Autonomous Behaviors With A Legged Robot

Over the last ten years, technological advancements in sensory, motor, and computational capabilities have made it a real possibility for a legged robotic platform to traverse a diverse set of terrains and execute a variety of tasks on its own, with little to no outside intervention. However, there are still several technical challenges to be addressed in order to reach complete autonomy, where such a platform operates as an independent entity that communicates and cooperates with other intelligent systems, including humans. A central limitation for reaching this ultimate goal is modeling the world in which the robot is operating, the tasks it needs to execute, the sensors it is equipped with, and its level of mobility, all in a unified setting. This thesis presents a simple approach resulting in control strategies that are backed by a suite of formal correctness guarantees. We showcase the virtues of this approach via implementation of two behaviors on a legged mobile platform, autonomous natural terrain ascent and indoor multi-flight stairwell ascent, where we report on an extensive set of experiments demonstrating their empirical success. Lastly, we explore how to deal with violations to these models, specifically the robot\u27s environment, where we present two possible extensions with potential performance improvements under such conditions

A Rubric Study for Assessing Paragraph Level Written Texts

In this study, an analytical rubric which has a five dimensional scoring key was developed. It was used to evaluate paragraph-level written texts which were written by the students attending process writing activities in B1 optional preparatory classes in Muğla Sıtkı Koçman University School of Foreign Languages. The development stages of rubric are as follows: establishing the dimensions of the rubric, establishing the performance levels, cells (the criteria of the rubric) and the performance level score ranges of the rubric, examining the usability of the rubric by forming sample texts, the trial of the rubric, the validity and the reliability of the rubric. In the development stages of the rubric; for the pilot study, 60 university students in the optional B1 English preparatory program at Muğla Sıtkı Koçman School of Foreign Languages and an English language lecturer were included. Also, the opinions of three English language lecturers’ and two experts’ who are in the field of education sciences and one instructor’s who is in the field of Turkish language and literature were taken, to estimate the inter-rater reliability two English language lecturers were included. When Kappa coefficients of the dimensions of the rubric were examined, it can be said that there was a moderate and strong agreement among the raters in terms of assessing all dimensions in the rubric

The Prevalence of Hepatosteatosis in Patients with Diabetes

Hepatosteatosis is common in patients with diabetes. Herein, we investigated the frequency of hepatosteatosis detected on sonography and role of associated metabolic factors. Fifty-eight patients with diabetes mellitus aged between 30 and 72 years were included. A sonographic examination was performed by same operator to diagnose hepatosteatosis.Means of age and duration of diabetes were 52.8 ± 11 and 8.7 ± 5.7 years, respectively. Hepatosteatosis was detected in 60% (35 patients). The rate was 59% in females and 65% in males. Although means of patient’s age, duration of diabetes, serum trigycerides, and cholesterol were higher in patiens with hepatosteatosis than remaining, this difference was not statistically significant.Hepatosteatosis is frequent in patients with diabetes. It must be kept in mind in diabetic patients

Examinatıon Of Mindfulness-Based Self-Efficacy Of Students Studying In Sports Sciences

In this study, it was aimed to examine the mindfulness-based self-efficacy levels of undergraduate students studying in sports sciences in terms of various variables. The sample of the research consists of undergraduate students studying at the faculty of sports sciences at Trakya University and Çanakkale Onsekiz Mart University, which were selected by convenience sampling method. The Conscious Awareness-Based Self-Efficacy Scale-Revised (SPS-A) developed by (Cayoun et al., 2012) and adapted into Turkish (Atalay et al., 2017) was used as a data collection tool in the research. The statistical information of the participants was evaluated by using the descriptive survey method in the study. Skewness and Kurtosis values were evaluated statistically by Normal Distribution test analysis. First of all, by looking at the Cronbach Alpha values of the scale, after the validity and reliability analysis, the skewness and kurtosis values of the obtained data were examined and the hypotheses of the socio-demographic variables were tested. Regular exercise status of students studying in sports sciences, taking part in sports organizations organized by university federations, having a licensed athlete for at least three years, according to the exam score taken as a basis for university application, according to the university success score, according to the frequency of participating in recreational activities, It was tested statistically according to the status of working in any job, university, department and class, and no significant difference was found in mindfulness-based self-efficacy, while a significant difference was obtained according to the gender variable. The result of Mann Whitney-U Test was obtained that male undergraduate students studying in sports sciences participating in the research had higher mindfulnessbased self-efficacy levels than females (P: 009<0.05)

