The control of a manipulator using cerebellar model articulation controllers

Thesis (Master)--Izmir Institute of Technology, Mechanical Engineering, Izmir, 2003Includes bibliographical references (leaves: 72-74)Text in English; Abstract: Turkish and Englishviii, 91 leavesThe emergence of the theory of artificial neural networks has made it possible to develop neural learning schemes that can be used to obtain alternative solutions to complex problems such as inverse kinematic control for robotic systems. The cerebellar model articulation controller (CMAC) is a neural network topology commonly used in the field of robotic control which was formulated in the 1970s by Albus. In this thesis, CMAC neural networks are analyzed in detail. Optimum network parameters and training techniques are discussed. The relationship between CMAC network parameters and training techniques are presented. An appropriate CMAC network is designed for the inverse kinematic control of a two-link robot manipulator

The control of a manipulator using cerebellar model articulation controllers

Thesis (Master)--Izmir Institute of Technology, Mechanical Engineering, Izmir, 2003Includes bibliographical references (leaves: 72-74)Text in English; Abstract: Turkish and Englishviii, 91 leavesThe emergence of the theory of artificial neural networks has made it possible to develop neural learning schemes that can be used to obtain alternative solutions to complex problems such as inverse kinematic control for robotic systems. The cerebellar model articulation controller (CMAC) is a neural network topology commonly used in the field of robotic control which was formulated in the 1970s by Albus. In this thesis, CMAC neural networks are analyzed in detail. Optimum network parameters and training techniques are discussed. The relationship between CMAC network parameters and training techniques are presented. An appropriate CMAC network is designed for the inverse kinematic control of a two-link robot manipulator

Antimicrobial resistance in Gram-negative hospital isolates: Results of the Turkish HITIT-2 surveillance study of 2007

Resistance rates to amikacin, ciprofloxacin, ceftazidime, cefepime, imipenem, cefoperazone/sulbactam and piperacillin/tazobactam in Escherichia coli (n = 438), Klebsiella pneumoniae (n = 444), Pseudomonas aeruginosa (n = 210) and Acinetobacter baumanni (n =200) were determined with E-test in a multicenter surveillance study (HITIT-2) in 2007. ESBL production in Escherichia coli and K. pneumoniae was investigated following the CLSI guidelines. Overall 42.0% of E.coli and 41.4% of K. pneumoniae were ESBL producers. In E. coli, resistance to imipenem was not observed, resistance to ciprofloxacin and amikacin was 58.0% and 5.5% respectively. In K. pneumoniae resistance to imipenem, ciprofloxacin and amikacin was 3.1%, 17.8% 12.4% respectively. In P. aeruginosa the lowest rate of resistance was observed with piperacillin/tazobactam (18.1%). A. baumanni isolates were highly resistant to all the antimicrobial agents, the lowest level of resistance was observed against cefoperazone/sulbactam (52.0%) followed by imipenem (55.5%). This study showed that resistance rates to antimicrobials are high in nosocomial isolates and show variations among the centers