A Novel GUI Design for Comparison of ROS-Based Mobile Robot Local Planners

The studies such as navigating the AMR between stations, docking to the station, and assigning autonomous tasks to other stations are costly in terms of time and energy consumption. This situation creates the need for an interface where the entire work area can be observed and AMRs can be controlled from a single center in the installation of the system in the field. In this study, an interface that can be used in AMR control and monitoring was designed. With this interface; It is thought to prevent costly situations such as determining the stations, calculating the time spent in the transportation of products between stations, determining the movement route. The interface developed in this context was used in an application where ROS-based path planning algorithms were compared. A total of six different stations was identified. With three different local planners: DWA, TEB and Trajectory planner, AMR was given the task of acting autonomously to each station. Thanks to the developed interface, the distance and time required to reach each station were calculated by performing autonomous movement to the desired points. In this way, a comparison of ROS-based path planning algorithms was made. It was calculated that the DWA was 10.55% more successful than the TEB and 2.33% more successful than the Trajectory in terms of distance covered. Additionally, when examined in terms of arrival time, it was calculated that the DWA was 24.64% more successful than the TEB and 2.39% more successful than the Trajectory

A Study on Ground Permeability of the Urban Landscape Structures: The Case Study of Tekirdağ

Özet Doğal değerlerin tahribi, hızlı ve plansız kentleşme, küresel ısınma ve iklim değişiklikleri yaşadığımız çevrenin hızla olumsuz yönde değişmesine neden olmaktadır. Özellikle, su kaynaklarının azalmasıyla ortaya çıkan su sorunu, günümüzde küresel bir çevre sorunu haline gelmiştir. İnsanoğlunun kentsel yaşam adına değiştirdiği ve dönüştürdüğü çevrede yeşil alanlar sürekli azalırken, betonlaşmaya bağlı geçirimsiz zemin oluşumları her geçen gün artmaktadır. Geçirimsiz zeminler nedeniyle, yağış sularının toprağa sızarak yer altı sularının beslenmesi engellenmekte, bu suların yüzey drenajı ile kanalizasyon sistemine ya da akarsulara karışmasına yol açılmaktadır. Diğer taraftan, son yıllarda dünya gündeminde önemli bir yere sahip olan küresel iklim değişikliğini kentleşme daha fazla tetiklemekte, buna bağlı olarak hissedilebilir sıcaklıklar artarak kentsel ısı adası etkisi ortaya çıkmaktadır. Buradan yola çıkılarak, bu çalışma, kent dokusunda zemin geçirimliliği durumunu ortaya koymak amacıyla Tekirdağ örneğinde yapılmıştır. Çalışmada, Tekirdağ kenti içinde, farklı peyzaj yapılarını içinde barındıran bir alan seçilerek zeminlerin geçirimlilik açısından mevcut durumları irdelenmiştir. Araştırma sonucunda elde edilen %57.5oranındaki geçirimsiz zeminin, uluslararası kriterlerin oldukça üzerinde olduğu saptanmıştır. Bu da, Tekirdağ kent dokusunda mikro ölçekli bir alan örneğinde, geçirimli yüzeylerin yeterli olmadığını, bu nedenle kentsel ısı adası etkisinin bertaraf edilmesi, hidrolojik su döngüsünün sağlanması, canlı yaşam mekanı oluşturma gibi çevresel katkıların yeterince sağlanamadığını ortaya koymaktadır. Bu hususta, mevcut durumun iyileştirilmesine yönelik öneriler sunulmuştur.Abstract The destruction of natural environments, rapid and unplanned urbanization, global warming and climate change have caused to change the environment where we live in negatively. In particular the water problem that is occurred by the reduction of water resource has become a global environmental problem. While green areas are decreasing continuously by the effect of human beings' interchange and transformation on the behalf of urban life, impermeable ground formation bound up with concretion is increasing day by day. Due to the impermeable floors, feeding of groundwater is prevented by rain water infiltrating into the soil and cause to be mixed into the rivers or sewage system by surface drainage of water. On the other hand, global climate change which has an important place on world agenda has triggered by urbanization, therefore temperatures increase to make urban heat island effect occur. Starting from this point, this study was conducted in the case study of Tekirdağ to reveal the situation of the ground permeability in the urban fabric. In the study, current situation in terms of permeability of the ground was scrutinized by selecting a field hosting the different landscape structures in Tekirdağ city. The results obtained in the impervious ground in the ratio of 57.5 % were found to be considerably above the international criteria. This situation reveals that permeable grounds are not enough, thus providing not enough environmental contribution such as disposal of the urban heat island effect, providing hydrological watercycle, creating living space in the example of a micro-scale area in Tekirdağ urban fabric. In this matter, it has presented suggestions for improving the current situation

