Shooting Control Application from a Quadruped Robot with a Weapon System via Sliding mode Control Method

With the developing technological process, it is expected that the usage of robots will increase in defense systems as in every field. One of the main objectives of the robotic studies for the defense industry is to capture the targeted success under all kinds of disruptive effects with robotic systems and to present this technology to the service of the army. A weapon system with a single degree of freedom was placed on a quadruped robot. System’s dynamic behavior, which has 12 degrees of freedom and planar movements, is modeled mathematically. Simulations of the shots made to the fixed targets were carried out during the walking of the quadruped robot. The gun barrel stabilization was realized to achieve accurate shots under disruptive effects. The sliding-mode control method was used to perform the barrel stabilisation. In this study, it is shown that a quadruped robot with a weapon system can perform successful shots against fixed targets. MATLAB is used for simulations and the results are shown with figures, graphics, and tables

Myo-Elektriksel Sinyaller İle İnsansız Kara Aracının Uzaktan Kontrolü

Bu çalışma kapsamında insansız bir kara aracının kişinin el ve parmak hareketleri ile uzaktan kontrolü gerçekleştirilmiştir. Beyinden kol kaslarına iletilen ve kişinin el hareketlerini gerçekleştirmesini sağlayan Elektromiyografi (EMG) sinyalleri, kişinin koluna giydiği sekiz EMG sensör içeren bileklik vasıtası ile gerçek zamanlı olarak alınmıştır. Raspberry pi 3 gömülü sistem kartı üzerinde geliştirilen sinyal işleme, öznitelik çıkarımı ve sınıflandırma algoritmaları kullanılarak anlamlandırılmıştır. Başka bir deyişle el hareketin örüntüsü (el kapama, parmak açma, serçe parmak temas, bilek dışa bükme, vs.) ile EMG sinyal grubu arasındaki ilişkiler tanımlanmıştır. Anlamlandırılan her bir el hareketi araç için bir hareketi kontrol komutu (el kapama: araç ileri, parmak açma: araç dur, serçe parmağa temas: sola dönüş, bilek dışa bükme: sağa dönüş, vs.) olarak kullanılmıştır. Böylece insan – mobil araç etkileşim ağı kurulmuştur. Kurulan insan- mobil araç etkileşim ağı sayesinde el hareketleri ile mobil aracın gerçek zamanlı hareket kontrolü ortalama % 92 başarı ile gerçekleştirilmiştir

Reducing the environmental impact of surgery on a global scale: systematic review and co-prioritization with healthcare workers in 132 countries

Abstract Background Healthcare cannot achieve net-zero carbon without addressing operating theatres. The aim of this study was to prioritize feasible interventions to reduce the environmental impact of operating theatres. Methods This study adopted a four-phase Delphi consensus co-prioritization methodology. In phase 1, a systematic review of published interventions and global consultation of perioperative healthcare professionals were used to longlist interventions. In phase 2, iterative thematic analysis consolidated comparable interventions into a shortlist. In phase 3, the shortlist was co-prioritized based on patient and clinician views on acceptability, feasibility, and safety. In phase 4, ranked lists of interventions were presented by their relevance to high-income countries and low–middle-income countries. Results In phase 1, 43 interventions were identified, which had low uptake in practice according to 3042 professionals globally. In phase 2, a shortlist of 15 intervention domains was generated. In phase 3, interventions were deemed acceptable for more than 90 per cent of patients except for reducing general anaesthesia (84 per cent) and re-sterilization of ‘single-use’ consumables (86 per cent). In phase 4, the top three shortlisted interventions for high-income countries were: introducing recycling; reducing use of anaesthetic gases; and appropriate clinical waste processing. In phase 4, the top three shortlisted interventions for low–middle-income countries were: introducing reusable surgical devices; reducing use of consumables; and reducing the use of general anaesthesia. Conclusion This is a step toward environmentally sustainable operating environments with actionable interventions applicable to both high– and low–middle–income countries

Utilization of Perifascial Loose Areolar Tissue Grafting as an Autologous Dermal Substitute in Extremity Burns

Background Perifascial areolar tissue (PAT) is an areolar layer over the muscle fascia. PAT has been shown to be resistant to ischemia and prone to survival even in ischemic conditions. PAT grafts provide a vascular tissue layer on necrotic bone and tendons where skin grafting is not possible. The effect of PAT grafting on burn reconstruction has not yet been reported. Thus, in this study, we aimed to present our experience and discuss the role of PAT grafting in extremity burn reconstruction. Methods Between January 2019 and December 2020, 16 PAT grafting procedures were performed in 11 patients. All patients had second- or third-degree burns in the upper and lower extremities, with exposed bone or tendon. PAT grafts were harvested from the abdominal region and were used for the upper extremity in 7 patients and the lower extremity in 4 patients. Immediate skin grafting was performed during the same session. Results The patients’ mean age was 50.7 years; defect size, 3.3 × 3 cm2; and follow-up time, 11.8 months. The survival rates of the PAT and skin grafts were 93.8% and 68.6%, respectively. Partial skin graft losses were encountered in 4 patients, and total skin graft loss was seen in 1 patient. Conclusion PAT grafting is an alternative method to the use of dermal substitutes and flap surgery in small-to-medium-sized defects with exposed bone and tendon in burn patients

