Coordinated task manipulation by nonholonomic mobile robots

Coordinated task manipulation by a group of autonomous mobile robots has received signicant research effort in the last decade. Previous studies in the area revealed that one of the main problems in the area is to avoid the collisions of the robots with obstacles as well as with other members of the group. Another problem is to come up with a model for successful task manipulation. Signicant research effort has accumulated on the denition of forces to generate reference trajectories for each autonomous mobile robots engaged in coordinated behavior. If the mobile robots are nonholonomic, this approach fails to guarantee successful manipulation of the task since the so-generated reference trajectories might not satisfy the nonholonomic constraint. In this work, we introduce a novel coordinated task manipulation model inclusive of an online collision avoidance algorithm. The reference trajectory for each autonomous nonholonomic mobile robot is generated online in terms of linear and angular velocity references for the robot; hence these references automatically satisfy the nonholonomic constraint. The generated reference velocities inevitably depend on the nature of the specied coordinated task. Several coordinated task examples, on the basis of a generic task, have been presented and the proposed model is veried through simulations

Greek Orthodox Patriarch Cyrillos Loukaris and His Connection with The Dutch Republic

This study concerns the connections of the Greek Orthodox Christian Patriarch of Istanbul with the Dutch State early in the 17th century through the mediation of the First Dutch Ambassador in Istanbul. In the presence of Patriarch Loukaris and Ambassador Haga, it discusses the relation of religious conflicts of the 17th century with political and diplomatic questions, which would have a certain impact on religious and social reforms in the long run. The contact of Loukaris as a progressive soul in the Orthodox community with the Dutch Republic, which symbolizes religious and social reforms of the period concerned, is analyzed mainly on the basis of the memories of Haga and the concept of social transformation is argued in this context

A Patriot in the Dutch Republic & in Asia Minor: Amurath Effendi, Hekim Bachi or Pieter van Woensel and the Interpretation of His Texts

Reality values in historical and fictitious texts demonstrate significant differences basically owing to factors as style, context and interpretation. Whilst this case is considered as a very usual one in so far as fictitious texts are concerned or perhaps on the contrary, it is by no means expected to occur, it surely gains a vital  importance and determines the validity and reliability criteria of those texts. Thus this study aims primarily to conduct a comparative analysis from the perspective of Turkey of the 21st century concerning how the observations of the Dutch traveller, military doctor, patriot, republican, Pieter van Woensel in the Ottoman territory in the 18th century had been interpreted in his own era and in the Netherlands of the 20th century. In this process, Van Woensel, who is a patriot and a supporter of the Enlightenment, affected to search the reality, has been introduced to readers by taking into account his era, context, international political conditions and zeitgeist, whilst also the impact of the hermeneutics on the reality value in historical texts has been evalauted

Çok gövdeli sistemlerde hareket analizi

Çok göovdeli sistemlerin hareket analizi son yıllarda önemli bir araştırma konusu haline gelmiştir. Bunun sebebi performans analizi, otomatik güvenlik ve izleme sistemlerinin gerçeklenmesi, gerçekçi insan-makine arayüzlerinin oluşturulması, içerik tabanlı imge depolanması ve erişimi gibi motive edici uygulama alanlarının varlığıdır. Bu alanda çok sayıda çalışma yayınlanmış olsa da bu araştırmanın henüz geliştirilebilecek yönleri vardır. Bu çalışmada, çok gövdeli bir sistemin hareketini, sistemi her biri birer robotik kol şeklindeki çok sayıda alt sisteme ayrıştırarak incelemeyi öneriyoruz. Çok gövdeli bir sistemin hareketini tanımak için her bir robotik kolun eklemlerinden gelecek algılayıcı bilgisini, yani eklem açılarını kullanıyoruz. Önerilen yöntem herbir ayrıştırılmış parçanın periyodik hareketini analiz etmek için eklem açılarının birbirine göre çizdirilmesiyle elde edilen imza eğrilerini kullanmaktadır. Akt¨or ayırt etme ve aksaklık tesbiti örnekleri sunulmuş ve önerilen yöntem benzetimlerle doğrulanmıştır

Simultaneous bilateral tibal tubercle avulsion: A rare fracture

Tibial tuberosity avulsion is a rare fracture in adolescence.Due to the shear forces on the immature epiphysis. Thirteenyears old girl was admitted to the emergency departmentwith knee pain and tenderness in both knees afterjumping from a height of about one meter. İn examinationshe had tenderness and swelling over both tibial tuberosities.The patient could not do active knee extension. TypeIIA fracture on the left and type IIIA fracture on the rightknee were detected. For the patient’s fractures, closedreduction and fixation with 3 smooth Kirschner wires wasperformed. After immobilization in long-leg brace for threeweeks the brace was removed and she include in therehabilitation program. In this report, we discuss similarcases in the literature and the results of the treatment appliedto our patient.Key words: Tuberositas tibia, avulsion fracture, percutaneouspinnin

Flow cytometric evaluation of T and B lymphocyte percentage in chronic kidney disease

