&uuml;k NB y&uuml;kleme hızında sırasıyla 2.8 L/g&uuml;n, 1.3 L/g&uuml;n ve %44 olarak bulunmuştur. AHYR reakt&ouml;rde toplam u&ccedil;ucu yağ asidi (TUYA) konsantrasyonu ilk b&ouml;lmede diğer b&ouml;lmelerden daha y&uuml;ksek bulunmuştur. İlk b&ouml;lmede NB y&uuml;kleme hızı 1.93 g/m3.g&uuml;n'den 38.54 g/m3.g&uuml;n'e arttırıldığı zaman TUYA konsantrasyonu AHYR'nin ilk b&ouml;lmesinde 46 mg/L'den 160 mg/L'ye artmıştır. Optimum ve maksimum NB y&uuml;kleme hızlarında TUYA konsantrasyonları &ccedil;ıkışta sırasıyla 0 mg/L ve 17 mg/L olarak bulunmuştur. AHYR&rsquo; nin b&ouml;lmelerinde ve &ccedil;ıkışında TUYA/ bikarbonat alkalinitesi (Bik.Alk.) oranları ise t&uuml;m NB y&uuml;kleme hızlarında 0.04'&uuml;n altındadır. Anaerobik (AHYR)/aerobik (SKTR) reakt&ouml;r sisteminde toplam KOİ uzaklaştırma verimleri artan NB y&uuml;kleme hızlarına bağlı olarak % 93 ile % 97 arasında değişmiş ve NB uzaklaştırma verimi ise t&uuml;m NB y&uuml;kleme hızlarında %100 olarak bulunmuştur. NB anaerobik şartlar altında aniline, anilin ise aerobik şartlar altında kateşole d&ouml;n&uuml;şm&uuml;şt&uuml;r.&nbsp;Anahtar Kelimeler: Anaerobik hareketli yatak reakt&ouml;r, nitrobenzen, anilin, ardışık reakt&ouml;r sistem.&nbsp;In this study the treatability of nitrobenzene(NB) was investigated in sequential anaerobic migrating blanket reactor (AMBR)/completely stirred tank reactor (CSTR) system. The AMBR reactor was operated continuously through 128 days using glucose as primary substrate with increasing NB concentrations from 20 to 400 mg/L. The NB loading rates increasing from 1.93 g/m3.day to 38.54 g.m-3.day-1 at constant hydraulic retention time (HRT) of 10.38 days. The influent COD concentrations and COD loading rate were kept constant at approximately 3000 mg/L and 0.289 g/L.day with addition of glucose through continuously operation, respectively. But, when NB concentration increased from 20 mg/L to 400 mg/L, the influent COD concentration increased from 3000 mg/L to 3400 mg/L due to NB giving an additive COD. In batch study, NB concentration caused 50% decreases in the methanogenic activity (decrease of methane gas production) were calculated as IC50 value. The IC50 value for NB were found as 109 mg/L. In continuous study, optimum NB concentration and NB loading rate were found as 60 mg/L and 3.85 g/m3.day, respectively, which given maximum COD and NB removal efficiency. COD removal efficiency remained approximately between 93 and 94 % until a NB loading rate of 5.78 g/m3day correspond to a NB concentration of 60 mg/L. NB removal efficiency was found as 100 % at all NB loading rates. The effluent NB concentrations were approximately 0 mg/L at all NB loading rates. 100 % of the nitrobenzene was reduced to aniline in the anaerobic reactor at a HRT of 10.38 days. COD and NB removal efficiencies were 93% and 100% at optimum NB concentration and NB loading rate. Maximum total gas, methane gas productions and methane percentage were found as 2.8 L/day, 1.3 L/day and %44, respectively at a NB loading rate of 5.78 g/m3.day. After a NB loading rate of 5.78 g/m3day, the daily total gas, methane gas productions and methane gas percentage decreased through NB loading rate. 1.8 L/day total gas, 0.78 L/day methane gas and 39% methane percentage  were obtained at a maximum NB loading rate of 38.54 g/m3day. This indicated the inhibition effect of NB on methane Archeae at NB loading rates as high as 38.54 g/m3day correspond to NB concentration of 400 mg/L. pH values in the effluent and in the compartments of AMBR varied between 7.0-7.9. These values were between optimum pH values. The pH values were lower in initial compartment than that the other compartments due to high total volatile fatty acids (TVFA) in the first compartment. TVFA concentration was higher in the first compartment that other compartments in AMBR. TVFA concentration increased from 46 mg/L to 160 mg/L in the first compartment when NB loading rate increased from 1.93 to 38.54 g/m3.day. The effluent TVFA concentrations were 0 mg/L and 17 mg/L, respectively at optimum 3.85 g/m3.day and maximum 38.54 g.m-3.day-1NB loading rates. Bic.Alk. concentrations were lower in the first compartment than the others compartments due to low pH. This indicates the utilization of alkalinity to buffer the TVFA and CO2 produced from the anaerobic co-metabolism of NB. TVFA/Bicarbonat alkalinity (Bic.Alk.) ratios were below 0.04 in compartments and in the effluent of AMBR at all NB loading rates. Nitrobenzene was reduced to aniline, in the first step, under anaerobic condition, and then in the second step, aniline was mineralized to catechol under aerobic conditions. The presence of aniline peak in effluent of anaerobic AMBR indicated that the nitrobenzene converted to aniline under anaerobic conditions. Aniline was biodegraded in aerobic stage. No peak of aniline was observed in the effluent of aerobic CSTR reactor. This showed that aniline was biodegraded to catechol in aerobic stage. The total COD removal efficiencies changed between 93% and 97% at increased NB loading rates in anaerobic/aerobic reactor system. NB removal efficiencies were 100% at all NB loading rates in anaerobic/aerobic sequential reactor system.  Keywords: Anaerobic migrating blanket reactor, nitrobenzene, aniline, sequential reactor system. 

Farklı Tuzluluk Düzeylerinin Sarımsakta (Allium sativum L.) Verim ve Bazı Kalite Özelliklerine Etkisi

Bu çalışmada, Balıkesir sarımsağı üzerine farklı tuz dozlarının (1.60, 2.87, 4.14, 5.41, 6.68 ve 7.95 dS m-1) etkisi, verim ile toplam kuru madde, suda çözünür kuru madde, toplam şeker, toplam asit, vitamin C ve protein gibi bazı kalite özellikleri belirlenerek değerlendirilmiştir. Deneme tesadüf parselleri deneme desenine göre 6 yinelemeli olarak sera koşullarında yürütülmüştür. Sonuçlar, farklı tuz uygulamalarının baş verimi ve kalitesi üzerine istatistikî olarak önemli etkisi olduğunu göstermiştir. Baş verimi, toplam şeker ve asit içerikleri 2.87 dS m-1’ye kadar artış gösterirken, en yüksek suda çözünür kuru madde ve protein içeriği 4.14 dS m-1’de elde edilmiş, söz konusu düzeylerin üzerindeki tuzluluk seviyelerinde değerler azalmıştır. Benzer biçimde, toplam kuru madde miktarı 4.14 dS m-1’ye kadar toprak tuzluluğundan etkilenmemiş ancak bu düzeyden sonra önemli ölçüde azalmıştır. Ayrıca, tuzluluktaki artışla Vitamin C içeriği azalmıştır. Çalışma sonuçlarına göre, 4.14 dS m-1’ye kadar toprak tuzluluğunda yeterli düzeyde kaliteli ve verimli sarımsak yetiştirilebileceği belirlenmiştir