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

Karadeniz’de avlanan çaça (Sprattus sprattus L.) ve hamsi (Engraulis encrasicolus, L.) balıklarının büyüme parametreleri ve ölüm oranlarının tahmini

Length composition of anchovy (Engraulis encrasicolus, L.) and sprat (Sprattus sprattus L.), important small pelagic species of Black Sea, were determined in this study. Growth parameters and mortality rates for anchovy and sprat, using length composition data of fishes, were estimated. A total of 150 tons anchovy and 75 tons sprat (225 tons fish) were caught end of the 13 midwater trawl tows in the study. Length of 1516 numbers anchovy and 4214 numbers sprat were measured in the study. Maximum, minimum and average length of species were established 15.2 cm, 5.2 cm, 11.28±0.04 cm; 12.8 cm, 5.7 cm, 8.5±0.01 cm respectively.Growth and population parameters of anchovy and sprat were calculated; asymptotic length (L∞) 17.01 cm, 13.38 cm, Brody growth coefficient (K) 0.28, 0.23; instantaneous rate of mortality (Z) 2.73 year-1, 2.88 year-1; rate of natural mortality (M) 0.41 year-1, 0.52 year-1, rate of fishing mortality (F) 2.18 year-1, 1.51 year-1, exploitation rate (E) 0.80 year-1, 0.82 year-1 respectively. Growth and population parameters, calculated by the length composition for species, were compared with other studies.Bu çalışmada Karadeniz’in önemli küçük pelajik türleri olan hamsi (Engraulis encrasicolus, L.) ve çaça (Sprattus sprattus L.) balıklarının boy kompozisyonu verileri kullanılarak büyüme parametreleri ve ölüm oranları tahmin edilmiştir. Araştırmada 13 ortasu trol ağı çekimi yapılarak 150 tonu hamsi, 75 tonu çaça olmak üzere toplam 225 ton balık avlanmıştır. Yapılan örneklemede 1516 adet hamsi ve 4214 adet çaça balığının boyu ölçülmüştür. Türlerin maksimum, minimum ve ortalama boyları sırasıyla 15.2 cm, 5.2 cm, 11.28± 0.04 cm; 12.8 cm, 5.7 cm, 8.5± 0.01 cm olarak tespit edilmiştir. Hamsi ve çaçanın büyüme ve populasyon parametreleri sırasıyla; asimptotik boy (L∞) 17.01 cm, 13.38 cm; büyüme katsayısı (K) 0.28, 0.23; anlık ölüm katsayısı (Z) 2.73 yıl-1, 2.88 yıl-1; doğal ölüm katsayısı (M) 0.41 yıl-1, 0.52 yıl-1, balıkçılık ölüm oranı (F) 2.18 yıl-1, 1.51 yıl-1 ve sömürülme oranı (E) 0.80 yıl-1, 0.82 yıl-1 olarak hesaplanmıştır. Türler için boy kompozisyonundan hesaplanan büyüme ve populasyon parametreleri yapılan diğer çalışmaların sonuçları ile karşılaştırılmıştır

Determination of crop water stress index (CWSI) of second crop corn in a semiarid climate

This study was carried out to determine the relationship between the canopy-air temperature differential and vapor pressure deficit (VPD), which can be used to quantify the crop water stress index (CWSI) under fully irrigated ( 100 %) and maximum water stress (0 %) conditions of furrow irrigated corn. The effects of five different irrigation levels (100, 70, 50, 30 and 0 % replenishment of soil water depleted from the 0.90 m soil profile depth) on corn yields and the resulting CWSI were investigated. The highest yield and total water use were obtained under fully irrigated corn plots (100 % replenishment of soil water depleted). The trends in CWSI values were consistent with the soil water content induced by deficit irrigation. CWSI increased with increased soil water deficit. An average CWSI of 0.22 before irrigation time provided the highest grain corn yield. The yield was directly correlated with seasonal mean CWSI values and a second order polynomial equation “Y = 59258CWSI2 -72051CWSI +24060” can be used to predict the grain yield of corn as a second crop under the semiarid climate

