Usage of Evolutionary Algorithms in Swarm Robotics and Design Problems

In this study, the general structure of swarm robotics is examined. Algorithms inspired by nature, which form the basis of swarm robotics, are introduced. Communication topologies in robotic swarms, which are similar to the communication methods between living things moving in nature, are included and how these can be used in swarm communication is emphasized. With the developed algorithms, how the swarm can imitate nature and what tasks it can perform have been explained. The various problems that will be encountered in terms of the design of the optimization methods used during the control of the swarm and the solutions are simulated using the Webots software. As a result, ideas on the solutions of these problems and suggestions are proposed

Detection of Water Leakage in Drip Irrigation Systems Using Infrared Technique in Smart Agricultural Robots

In the future, the world is likely to face water and therefore food shortages due to reasons such as global warming, population growth, the melting of glaciers, the destruction of agricultural lands over time or their use for different purposes, and environmental pollution. Although technological developments are important for people to live a more comfortable and safer life, it is also possible to reduce and even repair the damage to nature and protect nature itself thanks to new technologies. There is a requirement to detect abnormal water usage in agriculture to avert water scarcity, and an electronic system can help achieve this objective. In this research, an experimental study was carried out to detect water leaks in the field in order to prevent water losses that can occur in agriculture, where water consumption is the highest. Therefore, in this study, low-cost embedded electronic hardware was developed to detect over-watering by means of normal and thermal camera sensors and to collect the required data, which can be installed on a mobile agricultural robot. For image processing and the diagnosis of abnormal conditions, the collected data were transferred to a personal computer server. Then, software was developed for both the low-cost embedded system and the personal computer to provide a faster detection and decision-making process. The physical and software system developed in this study was designed to provide a water leak detection process that has a minimum response time. For this purpose, mathematical and image processing algorithms were applied to obtain efficient water detection for the conversion of the thermal sensor data into an image, the image size enhancement using interpolation, the combination of normal and thermal images, and the calculation of the image area where water leakage occurs. The field experiments for this developed system were performed manually to observe the good functioning of the system.</jats:p

KINETIC CHARACTERIZATION OF GAGCE PHOSPHOR

DergiPark: 338649klujesThermoluminescence (TL) kinetic characterization of cerium (Ce3+)doped gadolinium aluminum garnet (GAG) prepared bywet chemical synthesis method arepresented in this study. Thermoluminescenceglow curve of GAG phosphor after UV irradiated has two peaks at about 350 and 501K with a heating rate of 2 Ks-1. Thermoluminescence kinetic parameters such asorder of kinetics, frequency factor and activation energy associated with the mainglow peak of the GAG:Ce phosphor have been calculated using various heatingrates (VHR) computerized glow curve deconvulation (CGCD) and  peak shape (PS) methods in this study. Theactivation energies obtained by VHR, PS and CGCD methods are calculated to be1.24, 1.11 and 1.14 eV, respectively. The frequency factors attained by these methodswere found as 3.41x1011, 1.80x1010 and 2.63x1010s-1, respectively. Results acquired using all methods are discussed andcompared.Buçalışmada, ıslak kimyasal sentez metodu ile hazırlanmış seryum (Ce+3)katkılı gadolinyum alüminyum garnetin termolüminesans (TL) kinetikkarakterizasyonu sunulmuştur. UV ile ışınlanmasının ardından GAG fosforunun, termolüminesansışıma eğrisi 2 Ks-1ısıtma hızı ile yaklaşık olarak 350 ve 501 K de iki pike sahiptir. ÇalışmadaGAG:Ce fosforunun ana ışıma piki (501 K) ile ilişkili kinetik derece, frekansfaktörü ve aktivasyon enerjisi gibi termolüminesans kinetik parametreleri,çeşitli ısıtma hızları (VHR), bilgisayarlı ışıma eğrisi dekonvulasyonu (CGCD)ve pik şekli (PS) metotları ile hesaplanmıştır. VHR, PS ve CGCD metotları ile elde edilen aktivasyon enerjileri sırasıyla 1,24,1,11 ve 1, 14 eV olarak hesaplanmıştır. Bu metotlarla ulaşılan frekansfaktörleri 3,41x1011, 1,80x1010 ve 2,63x1010 s-1olarak bulunmuştur. Tüm metotlardan elde edilen sonuçlar kıyaslanmış vetartışılmıştır

GAG:CE Fosforunun Kinetik Karakterizasyonu

Thermoluminescence (TL) kinetic characterization of cerium (Ce^+3) doped gadolinium aluminum garnet (GAG) prepared by wet chemical synthesis method is presented in this study. Thermoluminescence glow curve of GAG phosphor after UV irradiation has two peaks at about 350 and 501 K with a heating rate of 2 Ks^-1. Thermoluminescence kinetic parameters such as order of kinetics, frequency factor and activation energy associated with the main glow peak of the GAG:Ce phosphor have been calculated using various heating rates (VHR) computerized glow curve deconvulation (CGCD) and peak shape (PS) methods in this study. The activation energies obtained by VHR, PS and CGCD methods were calculated as 1.24, 1.11 and 1.14 eV, respectively. The frequency factors attained by these methods were found as 3.41x10^11, 1.80x10^10 and 2.63x10^10 s^-1, respectively. Results acquired using all methods are discussed and compared.Bu çalışmada, ıslak kimyasal sentez metodu ile hazırlanmış seryum (Ce^+3) katkılı gadolinyum alüminyum garnetin termolüminesans (TL) kinetik karakterizasyonu sunulmuştur. UV ile ışınlanmasının ardından GAG fosforunun, termolüminesans ışıma eğrisi 2 Ks^-1 ısıtma hızı ile yaklaşık olarak 350 ve 501 K de iki pike sahiptir. Çalışmada GAG:Ce fosforunun ana ışıma piki (501 K) ile ilişkili kinetik derece, frekans faktörü ve aktivasyon enerjisi gibi termolüminesans kinetik parametreleri, çeşitli ısıtma hızları (VHR), bilgisayarlı ışıma eğrisi dekonvulasyonu (CGCD) ve pik şekli (PS) metotları ile hesaplanmıştır. VHR, PS ve CGCD metotları ile elde edilen aktivasyon enerjileri sırasıyla 1,24, 1,11 ve 1,14 eV olarak hesaplanmıştır. Bu metotlarla ulaşılan frekans faktörleri 3,41x10^11, 1,80x10^10 ve 2,63x10^10 s^-1 olarak bulunmuştur. Tüm metotlardan elde edilen sonuçlar kıyaslanmış ve tartışılmıştır