Monocular Vision SLAM for Indoor Aerial Vehicles

This paper presents a novel indoor navigation and ranging strategy by using a monocular camera. The proposed algorithms are integrated with simultaneous localization and mapping (SLAM) with a focus on indoor aerial vehicle applications. We experimentally validate the proposed algorithms by using a fully self-contained micro aerial vehicle (MAV) with on-board image processing and SLAM capabilities. The range measurement strategy is inspired by the key adaptive mechanisms for depth perception and pattern recognition found in humans and intelligent animals. The navigation strategy assumes an unknown, GPS-denied environment, which is representable via corner-like feature points and straight architectural lines. Experimental results show that the system is only limited by the capabilities of the camera and the availability of good corners

Mono-vision corner SLAM for indoor navigation

We present a real-time monocular vision based range measurement method for Simultaneous Localization and Mapping (SLAM) for an Autonomous Micro Aerial Vehicle (MAV) with significantly constrained payload. Our navigation strategy assumes a GPS denied manmade environment, whose indoor architecture is represented via corner based feature points obtained through a monocular camera. We experiment on a case study mission of vision based path-finding through a conventional maze of corridors in a large building

Biologically Inspired Monocular Vision Based Navigation and Mapping in GPS-Denied Environments

This paper presents an in-depth theoretical study of bio-vision inspired feature extraction and depth perception method integrated with vision-based simultaneous localization and mapping (SLAM). We incorporate the key functions of developed visual cortex in several advanced species, including humans, for depth perception and pattern recognition. Our navigation strategy assumes GPS-denied manmade environment consisting of orthogonal walls, corridors and doors. By exploiting the architectural features of the indoors, we introduce a method for gathering useful landmarks from a monocular camera for SLAM use, with absolute range information without using active ranging sensors. Experimental results show that the system is only limited by the capabilities of the camera and the availability of good corners. The proposed methods are experimentally validated by our self-contained MAV inside a conventional building

Characteristics of food allergy in children: National multicenter study

Conference: Congress of the European-Academy-of-Allergy-and-Clinical-Immunology (EAACI) Location: Lisbon, PORTUGAL Date: JUN 01-05, 2019Background : Food allergies impose a significant burden on the life of the child and the family. In this study, to determine the demographic characteristics of food allergies, we investigated the characteristics of patients with food allergies in different regions of Pediatric Allergy- Immunology departments in Turkey. Method : Turkey ' s National Study of Allergy and Clinical Immunology Society has conducted a Study Group on Food Allergies. 25 centers participated in this multicenter, cross- sectional and descriptive study.European Academy of Allergy and Clinical Immunolog

Outcomes of high-risk breast lesions diagnosed using image-guided core needle biopsy: results from a multicenter retrospective study

PURPOSEThe clinical management of high-risk lesions using image-guided biopsy is challenging. This study aimed to evaluate the rates at which such lesions were upgraded to malignancy and identify possible predictive factors for upgrading high-risk lesions.METHODSThis retrospective multicenter analysis included 1.343 patients diagnosed with high-risk lesions using an image-guided core needle or vacuum-assisted biopsy (VAB). Only patients managed using an excisional biopsy or with at least one year of documented radiological follow-up were included. For each, the Breast Imaging Reporting and Data System (BI-RADS) category, number of samples, needle thickness, and lesion size were correlated with malignancy upgrade rates in different histologic subtypes. Pearson’s chi-squared test, the Fisher–Freeman–Halton test, and Fisher’s exact test were used for the statistical analyses.RESULTSThe overall upgrade rate was 20.6%, with the highest rates in the subtypes of intraductal papilloma (IP) with atypia (44.7%; 55/123), followed by atypical ductal hyperplasia (ADH) (38.4%; 144/375), lobular neoplasia (LN) (12.7%; 7/55), papilloma without atypia (9.4%; 58/611), flat epithelial atypia (FEA) (8.7%; 10/114), and radial scars (RSs) (4.6%; 3/65). There was a significant relationship between the upgrade rate and BI-RADS category, number of samples, and lesion size Lesion size was the most predictive factor for an upgrade in all subtypes.CONCLUSIONADH and atypical IP showed considerable upgrade rates to malignancy, requiring surgical excision. The LN, IP without atypia, pure FEA, and RS subtypes showed lower malignancy rates when the BI-RADS category was lower and in smaller lesions that had been adequately sampled using VAB. After being discussed in a multidisciplinary meeting, these cases could be managed with follow-up instead of excision

Temperature Effects Explain Continental Scale Distribution of Cyanobacterial Toxins