Epidemiology of pemphigus in Turkey: One-year prospective study of 220 cases

Pemphigus is a group of rare and life-threatening autoimmune blistering diseases of the skin and mucous membranes. Although they occur worldwide, their incidence shows wide geographical variation, and prospective data on the epidemiology of pemphigus are very limited. Objective of this work is to evaluate the incidence and epidemiological and clinical features of patients with pemphigus in Turkey. All patients newly diagnosed with pemphigus between June 2013 and June 2014 were prospectively enrolled in 33 dermatology departments in 20 different provinces from all seven regions of Turkey. Disease parameters including demography and clinical findings were recorded. A total of 220 patients were diagnosed with pemphigus during the 1-year period, with an annual incidence of 4.7 per million people in Turkey. Patients were predominantly women, with a male to female ratio of 1:1.41. The mean age at onset was 48.9 years. Pemphigus vulgaris (PV) was the commonest clinical subtype (n=192; 87.3%), followed by pemphigus foliaceus (n=21; 9.6%). The most common clinical subtype of PV was the mucocutaneous type (n=83; 43.2%). The mean Pemphigus Disease Area Index was 28.14±22.21 (mean ± Standard Deviation).  The incidence rate of pemphigus in Turkey is similar to the countries of South-East Europe, higher than those reported for the Central and Northern European countries and lower than the countries around the Mediterranean Sea and Iran. Pemphigus is more frequent in middle-aged people and is more common in women. The most frequent subtype was PV, with a 9-fold higher incidence than pemphigus foliaceus.   </p

Development of Molecular Markers Tightly Linked to Pvr4 Gene in Pepper Using Next-Generation Sequencing

It is imperative to identify highly polymorphic and tightly linked markers of a known trait for molecular marker-assisted selection. Potyvirus resistance 4 (Pvr4) locus in pepper confers resistance to three pathotypes of potato virus Y and to pepper mottle virus. We describe the use of next-generation sequencing technology to generate molecular markers tightly linked to Pvr4. Initially, comparative genomics was carried out, and a syntenic region of tomato on chromosome ten was used to generate PCR-based markers and map Pvr4. Subsequently, the genomic sequence of pepper was used, and more than 5000 single-nucleotide variants (SNVs) were identified within the interval. In addition, we identified nucleotide binding site–leucine-rich repeat-type disease resistance genes within the interval. Several of these SNVs were converted to molecular markers desirable for large-scale molecular breeding programmes

Taxonomıc And Morphologıcal Studıes On The Famıly Curculıonıdae (Coleoptera) Of Kırşehir (Akçakent) Provınce

Bu çalışmada 2013-2014 yılları Mayıs-Temmuz ayları arasında Kırşehir ili Akçakent ilçesinden toplanan 265 dişi ve 65 erkek olmak üzere toplam 330 Curculionid örneği incelenmiştir. Bu çalışma kapsamında Curculionidae (Coleoptera) familyası türlerine ait örneklerin sistematikleri, morfolojileri ve dağılışları araştırılmıştır. Çalışma bölgesinden Curculionidae familyasına ait 6 altfamilya, 22 cins ve 50 tür tespit edilmiştir. Bu türlerden 28 Curculionid türü çalışma bölgesi için yeni kayıt olarak tespit edilmiştir. Arazi çalışması esnasında atrapla süpürme, görerek elle veya pens ile yakalama yöntemleri kullanılmıştır. Çalışma kapsamında elde edilen türlerin tanımları, Dünya ve Türkiye yayılışları, lokalite bilgileri, dorsal ve lateralden çekilmiş stereo mikroskop resimleri ile elektron mikroskobunda çekilmiş taksonomik organ resimleri (anten, bacak, elitra, göz vb) verilmiştir.In this study, totally 330 Curculionid individuals (65 males and 265 females) collected from Kırşehir (Akçakent) province between May 2013 and July 2014 were investigated. The systematics, morphology and distribution of the individuals of Curculionidae (Coleoptera) species were explored by this work. Six subfamilies, 22 genera and 50 species belonging to the Curculionidae family were determined from the studied area. 28 Curculionid species from these were detected as new records for the studied area. The samples were collected by insect nets, hand or tweezers during the field studies. The descriptions, the distributions in Turkey and in the world, the localities, the dorsal and the lateral photos by stereomicroscopy and taxonomic structure photos (antenna, leg, elytra, eye etc.) by electron microscopy of the species studied were presented

