THRUSTER DESIGN FOR UNMANNED UNDERWATER VEHICLES

THRUSTER DESIGN FOR UNMANNED UNDERWATER VEHICLESAbstractUnderwater researches have been carried out for various purposes such as the protection and investigation of natural and environmental resources, various construction activities, finding and extracting fossil fuel resources, academic and industrial researches. Especially in the last two decades, unmanned underwater vehicles are effectively used in almost all of these researches. One of the most essential parts of those vehicles is their thrust system which gives them the ability to move underwater. In this study, the design of a thruster for unmanned underwater vehicles is given. The designed thruster system consists of four main parts: an electric motor, a driver circuit, a magnetic coupling transmission element, and a propeller. The electrical and mechanical designs of these parts are performed depending on the predetermined design criteria. A brushless type DC motor is chosen as an electric motor, and the required torque and rpm values are determined analytically. Depending on the chosen electric motor, a suitable driver circuit is determined. Then the propeller, the magnetic coupling element, and the motor housing are designed by using the SolidWorks software package. Pressure and fluid dynamics analyses of the housing and propeller are performed by using the Ansys software package. The thruster design is validated by simulation results.Keywords: Unmanned underwater vehicle, thruster, magnetic coupling, transmission, propellerİNSANSIZ SUALTI ARAÇLARI İÇİN İTİCİ TASARIMIÖzetDoğal ve çevresel kaynakların korunması ve araştırılması, çeşitli sualtı inşaat çalışmaları, fosil yakıt kaynaklarının saptanması ve çıkarılması, akademik araştırmalar ve endüstriyel çalışmalar gibi birçok farklı alanlarda su altı araştırmaları yapılmaktadır. Özellikle son yirmi yılda insansız sualtı araçları bu araştırmaların hemen hepsinde etkin bir şekilde kullanılmıştır. İnsansız su altı araçlarının en önemli sistemlerinden biri de onlara su altında hareket kabiliyetini sağlayan itki sistemleridir. Bu çalışma, insansız su altı araçları için bir itki sistemi tasarımı gösterilmiştir. Tasarlanan itki sistemi elektrik motoru, sürücü devresi, manyetik aktarım organı ve pervane olmak üzere dört ana bileşenden oluşmaktadır. Bu bileşenlerin elektriksel ve mekanik tasarımları önceden belirlenmiş tasarım kriterlerine göre yapılmıştır. Elektrik motoru olarak fırçasız doğru akım motoru seçilmiş ve gerekli tork ve devir sayısı değerleri analitik olarak belirlenmiştir. Belirlenen elektrik motoru için uygun bir motor sürücü devresi seçilmiştir. Pervane, manyetik aktarım elemanı ve sistem muhafazası tasarımları SolidWorks programında yapılmıştır. Sistem muhafazası ve pervanenin basınç ve akış dinamiği analizleri Ansys programı kullanılarak yapılmıştır. Geliştirilen itici tasarımı simulasyon sonuçları ile doğrulanmıştır.Anahtar Kelimeler: İnsansız Sualtı Aracı, İtki Sistemi, Manyetik Kaplin, Güç Aktarım, Pervan

Polatuzumab vedotin, rituximab, and bendamustine combination in relapsed or refractory diffuse large B-cell lymphoma: A real-world data from Turkey

Polatuzumab vedotin (Pola) with bendamustine and rituximab (BR) is a promising option for patients with relapsed/refractory (R/R) diffuse large B-cell lymphoma (DLBCL). We analyzed the data of 71 R/R DLBCL patients who had been treated with Pola-BR in the named patient program from March 2018 to April 2021 from 32 centers in Turkey. All patients received up to six cycles of Pola 1.8 mg/kg, rituximab 375 mg/m2 on day 1, and bendamustine 90 mg/m2 on days 1–2 of each cycle. Median age at Pola-BR initiation was 55 (19–84). The overall response rate was 47.9%, including 32.4% CR rate when a median of 3 cycles was applied. With a median follow-up of 5 months, the median OS was 5 months. Grade 3–4 neutropenia and thrombocytopenia were the most common hematological toxicities. The real-world data from our cohort showed the Pola-BR is an effective option with a manageable toxicity profile

Semantische Kantendetektion mit Neuronalen Netzen

In dieser Arbeit werden Neuronale Netze zur semantischen Kantendetektion verwendet. Im Fokus steht dabei die grundlegende Erkennung von Autos in Bildern. Unter Verwendung unterschiedlicher Netzkonfigurationen soll durch Vergleiche untersucht werden, welche Einflüsse die einzelnen Hyperparameter des Neuronalen Netzes auf die Ergebnisse haben. Für die Gewinnung aussagekräftiger Erkenntnisse wird pro Szenario ein Hyperparameter des Netzes geändert. Diese Erkenntnisse sollen dann dazu genutzt werden, um die Ergebnisqualität zu steigern. Dabei hat sich gezeigt, dass die Größe der erfassten Merkmale einen wesentlichen Einfluss auf die Ergebnisse haben. Zudem sollte der Bilddatensatz möglichst alle unterschiedlichen Konditionen umfassen wie die Bereitstellung von genügend Beispielbildern ohne Autos.In this thesis, neural networks are used for semantic edge detection. The focus is on the basic detection of cars in images. Using different network configurations, comparisons are made to investigate the influence of the individual hyperparameters of the neural network on the results. To gain meaningful insights, one hyperparameter of the network will be changed per scenario. These findings will then be used to improve the quality of the results. It has been shown that the size of the features captured have a significant impact on the results. In addition, the image dataset should include all different conditions such as provid-ing enough sample images without cars