Myo-Elektriksel Sinyaller İle İnsansız Kara Aracının Uzaktan Kontrolü

Bu çalışma kapsamında insansız bir kara aracının kişinin el ve parmak hareketleri ile uzaktan kontrolü gerçekleştirilmiştir. Beyinden kol kaslarına iletilen ve kişinin el hareketlerini gerçekleştirmesini sağlayan Elektromiyografi (EMG) sinyalleri, kişinin koluna giydiği sekiz EMG sensör içeren bileklik vasıtası ile gerçek zamanlı olarak alınmıştır. Raspberry pi 3 gömülü sistem kartı üzerinde geliştirilen sinyal işleme, öznitelik çıkarımı ve sınıflandırma algoritmaları kullanılarak anlamlandırılmıştır. Başka bir deyişle el hareketin örüntüsü (el kapama, parmak açma, serçe parmak temas, bilek dışa bükme, vs.) ile EMG sinyal grubu arasındaki ilişkiler tanımlanmıştır. Anlamlandırılan her bir el hareketi araç için bir hareketi kontrol komutu (el kapama: araç ileri, parmak açma: araç dur, serçe parmağa temas: sola dönüş, bilek dışa bükme: sağa dönüş, vs.) olarak kullanılmıştır. Böylece insan – mobil araç etkileşim ağı kurulmuştur. Kurulan insan- mobil araç etkileşim ağı sayesinde el hareketleri ile mobil aracın gerçek zamanlı hareket kontrolü ortalama % 92 başarı ile gerçekleştirilmiştir

Clinical and pathologic features of primary membranous nephropathy in Turkey: A multicenter study by the Turkish Society of Nephrology Glomerular Diseases Working Group

Background: We aimed to evaluate the features of primary membranous nephropathy (MNP) in Turkish people. Methods: This is a retrospective analysis of patients with biopsy-proven primary MNP. We obtained the data collected between 2009 and 2019 in the primary glomerulonephritis registry of the Turkish Society of Nephrology Glomerular Diseases Study Group (TSN-GOLD). Patients with a secondary cause for MNP were excluded. Clinical, demographic, laboratory, and histopathological findings were analyzed. Results: A total of 995 patients with primary MNP were included in the analyses. Males constituted the majority (58.8%). The mean age was 48.4 ± 13.9 years. The most common presentation was the presence of nephrotic syndrome (81.7%) and sub nephrotic proteinuria (10.3%). Microscopic hematuria was detected in one-third of patients. The median estimated glomerular filtration rate (eGFR) was 100.6 mL/min/1.73 m2 (IQR, 75.4–116.3), and median proteinuria was 6000 mg/d (IQR, 3656–9457). Serum C3 and C4 complement levels were decreased in 3.7 and 1.7% of patients, respectively. Twenty-four (2.4%) patients had glomerular crescents in their kidney biopsy samples. Basal membrane thickening was detected in 93.8% of cases under light microscopy. Mesangial proliferation and interstitial inflammation were evident in 32.8 and 55.9% of the patients, respectively. The most commonly detected depositions were IgG (93%), C3 complement (68.8%), and kappa and lambda immunoglobulin light chains (70%). Although renal functions were normal at presentation, vascular, interstitial, and glomerular findings were more prominent on biopsy in hypertensive patients. No significant effect of BMI on biopsy findings was observed. Conclusions: Despite some atypical findings, the main features of primary MNP in Turkey were similar to the published literature. This is the largest MNP study to date conducted in Turkish people

Clinical and molecular evaluation of MEFV gene variants in the Turkish population: a study by the National Genetics Consortium

Familial Mediterranean fever (FMF) is a monogenic autoinflammatory disorder with recurrent fever, abdominal pain, serositis, articular manifestations, erysipelas-like erythema, and renal complications as its main features. Caused by the mutations in the MEditerranean FeVer (MEFV) gene, it mainly affects people of Mediterranean descent with a higher incidence in the Turkish, Jewish, Arabic, and Armenian populations. As our understanding of FMF improves, it becomes clearer that we are facing with a more complex picture of FMF with respect to its pathogenesis, penetrance, variant type (gain-of-function vs. loss-of-function), and inheritance. In this study, MEFV gene analysis results and clinical findings of 27,504 patients from 35 universities and institutions in Turkey and Northern Cyprus are combined in an effort to provide a better insight into the genotype-phenotype correlation and how a specific variant contributes to certain clinical findings in FMF patients. Our results may help better understand this complex disease and how the genotype may sometimes contribute to phenotype. Unlike many studies in the literature, our study investigated a broader symptomatic spectrum and the relationship between the genotype and phenotype data. In this sense, we aimed to guide all clinicians and academicians who work in this field to better establish a comprehensive data set for the patients. One of the biggest messages of our study is that lack of uniformity in some clinical and demographic data of participants may become an obstacle in approaching FMF patients and understanding this complex disease