Karadeniz'in Güneyinde Kare Gözlü Panel ve Baklava Gözlü Torbaya Sahip Demersal Trol ile Mezgit(Merlangius merlangus euxinus) Balığının Boy Seçiciliğinin Belirlenmesi

Ergin olmayan küçük balıkların yakalanmasını azaltmak için trol torbalarında bazı değişikliklerin yapılması sürdürülebilir balıkçılık için kullanılan yönetim araçlarından biridir. Bu araştırmada mezgit (Merlangius merlangus euxinus) balığı için demersal trol torba seçiciliğinde kare gözlü kaçış panelinin etkileri incelenmiştir. Seçicilik denemelerinde trol torbasının üst kısmının ön bölümüne 36 mm ve 40 mm kare gözlü kaçış panelleri yerleştirilmiş ve 40 mm baklava gözlü polietilen torba kullanılmıştır. Araştırma Karadeniz'in güney kıyılarında 2006 yılı Şubat ve Mart ayları arasında ticari balıkçı gemisinde yürütülmüştür. Torba üzerinde çemberli örtü torba yöntemi kullanılarak toplam 6 geçerli ağ çekimi yapılmıştır. Seçicilik parametreleri maksimum benzerlik yöntemi ve lojistik denklem kullanılarak hesaplanmıştır. Mezgit balığının ortalama L50 ve seçicilik aralıkları sırasıyla 40 mm baklava gözlü ağ için 12,57 (se. 0,41) cm ve 3,45 (se. 0,03) cm, 36 mm kare gözlü panel için 12,71 (se. 0,45) cm ve 3,12 (se. 0.03) cm, 40 mm kare gözlü panel için 13,55 (se. 0,32) cm and 3,70 (se.0,02) cm olarak belirlenmiştir. Araştırma sonuçları, trol torbasının üst bölümünün ön kısmında kare gözlü panel (40 mm) kullanımının demersal trol torbasının seçiciliğini artırdığını ve yavru mezgit balıklarının yakalanmasının azaldığını göstermektedir.The modification of the trawl codends to reduce the capture of juvenile fish increasing of fishing gear selectivity has been one of the management tools for sustainable fisheries. This study were examined the effect of square mesh escape panel installation on selectivity of demersal trawl codends for whiting (Merlangius merlangus euxinus, N.) in the Black Sea. Codend mesh selectivity experiments were carried out using 40 mm nominal diamond mesh PE codend with 36 mm and 40 mm mesh size square mesh escape window inserted in the forward part of the top panel. The experiments were carried out in the southern Black Sea between February and March 2006 on a traditional fishing boat. A total of 6 valid hauls were made by using the hooped covered codend method. Selectivity parameters were calculated by using a logistic equation with the maximum likelihood method. Mean L50s and selection ranges of whiting were determined as 12.57 (se. 0.41) cm and 3.45 (se. 0.03) cm for 40 mm nominal diamond mesh, 12.71 (se. 0.45) cm and 3.12 (se. 0.03) cm for 36 mm square mesh panel and 13.55 (se. 0.32) cm and 3.70 (se. 0.02) cm for 40 mm square mesh panel, respectively. The results shows that the use of square mesh panel (40 mm) in the forward part of the top panel reduce the capture of juvenile fish and increases the demersal trawl codend selectivity

Comparison of size composition and catch amount of whiting (Merlangius merlangus euxinus, N.) and red mullet (Mullus barbatus ponticus, E.) captured by bottom trawl in different fishing fields

