Pid Controlled Line Follower Robot Design on Indoor 3D Networks

Robots are commonly used and developed for different purposes in various areas such as research, educational, commercial, and industrial fields, also in emergency situations and space missions in today’s modern world. Robots are the machines that increasingly gain the importance with each passing day by the development of micro-electronics and micro-mechanics industry. To define a machine as a robot, it needs to have the sensors to check its environment; the mechanisms to evaluate the information received from these sensors and to transfer to the processing units.In this study, an intelligent controlled line follower robot was developed. Proportional-integral-derivative (PID) method was used for controlling. According to the information from the sensors, the method applied to the engines as Pulse Width Modulation (PWM). Online Fez Panda II embedded system board was used as the control element. This board has a 2-bit ARM 7 (Acorn RISC Machine) processor and it is suitable to .Net Micro Framework Technology. The system software was written with C# programming language in Visual Studio 2010 platform.The robot was tested on 3D indoor network, and has potential to be used for evacuation process on extraordinary sitautions in buildings. Another usage areas of this robot are factories and production lines. 3D network analyses and navigation applications could also be performed using the lines on the ground of this kind of environment

Extraction of Saponins from Soapnut (Sapindus Mukorossi) and Their Antimicrobial Properties

In this study optimization of extraction conditions for saponin from Sapindus mukorossi was investigated. Results showed that polarity of the extraction solvent affects the yield percentage of the extraction process. Best yield percentage was obtained as 78.1 % at 1:10 solid-liquid ratio in aqueous ethanol solution (50% v/v). The antimicrobial properties of extracts containing saponins were investigated for different microorganisms. Minimum inhibition concentrations of extract were obtained against Escherichia coli, Staphylococcus aureus and Candida albicans. Minimum inhibition concentrations (MIC) of saponin extract ranged between 12.5 mg/mL to 25 mg/mL.nbs

Semantic Web based Container Monitoring System for the Transportation Industry

Abstract: Goods are transported around the world in containers. Monitoring containers is a complex task. In this presentation, we will present a Container Monitoring System based on Semantic Web technologies. This system is currently being developed by Ege University, Bimar Information Technology Services and Capsenta for ARKAS Holding, one of Turkey's leading logistics and transportation companies. Our presentation consists of 1) introducing the challenges of monitoring containers in the transportation industry, 2) how existing technologies and solutions do not satisfy the needs, 3) why Semantic Web technologies can address the needs, 4) how we are using Semantic Web technologies including architectural design decisions and finally 5) describe lessons learned

Therapeutic and protective effects of montelukast against doxorubicin-induced acute kidney damage in rats

Objective(s): The current study was designed to investigate the therapeutic and protective effects of montelukast (ML) against doxorubicin (DOX)-induced acute kidney damage in rats.Materials and Methods: Thirty-five Wistar albino female rats were randomly divided into 5 groups as follows: Group I: Control; Group II: Control+ML; Group III: DOX; Group IV: DOX+ML; Group V: ML+DOX. At the end of the experiment, the kidney tissues of rats were collected. Thiobarbituric acid reactive substance (TBARS), reduced glutathione, superoxide dismutase (SOD), and catalase levels were determined from the kidney tissues. In addition, the kidney tissues were examined histologically.Results: DOX induced a significant increase in the kidney TBARS levels, whereas SOD contents significantly decreased when compared with the control group.  On the other hand, ML administration before and after DOX injection caused significant decreases in TBARS production and also increases in SOD levels. Histologically, the most remarkable damage was glomerulosclerosis and tubular changes in the DOX group. Moreover, marked tubular necrosis and swelling in tubular epithelial cells were observed in this group. Contrarily, although glomerulosclerosis was recognized as alleviated also in both DOX+ML and ML+DOX groups, the lesions did not completely ameliorate. However, treatment with ML after DOX injection was more effective than treatment with ML before DOX injection with respect to the protection of tubular structures. Conclusion: It was determined that ML treatment after DOX injection caused therapeutic effects against DOX-induced kidney damage. Thence, ML treatment is of some clinical properties for oxidative stress damage in kidney tissues

