The exchange of Greek and Turkish populations in the 1920s and its socio-economic impacts on life in Anatolia

The topic of this paper is the population exchange that took place between the Turkish and Greek states in the 1920s. The socio political conditions that led to the exchange, the official agreements between the two states, the real experiences of the immigrants, the regulations of the Turkish state, the ignorance of the Turkish state and academia about the exchange, and the socio-economic effects of the exchange on life in Anatolia are the topics mentioned in this article. The basic aim of this paper is to reintroduce the topic, which seems to be put aside, in a systematic manner based on the referenced books. Another aim is to stress its importance for the nationalization process for both Turkish and Greek lands. The major concern here is life in Anatolia. Therefore, it is claimed that the population exchange was very effective in nationalization of the population, economy and culture in Anatolia. How the immigrants took part in nationalization and how nationalization provided them a way of constructing their identity are explained. It is argued that the nationalism of the young Turkish Republic provided the immigrants with a possibility to construct their identity in a way to differentiate themselves from the native Turks. The socio-economic impact of the population exchange on life in Anatolia is so big that this forgotten topic deserves to be dwelled upon. Therefore, it is stated that in order to understand the nationalization and socio-economic development of Anatolia the population exchange of the 1920s should be studied and understood in more detail

Üç eklemli bir robot bacağının ileri adım atması için optimal davranış esinIi bulanık kontrolcu tasarımı

A fuzzy controller design is performed for a three joint robot leg in protraction phase. The aim is to develop a controller to carry the tip point to any given destination. The design is based on the inspirations derived from optimal behaviors of the leg. The optimal trajectories are obtained by using optimization methods of "numeric gradient" and "optimal control" successively. Separate fuzzy controllers are designed for each actuator. In writing the rules each actuator is considered to be an independent agent of the leg system. The protraction motion is divided into two epochs. For each epoch different controller systems are designed to switch from one to the other in between. The crucial idea in this work is the "multi agent perspective" in designing separate fuzzy controllers for the separate joints. The results of the overall controller system are successful in carrying the tip point to any given destination, following a path resembling the optimal one.Üç eklemli bir robot bacağı için bulanık kontrol tasarımı gerçekleştirilmiştir. Amaç bacağın uç noktasını istenen herhangi bir pozisyona taşımaktır. "Sayısal gradyan” ve "optimal kontrol" teknikleri art arda kullanılarak optimal gezingeler oluşturulmuş, bulanık kontrolcü tasarımı bu hareketlerden esinlenerek gerçekleştirilmiştir. Her eklem işin ayrı bir bulanık kontrolcü tasarlanmıştır. Bulanık kontrolcülerin kuralları yazılırken her bir eklem diğerlerinden bağımsız bir ajan gibi düşünülmüştür. İleri adım atma süreci iki ayrı evreye bölünmüş ve her bir evre için birinden diğerine geçilmek üzerine farklı bir kontrol sistemi tasarlanmıştır. Bu çalışmadaki temel düşünce her bir eklem için farklı kontrolcü tasarlamaya olarak veren "çok ajanlı system " yaklaşımıdır. Tasarlanan kontrolcü bacağın uç noktasını istenen bir hedefe optimal olanlara benzer bir gezinge boyunca götürmekte başarılıdır

Multi-agent system-based fuzzy controller design with genetic tuning for a mobile manipulator robot in the hand over task

This paper presents an application of the multi-agent system approach to a service mobile manipulator robot that interacts with a human during an object delivery and hand-over task in two dimensions. The base, elbow and shoulder of the robot are identified as three different agents, and are controlled using fuzzy control. The control variables of the controllers are linear velocity of the base, angular velocity of the elbow, and angular velocity of the shoulder. Main inputs to the system are the horizontal and vertical distances between the human and robot hands. These are input to all three agents. In developing the fuzzy control rules, effective delivery and avoidance of contact with humans, not to cause physical damage, are considered. The membership functions of the fuzzy controllers are tuned by using genetic algorithms. In tuning, the performance is calculated considering the distance deviation from the direct path, time spent to reach the human hand and energy consumed by the actuators. The proposed multi-agent system structure based on fuzzy control for the object delivery task succeeded in both effective and safe delivery