A deep learning approach for motion segment estimation for pipe leak detection robot

The trajectory motion of a robot can be a valuable information to estimate the localization of an autonomous robotic system, especially in a very dynamic but structurally-known environments like water pipes where the sensor readings are not reliable. The main focus of this research is to estimate the location of meso-scale robots using a deep-learning-based motion trajectory segment detection system from recorded sensory measurements while the robot travels through a pipe system. The idea is based on the classification of the motion measurements, acquired by inertial measurement unit (IMU), by exploiting the deep learning approach. Proposed idea and utilized methodology are explained in the related sections and it is observed that convolutional neural network approach is quite powerful to overcome the unreliability of IMU data

Robust feature space separation for deep convolutional neural network training

This paper introduces two deep convolutional neural network training techniques that lead to more robust feature subspace separation in comparison to traditional training. Assume that dataset has M labels. The first method creates M deep convolutional neural networks called {DCNNi}M i=1 . Each of the networks DCNNi is composed of a convolutional neural network ( CNNi ) and a fully connected neural network ( FCNNi ). In training, a set of projection matrices are created and adaptively updated as representations for feature subspaces {S i}M i=1 . A rejection value is computed for each training based on its projections on feature subspaces. Each FCNNi acts as a binary classifier with a cost function whose main parameter is rejection values. A threshold value ti is determined for ith network DCNNi . A testing strategy utilizing {ti}M i=1 is also introduced. The second method creates a single DCNN and it computes a cost function whose parameters depend on subspace separations using the geodesic distance on the Grasmannian manifold of subspaces S i and the sum of all remaining subspaces {S j}M j=1,j≠i . The proposed methods are tested using multiple network topologies. It is shown that while the first method works better for smaller networks, the second method performs better for complex architectures

EMG Based Trajectory Control of Hand Exoskeleton

In this project, we have designed and controlled the hand rehabilitation exoskeleton robot with a smart algorithm for active and passive rehabilitation processes

Characterization and Isolation of Very Small Embryonic-like (VSEL) Stem Cells Obtained from Various Human Hematopoietic Cell Sources

Stem cell transplantation is one of the available treatments for leukemia, lymphoma, hereditary blood diseases and bone marrow failure. Bone marrow (BM), peripheral blood progenitor cells (PBPC), and cord blood (CB) are the predominant sources of stem cells. Recently a new type of stem cell with a pluripotent potential has been identified. These cells were named "very small embryonic like stem cells (VSELs)". It is claimed that VSEL stem cells can be found in adult BM, peripheral blood (PB), CB and other body tissues. This study is designed to characterize and isolate VSEL stem cells from different human hematopoietic sources; CB, PB and apheresis material (PBPC). VSEL stem cells were isolated from MNC and erythrocyte layers for all materials by using centrifugation and ficoll gradient method. We determined embryonic markers by flow cytometry, immunofluorescence and western blotting methods. Results from western blotting and immunofluorescence show high level of NANOG and OCT4 protein expression in PB, apheresis material and CB. Immunofluorescence images showed cytoplasmic and nuclear presence of these proteins. Flow cytometry results exhibited a higher expression of VSELs markers on debris area than CD45-population and higher expression on CB than PB. As a result, these findings have shown that it is necessary to investigate the function of pluripotent stem cell markers in differentiated adult cells. We further conclude that erythrocyte lysis method had the highest cell recovery amount among erythrocyte lysis and ficoll gradient methods. Consequently, this study gives us new information and viewpoints about expression of pluripotent stem cell (PSC) markers in adult tissues

Religion and Discrimination in the Workplace in Turkey: Old and Contemporary Challenges

Discrimination based on grounds such as gender or disability has been widely studied in recent research, but the issue of discrimination on grounds of religion or belief has proven to be far less traceable, less studied and more ideologically charged. In Turkey, a state discourse stating that 99% of the population is comprised of Muslim citizens conceals religious diversity in the country. Our contribution focuses on two main manifestations of discrimination within this framework: discrimination on the basis of wearing a headscarf in (or outside) the workplace and discrimination based on religious affiliation, specifically beliefs other than the majority Sunni-Hanefite Islam, in particular Alevis and non-Muslim minorities. Since there are a number of recent studies dealing with the issue of the headscarf, our primary focus will be on the latter topic. Our findings suggest that in the Turkish case, while the headscarf has dominated the issue of discrimination on religious grounds, a more egregious discrimination takes place against members of belief groups other than the Sunni-Hanefite majority. The issue of discrimination in the Turkish workplace on grounds of religion or belief presents interesting questions and challenges. Firstly, in a non-litigate society, discrimination on the basis of religious affiliation is hard to track and quantify. Secondly, recognition of difference does not always lead to pluralism