The effect of jet-lag on serum concentrations of thyroid stimulating hormone and prolactin: A case report

Introduction: This case report is about the importance of sleeping status for analysis of thyroid hormone stimulating hormone (TSH) and prolactin (PRL) which arose from discordant results of a patient who was referred for serum TSH and PRL testing within 12-hour period after an intercontinental flight. Case description: An adult male patient was admitted to our laboratory for serum TSH and PRL tests and came back questioning the accuracy of his previous results. Further investigations: A new analysis with a new sample was offered. His new results were not consistent with his previous results. What happened: It was revealed that the night before the first sampling, he travelled back to Turkey from The United States of America and came to testing within 12 hours after the arrival. Discussion: Sleeping status is one of the factors that can affect laboratory results. Intercontinental flights causing jet-lag can alter the secretions of TSH and PRL which are predominantly modulated by thyrotropin-releasing hormone (TRH). Main lesson: Travel history and sleeping status are important factors to be evaluated prior sampling for hormone analysis. Patients must be informed about the importance of sampling timing

Dynamical Trajectory Replanning for Uncertain Environments

We propose a dynamical reference generator equipped with an augmented transient “replanning” subsystem that modulates a feedback controller’s efforts to force a mechanical plant to track the reference signal. The replanner alters the reference generator’s output in the face of unanticipated disturbances that drive up the tracking error. We demonstrate that the new reference generator cannot destabilize the tracker, that tracking errors converge in the absence of disturbance, and that the overall coupled reference-tracker system cannot be destabilized by disturbances of bounded energy. We report the results of simulation studies exploring the performance of this new design applied to a two dimensional point mass particle interacting with fixed but unknown terrain obstacles. For more information: Kod*La

A drift-diffusion model for robotic obstacle avoidance

We develop a stochastic framework for modeling and analysis of robot navigation in the presence of obstacles. We show that, with appropriate assumptions, the probability of a robot avoiding a given obstacle can be reduced to a function of a single dimensionless parameter which captures all relevant quantities of the problem. This parameter is analogous to the Peclet number considered in the literature on mass transport in advection-diffusion fluid flows. Using the framework we also compute statistics of the time required to escape an obstacle in an informative case. The results of the computation show that adding noise to the navigation strategy can improve performance. Finally, we present experimental results that illustrate these performance improvements on a robotic platform. For more information: Kod*La

Social networks users: fear of missing out in preservice teachers

As mobile computing and smartphones become an integrated part of our lives, the time individuals spend on social networks has significantly increased. Moreover, a link has been established between the uncontrolled use of social networks to the development of undesirable habits and behaviors including addictions. One such behavior, namely, fear of missing out (FOMO) is of particular interest and concern especially because of the widespread use of smartphones and computers, and thereby extensive use of social networks by the younger generation. This study establishes the relationships between FOMO and various social networks in an attempt to identify the problematic use of social media in Turkey and discover variables relevant to FOMO. The main objective of the study is to examine the prevalence of FOMO in preservice teachers. A total number of 363 preservice teachers on various academic courses were employed for the purpose of this study. The design was a survey which utilized a standardized questionnaire on FOMO together with a demographic questionnaire to explore the impact of the usage of smartphones and social networks by preservice teachers. The data were analyzed using descriptive statistics, independent samples t-tests, and analysis of variance (ANOVA). The overall findings of the study showed that the spread of FOMO amongst preservice teachers is at intermediate level. Significant differences were also found between groups based on gender, age, and usage of social networks. Furthermore, data from males were indicative of higher FOMO levels than female preservice teachers and again, under 21s were found to have higher levels of FOMO compared to the other age groups. A significant relationship was reported between being online on social networks throughout the day and active use of social media over seven hours, and FOMO. Furthermore, preservice teachers using Twitter, Instagram, Swarm, or Snapchat have increased levels of FOMO. Implications are discussed within current models