Insight into how environmental change determines the production and distribution of cyanobacterial toxins is necessary for risk assessment. Management guidelines currently focus on hepatotoxins (microcystins). Increasing attention is given to other classes, such as neurotoxins (e.g., anatoxin-a) and cytotoxins (e.g., cylindrospermopsin) due to their potency. Most studies examine the relationship between individual toxin variants and environmental factors, such as nutrients, temperature and light. In summer 2015, we collected samples across Europe to investigate the effect of nutrient and temperature gradients on the variability of toxin production at a continental scale. Direct and indirect effects of temperature were the main drivers of the spatial distribution in the toxins produced by the cyanobacterial community, the toxin concentrations and toxin quota. Generalized linear models showed that a Toxin Diversity Index (TDI) increased with latitude, while it decreased with water stability. Increases in TDI were explained through a significant increase in toxin variants such as MC-YR, anatoxin and cylindrospermopsin, accompanied by a decreasing presence of MC-LR. While global warming continues, the direct and indirect effects of increased lake temperatures will drive changes in the distribution of cyanobacterial toxins in Europe, potentially promoting selection of a few highly toxic species or strains.Peer reviewe

A research on the socio-cultural effects of Erasmus programme upon higher education students: Case of Aksaray University

Erasmus Programı, Avrupa Birliği'nin 1987 yılında yükseköğretim alanında oluşturduğu bir eğitim politikası olarak bilinmektedir. Program süreç içerisinde; küreselleşme, teknolojik gelişmeler ve Birliğin genişleyen yapısından kaynaklanan sebeplerden dolayı toplumsal ihtiyaçlara çözüm bulmak amacı güden bir yapıya dönüştürülmüştür. Başladığı yıldan beri 9 milyondan fazla bireyin yükseköğretim başta olmak üzere mesleki eğitim, okul eğitimi, yetişkin eğitimi ve gençlik eğitimi alanlarında faaliyet göstermesine olanak sağlamıştır. Türkiye, Avrupa Birliği'ne aday ülke olarak kabul edilmesi sonrasında 2004 yılında Erasmus Programından faydalanmaya başlamıştır. Literatür taraması yapıldığında böylesine geniş bir yelpazede faaliyet gösteren Erasmus Programı hakkında ülkemizde sınırlı sayıda araştırma yapıldığı tespit edilmiştir. Literatür taraması ve araştırmaya ilişkin bulgulardan oluşan bu çalışma ile Erasmus Programı'nın Avrupa'ya eğitim almak üzere giden yükseköğretim öğrencileri üzerindeki sosyo-kültürel etkileri incelenmiştir. Öğrencilerin karşılıklı değişimine olanak sağlayan Program çerçevesinde çeşitli dil, din, kültür ve uyruğa mensup öğrenciler bir arada eğitim görmesine rağmen bu sürecin öğrenciler, yükseköğretim kurumları ve ülkeler üzerinde yarattığı etkiler tam olarak bilinmemektedir. Bu bağlamda Türkiye'nin aday ülke konumunda olması nedeniyle yapılacak bu araştırma, gerek Türkiye'nin Avrupa Birliği'ne entegrasyonu gerekse yükseköğretim kurumlarının geleceği açısından önem arz etmektediErasmus Programme is known as the European Union educational policy that was launched in 1987. In the course of time; due to the globalisation, technological developments and enlargement of European Union, Erasmus Programme has been transformed into a formation that aims to find solutions for social requirements within the society. Since it began in 1987, Programme has provided the activities over 9 million people on higher education, vocational education, school education, adult education, and youth education. Turkey started to take advantage of Erasmus Programme in 2004 after its admission to European Union as a candidate country. When the literature review is performed on Erasmus Programme that is active on such a wide range of areas, it is seen that there is a limited research made in our country. With this study that including literature review and findings of sample reasearch, socio-cultural effects of Erasmus Programme on higher education students is examined. Although students from diverse range of language, religion and nationality are having education together within the framework of Programme, the effects of this process on higher education students, higher education institutions and countries is not exactly known. In this context, as Turkey is a candidate country to the European Union this study has an importance both in terms of Turkey's integration to the European Union and the future of higher education institutions

Monocular Vision SLAM for Indoor Aerial Vehicles

This paper presents a novel indoor navigation and ranging strategy via monocular camera. By exploiting the architectural orthogonality of the indoor environments, we introduce a new method to estimate range and vehicle states from a monocular camera for vision-based SLAM. The navigation strategy assumes an indoor or indoor-like manmade environment whose layout is previously unknown, GPS-denied, representable via energy based feature points, and straight architectural lines. We experimentally validate the proposed algorithms on a fully self-contained microaerial vehicle (MAV) with sophisticated on-board image processing and SLAM capabilities. Building and enabling such a small aerial vehicle to fly in tight corridors is a significant technological challenge, especially in the absence of GPS signals and with limited sensing options. Experimental results show that the system is only limited by the capabilities of the camera and environmental entropy