Age- and region-specific hepatitis B prevalence in Turkey estimated using generalized linear mixed models: a systematic review

Toy M, Önder FO, Wörmann T, et al. Age- and region-specific hepatitis B prevalence in Turkey estimated using generalized linear mixed models: a systematic review. BMC infectious diseases. 2011;11(1): 337.BACKGROUND: To provide a clear picture of the current hepatitis B situation, the authors performed a systematic review to estimate the age- and region-specific prevalence of chronic hepatitis B (CHB) in Turkey. METHODS: A total of 339 studies with original data on the prevalence of hepatitis B surface antigen (HBsAg) in Turkey and published between 1999 and 2009 were identified through a search of electronic databases, by reviewing citations, and by writing to authors. After a critical assessment, the authors included 129 studies, divided into categories: 'age-specific'; 'region-specific'; and 'specific population group'. To account for the differences among the studies, a generalized linear mixed model was used to estimate the overall prevalence across all age groups and regions. For specific population groups, the authors calculated the weighted mean prevalence. RESULTS: The estimated overall population prevalence was 4.57, 95% confidence interval (CI): 3.58, 5.76, and the estimated total number of CHB cases was about 3.3 million. The outcomes of the age-specific groups varied from 2.84, (95% CI: 2.60, 3.10) for the 0-14-year olds to 6.36 (95% CI: 5.83, 6.90) in the 25-34-year-old group. CONCLUSION: There are large age-group and regional differences in CHB prevalence in Turkey, where CHB remains a serious health problem

Encapsulation of lycopene using electrospraying method

WOS: 000387337100014In this study encapsulation of lycopene with zein as a biopolymer by using electrospraying method to enhance stability of lycopene was carried out. Effect of the encapsulation on the lycopene stability was investigated after exposure to UV light. The results were compared and discussed in terms of morphology and effectiveness of the encapsulation system for enhanced stability of lycopene. The results showed that encapsulation of lycopene using zein as biopolymer improved the stability of lycopene

Simultaneous arm morphing quadcopter and autonomous flight system design

Purpose: The purpose of this paper is to obtain values that stabilize the lateral and longitudinal flight of the quadrotor for which the morphing amount and the best Proportional-Integral-Derivative (PID) coefficients are determined by using the simultaneous perturbation stochastic approximation (SPSA) optimization algorithm. Design/methodology/approach: Quadrotor consists of body and arms; there are propellers at the ends of the arms to take off and rotors that rotate them. By reducing the angle between mechanism 1 and the rotors with the horizontal plane, the angle between mechanism 2 and the arms, the rotors rise and different configurations are obtained. Conventional multi-rotor aircraft has a fixed fuselage and does not need a tail rotor to change course as helicopters do. The translational and rotational movements are provided by the rotation of the rotors of the aircraft at different speeds by creating moments about the geometric center in 6-degree-of-freedom (DOF) space. These commands sent from the ground are provided by the flight control board in the aircraft. The longitudinal and lateral flight stability and properties of different configurations evaluated by dynamic analysis and simulations in 6 DOF spaces are investigated. An algorithm and PID controller are being developed using SPSA to achieve in-flight position and attitude control of an active deformable aircraft. The results are compared with the results of the literature review and the results of the previous article. Findings: With SPSA, the best PID coefficients were obtained in case of morphing. Research limitations/implications: The effects of quadrotor arm height and hub angle changes affect flight stability. With the SPSA optimization method presented in this study, the attitude is quickly stabilized. Practical implications: With the optimization method, the most suitable PID coefficients and angle values for the lateral and longitudinal flight stability of the quadrotor are obtained. Social implications: The transition rate and PID coefficients are determined by using the optimization method, which is advantageous in terms of cost and practicality. Originality/value: With the proposed method, the aircraft can change shape to adapt to different environments, and the parameters required for more stable flight for each situation will be calculated, and this will be obtained more quickly and safely with the SPSA optimization method. © 2023, Emerald Publishing Limited