In vitro istraživanje protugljivičnih svojstava, ukupnog sadržaja polifenola i antioksidativne aktivnosti različitih dijelova odabranih voćkarica

The purpose of this study was to investigate the antifungal properties, total polyphenolic content and antioxidant activity of sapwood, heartwood and bark parts obtained from three different fruit trees; olive (Olea europaea L.), loquat (Eriobotrya japonica Lindl.) and date plum (Diospyros lotus L.) grown in Turkey. Firstly, the hydrodistillation products (essential oil, hydrosol, hot-water extract) were acquired from these parts of selected trees, and methanol and ethanol extracts of the same samples were also prepared for the analysis. The antifungal activities of essential oil, hydrosol, hot-water extract, ethanol and methanol extracts were determined against wood-rot fungus Coniophora puteana. In addition, polyphenol contents and antioxidant activities of ethanol and methanol extracts were investigated. According to the results, generally, the essential oil of the parts of three fruit trees was found to inhibit the fungal growth. All hot water extracts and hydrosols of these trees showed no antifungal activity against C. puteana. It was found that olive tree had higher antifungal activity than loquat and date plum trees. The methanol extract of loquat bark gave the highest total phenolic content, total flavonoid content and condensed tannin content compared to parts of the other trees. Furthermore, the highest total polyphenol content and antioxidant activity among three fruit trees were determined in ethanol and methanol extracts of the bark and heartwood of loquat tree. Based on these findings, it can be concluded that the parts of studied fruit trees have less or more antifungal and antioxidant activity depending on the experimental parameters, and therefore they can be evaluated as alternative natural antifungal and antioxidant sources.Cilj ovog rada bio je istražiti protugljivična svojstva, ukupni sadržaj polifenola i antioksidativne aktivnosti bjeljike, srži i dijelova kore drva triju voćkarica koje se uzgajaju u Turskoj: masline (Olea europaea L.), nušpule (Eriobotrya japonica Lindl.) i draguna (Diospyros lotus L.). Najprije su od dijelova odabranih stabala izolirani produkti hidrodestilacije (esencijalna ulja, hidrosol, vodeni ekstrakt), a zatim su za analizu izolirani i ekstrakti u metanolu i etanolu. Protugljivična aktivnost esencijalnog ulja, hidrosola, vodenog ekstrakta te ekstrakata u metanolu i etanolu određena je na primjeru gljive uzročnice smeđe truleži, Coniophora puteana. Osim toga, istraženi su sadržaj polifenola i antioksidativna aktivnost ekstrakta u metanolu i etanolu. Rezultati pokazuju da esencijalna ulja iz dijelova voćkarica usporavaju rast gljiva. Svi vodeni ekstrakti i hidrosol nisu pokazali protugljivično djelovanje na C. puteana. Utvrđeno je da drvo masline ima jaču protugljivičnu aktivnost nego drvo nušpule i drvo draguna. Ekstrakt kore nušpule u metanolu ima najveći ukupni sadržaj fenola, ukupni sadržaj flavonoida i kondenziranog tanina u usporedbi s dijelovima ostalih vrsta drva. Nadalje, za ekstrakt kore i srži drva nušpule u etanolu i metanolu utvrđen je najveći ukupni sadržaj polifenola i antioksidativna aktivnost od svih triju voćkarica. Na temelju tih rezultata može se zaključiti da dijelovi istraživanih voćkarica imaju manje ili više protugljivično i antioksidativno djelovanje, ovisno o parametrima istraživanja te se stoga mogu ocijeniti kao alternativni prirodni izvori protugljivičnih i antioksidativnih sredstava