Bu araştırmada, Karadeniz’in Samsun ili kıyılarındaki iki farklı av sahasında demersal trol ile avlanan barbunya (Mullus barbatus ponticus Ess., 1927) ve mezgit (Merlangius merlangus euxinus Nord., 1840) balıklarının av miktarı ve boy kompozisyonları karşılaştırılmıştır. Terme-Çarşamba arası (I. Saha) ve Çarşamba-Samsun arasında (II. Saha) yapılan 14 trol ağı çekimi sonunda 6581.2 kg mezgit avlanırken 935.2 kg barbunya avlanmıştır. I. sahada avlanan mezgit ve barbunya miktarı 2203.6 kg, 809.5 kg iken II. sahada 4377.6 kg ve 125.7 kg olarak belir-lenmiştir. Avlanan mezgitlerin ortalama toplam boyu 13.00.10 cm olarak hesaplanırken bu değer I. saha için 12.60,14 cm, II. saha için 13.40.13 cm olarak tespit edilmiştir (p0.05). Barbunyanın ortalama boy değerleri sırasıyla 12.10.14 cm, 11.70.14 cm ve 12.40.13 cm olarak belirlenmiştir (p0.05). Elde edilen sonuçlar, av sahasının türlerin av miktarı ve boy kompozisyonu üzerinde etkisinin olduğunu ve dip trolü ile hedef türe yönelik başarılı bir avcı-lık için saha seçiminin önemini ortaya koymuştur.In this study, catch amount and size composition of red mullet (Mullus barbatus ponticus Ess., 1927) and whiting (Merlangius merlangus euxinus Nord., 1840) were compared in two different fishing areas in Samsun coast of Black Sea. Red mullet and whiting were caught 6581.2 kg and 935.2 kg in I. area (Samsun-&Ccedil;arşamba) and II. area (&Ccedil;arşamba-Terme) respectively in total 14 tows. Catch amount of whiting and red mullet caught I. area and II. area were established, 2203.6 kg and 125.7 kg; 4377.6 kg and 809.5 kg respectively. Total mean size fished whiting and red mullet for I. fishing area, II. fishing area and general were determined, 12.6 &plusmn;0.14, 13.4 &plusmn;0.13 and 13.0 &plusmn;0.10 cm; 12.4 &plusmn;0.13, 12.1 &plusmn;0.14 and 11.7 &plusmn;0.14 cm respectively in the study (p&lt;0.05). According to results, fishing area is effect on catch efficiency and size composition of species and importance of area select for successful fishery target species by bottom trawl were fixed

Estimation of some population parameters of red mullet (Mullus barbatus ponticus, Essipov, 1927) caught in the Black Sea

Bu çalışmada Orta Karadeniz’de avlanan barbunya (Mullus barbatus ponticus, Essipov, 1927) balıklarının boy kompozisyonundan bazı populasyon parametrelerinin belirlenmesi amaçlan-mıştır. Örneklenen toplam 699 adet balığının ortalama boyları 11.75 0.111 cm ve ortalama ağırlıkları 17.91 0.507 gr olarak bulunmuştur. Boy-ağırlık ilişkisi denklemi W 0.0107L2.9717 şeklinde tahmin edilmiş büyüme denklemi parametrelerinden asimptotik boy (L) 20.15 cm, büyüme katsayısı (K) 0.33 olarak hesaplanmıştır. Yaşama oranı (S) 0.28, gerçek ölüm oranı (A) 0.72, doğal ölüm katsayısı (M) 0.68, balıkçılık ölüm oranı (F) 0.60 olarak bulu-nurken işletme oranı (E) 0.47 olarak bulunmuştur.The aim of the present study was to estimate some population parameters of red mullets caught in Central Black Sea. Average length of the sampling size that is composed of 699 individuals was found to be as 11.75 &plusmn; 0.111 and their average weight to be as 17.91 &plusmn; 0.507 gr. W 0.0107 L 2.9717 was used to estimate the length-weight relationships. Asymptotic length (L&amp;#8734;) among the parameters of the growth equation was calculated as 20.15 cm whereas growth coef-ficient (K) was found to be as 0.33. Survival rate (S) was 0.28, real mortality rate (A) was 0.72, natural mortality rate (M) was 0.68, fishery mortality rate (F) was 0.60 and enterprise rate (E) was estimated to be as 0.47