THE EFFECTS OF CREATINE LONG-TERM SUPPLEMENTATION ON MUSCLE MORPHOLOGY AND SWIMMING PERFORMANCE IN RATS

Creatine (Cr) has been shown to increase the total muscle mass. The purpose of this study was to investigate the effect of Cr supplementation on muscle morphology and swimming performance, using an animal model. Each rat was subjected to exercise 15-minute period daily for the 12 weeks. The rats were randomly divided into four groups: no Cr supplementation (CON), no Cr supplementation and incomplete food intake (lacking lysine and methionine in diet for rats) (INCO), Cr supplementation 1 g·kg-1·day-1 (CREAT-I) and Cr supplementation 2 g·kg-1·day-1 (CREAT-II). Three months later, all groups adult rats exercised in swimming pool chambers. Swimming time was recorded as minute for each rat. Following swimming performance period, the animals were killed by cervical dislocation and the gastrocnemius and diaphragm muscles were dissected. Serial slices of 5-7 μm were allocated paraffin wax and histochemical staining procedure of cross-sections was carried out with heamatoxylin-eosin technics. All groups gained body weight at the end of 12 weeks but there was no statistical difference among them. Swimming time values were statistical difference between CREAT-II and CON group as well as between CREAT-I and CON group (p < 0.05). In the INCO group was determined increased connective tissue cell of the muscle sample. In contrast, in the CREAT-I and CREAT-II group, the basic histological changes were large-scale muscle fibers and hypertrophic muscle cells. These results suggest that long-term creatine supplementation increased the number of muscle fibers and enhanced endurance swimming performance in rat

Effect of magnetic field on plasma Zn, Cu and malondialdehyde levels and Na+-K+ ATPase activity of isolated diaphragmatic muscle in a diabetic rat model

The aim of this study is to investigate the effect of magnetic field (MF) on plasma Zn, Cu and malondialdehyde (MDA) levels and Na+-K + ATPase activity of isolated diaphragmatic muscle in a diabetic rat model. Rats allocated as control (n = 10), diabetes mellitus (DM) (n = 10), MF-exposed (MFE) (n = 10) and DM plus MF-exposed (DM-MFE) (n = 10) groups. After induced DM, the MF were exposed to MF in solenoid 165 minutes every day during 1 month. Cardiac blood was obtained and the plasma Zn, Cu and MDA levels and Na+-K+ ATPase activity of diaphragmatic muscle were determined. Plasma Cu level of the control was significantly lower than those of the DM and MFE (p &lt; 0.05). Plasma Zn level of the DM-MFE was significantly lower than those of the control, DM and MFE (p &lt; 0.05). Plasma MDA level of the DM was significantly higher than those of the control, MFE and DM-MFE (p &lt; 0.05). Diabetes mellitus and magnetic field increase plasma Cu level and do not affect plasma Zn level, but MF plus DM decreases its level. While DM increases plasma MDA level, MF has opposing effect on MDA level. Diabetes mellitus decreases Na-K ATPase of rat diaphragmatic muscle and MF elevates its level to normal

Thrombotic Thrombocytopenic Purpura After Prophylactic Cefuroxime Axetil Administered in Relation to a Liposuction Procedure

Thrombotic thrombocytopenic purpura (TTP) or Moschcowitz's syndrome is characterized by platelet and von Willebrand factor (vWF) deposition in arterioles and capillaries throughout the body, which results in organ ischemia. The diagnostic pentad characterizing TTP consists of thrombocytopenia, microangiopathic hemolytic anemia (MAHA), fever, neurologic manifestations, and renal insufficiency. In terms of type, TTP can be either idiopathic or secondary. The causes of secondary TTP include pregnancy, infections, pancreatitis, collagen vascular disease, cancer, bone marrow transplantation, and drugs (including cephalosporins). Postoperative TTP has been reported after vascular surgery, renal and liver transplantations, and orthopedic, urologic, and abdominal surgical procedures. Therapeutic plasma exchange (TPE) therapy has reduced the mortality rates, but sometimes patients may have to receive immunosuppressive drugs including vincristine (VCR). This report describes a 42-year-old woman with TTP after prophylactic usage of cefuroxime axetil in relation to a liposuction procedure who was treated successfully with plasma exchange and VCR. The patient fully recovered after 17 TPEs and three doses of VCR. At this writing, her TTP still is in remission after 6 months of follow-up evaluation. To the authors' knowledge, this is the first report in the literature describing a patient with TTP after cefuroxime axetil administered in relation to a surgical procedure who was treated successfully with TPE and VCR

Eosinophilic Gastroenteritis Associated with Rheumatoid Arthritis

WOS: 000299651800007Objectives: In this article we evaluated the relationship between rheumatoid arthritis and eosinophilic gastroenteritis. Patients and methods: A 71-year-old female patient with a diagnosis of rheumatoid artritis was admitted to our clinic with gastrointestinal symptoms and peripheral eosinophilia. We examined the patient via gastrointestinal endoscopy, ultrasonography, computed tomography, stool analysis, and biochemical analysis. Results: Gastrointestinal endoscopy revealed esophageal dysmotility, pangastritis, and duedonal erythema. Histopathologic examinations revealed subacute and chronic inflammation with dense eosinophilic infiltration. Stool analyses were negative for fat, parasites, and other pathogens. The results for ultrasonograpy and computed tomographies were normal. Conclusion: This brief report showed us the importance of conducting further analysis when a patient with rheumatoid arthritis presents with peripheral eosinophilia and gastrointestinal discomfort. It also represents the possible coexistence of rheumatoid arthritis and eosinophilic gastroenteritis without an apparent etiology

Successful Management of Chronic Refractory Immune Thrombocytopenia with Laparoscopic Splenectomy in a Patient with Acute Promyelocytic Leukemia

Acute promyelocytic leukemia (APL) is a particular type of acute myeloid leukemia with characteristic biological and clinical features, the frequent association at diagnosis of a severe hemorrhagic diathesis. Immune thrombocytopenia (ITP) is a common autoimmune disease characterized by low platelet counts and an increased risk of bleeding. Here we present a patient with the diagnosis of APL who achieved and maintained a remission with an induction consisting of idarubicin and ATRA, and then developed corticosteroid refractory ITP which is successfully treated with laparoscopic splenectomy