Introduction. T and B lymphocytes play crucial roles in adaptive immunity. These cells are negatively affected in multiple disorders, including chronic kidney disease. The purpose of this study was to compare T and B lymphocyte ratios between patients with chronic kidney disease and healthy controls. Methods. In this study, we evaluated the percentages of patient and donor (healthy control) lymphocytes referred to our laboratory between 2012 and 2014. In total 103 patient-donor couples were tested by the FCXM method. CD3-PerCP and CD19-PE monoclonal antibodies were used in order to differentiate T and B cells, respectively. T and B cell percentages of the participants were statistically compared. Results. The mean age of the investigated patients and donors was 36.3 ± 13.7 and 46.2 ± 12.4 years, respectively. Of the studied patients, 45.6% and 54.3% were female and male, whereas 54.3% and 45.6% of donors were female and male, respectively. In the investigated group, 42 patients were preemptive, 45 subjects were treated with haemodialysis, and 16 individuals were on peritoneal dialysis. T and B lymphocyte percentages in the healthy group were higher than in patients with chronic kidney disease. However, the difference reached statistical significance only for T lymphocytes (p < 0.05). The percentages of total lymphocytes, and T and B lymphocytes in patients treated with haemodialysis were numerically lower than in those on peritoneal dialysis. In addition, we found that patients with chronic kidney disease had lower concentrations of haemoglobin and albumin than healthy controls. Conclusion. This study suggests that patients with advanced chronic kidney disease have lower rates of lymphocytes that healthy controls. This fact may at least partially explain impaired immunity in this setting. However, our findings require confirmation and detailed investigation of underlying mechanisms in further studies.

Opportunities of Geometric Documentation of Historic Buildings with Terrestrial Laser Scanner, Examples from Aksaray/Turkey

Detailed and accurate measurements can be done by using laser scanning technology compared to conventional methods in documentation of cultural heritage. Accuracy of measured data directly affects the protection of historical buildings and decision-making process. By processing laser scanning data, multipurpose 3d models can be obtained and all work and results can be shared via internet. Moreover, a detailed analysis of the building can be made with this data and it can be transferred to all related engineering and archeological fields. Despite the advantages of this technology, it has not been used widely yet in production of architectural projects. High cost of equipment and data processing software have been seen as main obstacles for widespread using of this technology. As well as, lack of integration of this topic into architectural education and less number of researcher studying in this field restrict the use of laser scanner.  In this paper, evaluations were made in order to define the possibilities by using laser scanner technologies in process of restoration projects of which number is getting increased in last decades in Turkey. Positive and negative aspects of technology observed in survey process were given with a case study, a small traditional house in province of Aksaray and some reviews related to potential use of laser scanner technologies were made in Turkey

Saç-iplik turnike sendromu

Saç-iplik turnike sendromu, el veya ayak parmakları, nadiren penis veya klitorise saç veya iplik dolanması sonucunda dolaşım bozukluğuna yol açan, sanıldığından daha sık görülen bir sendromdur. Bu yazıda, sağ ayak parmağında saç kılı dolanması sonucu kızarıklık ve şişlik fark edilerek kliniğimize başvuran, nekroz gelişmeden başarılı bir şekilde tedavi edilmiş dört aylık kız olgu sunmaktayız

Retrospective ınvestigation of ınpatients with urinary ınfection in an university medical center

Adnan Menderes Üniversitesi Tıp Fakültesi Arastırma ve Uygulama Hastanesi Infeksiyon Hastalıkları ve Klinik Mikrobiyoloji Klinigi'nde yatırılarak tedavi edilen üriner sistem infeksiyonlu hastalar geriye dönük olarak incelenerek tanı ve tedavi yaklasımlarınındegerlendirilmesi amaçlandı. Adnan Menderes Üniversitesi Tıp Fakültesi Arastırma ve Uygulama Hastanesi Infeksiyon Hastalıkları ve Klinik Mikrobiyoloji Klinigi'nde 01.01.200101.01.2009 tarihleri arasında yatırılarak tedavi edilen 73'ü kadın (%68,2), 34'ü erkek (%31,8) toplam 107 hasta geriye dönük olarak degerlendirildi. Hastalarda en sık rastlanılan belirtiler ates, dizüri ve kostavertebral açı hassasiyeti olarak saptandı. Alınan idrar kültürlerinde %68.2, kan kültürlerinde ise % 35.7 oranında üreme saptandı. Idrar ve kan kültürlerinde en sık üreyen mikroorganizma . Hastaların 79'unda (%74,7) tedaviye empirik olarak, diger hastalara ise (n=27 %25,3) kültür-antibiyogram sonucu ile baslanmıstı. Empirik tedavide birinci seçenek olarak seftriaksonun (n=65, %83) kullanıldıgı tespit edildi. Çalısmamızda tedaviye empirik olarak baslama oranının yüksek oldugu dikkatimizi çekmistir. Bu durumun düzeltilebilmesi için empirik tedavi baslama ölçütlerinin belirlenmesi önemlidir.It was aimed to evaluate the diagnostic and therapeutic approaches to urinary infections by retrospectively investigating the data belonged to inpatients with urinary infection treated in the clinic of Infectious Diseases and Clinical Microbiology ofAdnan Menderes University Medical Center. 107 patients (73 female and 34 male) treated in the Clinic of Infectious Diseases and Clinical Microbiology of Adnan Menderes University Medical Center between 01.01.2001 and 01.01.2009 were retrospectively investigated. The most commonly observed symptoms in the patients were fever, dysuria and costovertebral angle tenderness. Germinal reproduction was detected in the urinary and blood cultures in a ratio of 68.2% and 35.7%, respectively. was the most commonly detected microorganism in the blood and urine cultures. While 74.7 % of the patients (n=79) were treated by empiric antibiotics due to urgency, 25,3 % of the patients were treated based on culture and antibiogram results. Ceftriaxone was the first choice in the empiric treatment (n=65; 83%). We observed that the rate of starting to therapy empirically was higher. That's why it is important to determine the starting criteria of empiric treatment

Development of a Psychometric Instrument Based on the Inference- Based Approach to Obsessive-Compulsive Disorder: The Obsessional Probabilistic Inference Scale

ABSTRACT Introduction: The current article addresses the validation of the construct of obsessional probabilistic inference in clinical and non-clinical samples. Obsessional probabilistic inference or obsessional doubt refers to a type of inferential process resulting in the belief that a state of affairs "maybe" causes development of a maladaptive cognitive coping style in terms of obsessing