Evaluation of anticancer effects of carboplatin–gelatin nanoparticles in different sizes synthesized with newly self-assembly method by exposure to IR light

AbstractCarboplatin (CP), a platinum analog, is one of the most widely used chemotherapeutic agents in the treatment of colorectal cancer. Although platinum-based drugs are quite effective in anticancer treatments, their use in a wide spectrum and effective treatment possibilities are limited due to their systemic side effects and drug resistance development. In recent years, studies have focused on increasing the therapeutic efficacy of platinum-based drugs with drug delivery systems. Gelatin, a protein, obtained by the hydrolysis of collagen, is a biocompatible and biodegradable material that can be used in nano drug delivery systems. In this study, CP-loaded gelatin-based NPs (CP-NPs) were exposed to IR light in different temperatures at 30, 35, 40, 45, and 50 °C and characterized by FESEM-EDX, FTIR, UV–Vis, DLS. Accordingly, we synthesized gelatin-based CP-NPs of different sizes between 10–290 nm by exposure to IR. We found that CP-NPs-50, 16 nm nano-sized, obtained at 50 °C had the most cytotoxicity and was 2.2 times more effective than the free drug in HCT 116 colon cancer cells. Moreover, we showed that the cytotoxicity of CP-NPs-50 in normal HUVEC cells was lower. Additionally, we demonstrated that CP-NPs enhanced apoptotic activity while not developing MDR1-related resistance in colon cancer cells. In this study, for the first time drug loaded gelatin-based nanoparticles were synthesized in different sizes with a newly self-assembly method by exposing them to infrared light at different temperatures and their anticancer effects were evaluated subsequently.</jats:p

Cu(ii) salen and 1,2,4-triazole complexes from thiosemicarbazone: synthesis, physicochemical and structural properties and cytotoxic activities

A triazole complex of copper(ii) containing ethylenediamine as a coligand was synthesized using salicylaldehydethiosemicarbazone in the presence of CuCl2. Also, a dinuclear copper(ii) complex was synthesized using the same reagents; however, the order of their addition was different. The structures of these two complexes were characterized via elemental analysis, IR, H-1-NMR, and UV-Vis spectroscopy and mass spectrometry (MS). Furthermore, the molecular structures of complexes I and II were determined via single-crystal X-ray structure analysis. The copper(ii) ion has a distorted square-pyramidal geometry in complex I and a distorted square-planar geometry in complex II. Their fragmentation products were investigated in detail by ESI-MS. Finally, the cytotoxic effects of both complexes were evaluated in MDA-MB-231, MCF-7 and 3T3 fibroblast cell lines via the MTT assay and flow cytometry

Alternatively spliced MEFV transcript lacking exon 2 and its protein isoform pyrin-2d implies an epigenetic regulation of the gene in inflammatory cell culture models

Abstract The function of gene body DNA methylation in alternative splicing, and its relation to disease pathogenesis is not fully elucidated. The gene for familial Mediterranean fever (MEFV) encodes the pyrin protein and contains a 998 bp CpG island, covering the second exon, which is differentially methylated in FMF patients compared to healthy controls. Our further observation of increased exon 2-spliced MEFV transcript in leukocytes of FMF patients provoked us to test the role of exon methylation in alternative splicing using inflammatory cell culture models. First, in vitro exon methylation triggered an increased level of exon 2 exclusion using a splicing cassette in a promyelocytic leukemia cell line (HL-60). HL-60 cells subjected to methylating and demethylating agents, as well as cells differentiated to neutrophil-like cells, exhibited different levels of spliced/unspliced transcripts. We observed increased levels of spliced transcripts in neutrophil-like (p = 0.0005), activated (p = 0.0034) and methylated cells (p < 0.0001), whereas decreased levels in demethylated cells (p = 0.0126) compared to control untreated HL-60 cells. We also showed that the protein isoform of pyrin lacking the exon 2 has an adverse subcellular localization in neutrophil-like cells. Therefore, it remains in the cytoplasm rather than the nucleus. This may point to an epigenetic involvement in an important inflammatory gene