Optimal dimensional synthesis of force feedback lower arm exoskeletons

This paper presents multi-criteria design optimization of parallel mechanism based force feedback exoskeletons for human forearm and wrist. The optimized devices are aimed to be employed as a high fidelity haptic interfaces. Multiple design objectives are discussed and classified for the devices and the optimization problem to study the trade-offs between these criteria is formulated. Dimensional syntheses are performed for optimal global kinematic and dynamic performance, utilizing a Pareto front based framework, for two spherical parallel mechanisms that satisfy the ergonomic necessities of a human forearm and wrist. Two optimized mechanisms are compared and discussed in the light of multiple design criteria. Finally, kinematic structure and dimensions of an optimal exoskeleton are decided

Design optimization and control of a parallel lower-arm exoskeleton

Wearable force feedback robotic devices, haptic exoskeletons, are becoming increasingly common as they find widespread use in medical and virtual reality (VR) applications. Allowing users to mechanically interact with computationally mediated environments, haptic exoskeletons provide users with better “immersion” to VR environments. Design of haptic exoskeletons is a challenging task, since in addition to being ergonomic and light weight, such devices are also required to satisfy the demands of any ideal force-feedback device: ability withstand human applied forces with very high stiffness and capacity to display a full range of impedances down to the minimum value human can perceive. If not properly designed by taking these conflicting requirements into account, the interface can significantly deteriorate the transparency of displayed forces; therefore, the choice of the kinematic structure and determination of the dimensions of this kinematic structure have significant impacts on the overall performance of any haptic display independent of the control algorithm employed. In this thesis, we first propose a general framework for optimal dimensional synthesis of haptic interfaces, in particular for haptic interfaces with closed kinematic chains, with respect to multiple design objectives. We identify and categorize the relevant performance criteria for the force feedback exoskeletons and address the trade-offs between them, by applying a Pareto-front based multi-objective design optimization procedure. Utilizing a fast converging gradient-based method, the proposed framework is computational efficient. Moreover, the approach is applicable to any set of performance indices and extendable to include any number of design criteria. Subsequently, we extend this framework to assist the selection of the most appropriate kinematic structure among multiple mechanisms. Specifically, we perform a rigorous comparison between two spherical parallel mechanisms (SPMs) that satisfy the ergonomic necessities of a human forearm and wrist and select the kinematic structure that results in superior performance for force-feedback applications. Utilizing the Pareto optimal set of solutions, we also assign dimensions to this mechanism to ensure an optimal trade-off between global kinematic and dynamic performance. Following the design optimization phase, we perform kinematic and dynamic analyses of the SPM-based exoskeleton in independent coordinates to facilitate efficient simulation and real-time implementation of model based controllers. We decide on the hardware components considering human wrist torque and force limits, safety and ergonomy constraints, and present the CAD model of a prototype of the exoskeleton. Finally, we implement model based task-space position and impedance controllers in simulation and present the results of them

Evaluation of the relation of Platelet Volume Index, MPV and RDW values with mortality in spontaneous intraparenchymal hemorrhages

Introduction: Intracerebral Spontaneous Hemorrhage (ISH) is a sudden hemorrhage into the brain parenchyma as a result of a rupture of the cerebral vessels that are not related to traumas. The purpose of the present study was to evaluate the relation of mortality with Platelet Volume Index (PVI) scoring systems, which have been reported in a small number of studies in terms of blood RDW, MPV, platelet and intracranial hemorrhages in patients diagnosed with intraparenchymal hemorrhage in Emergency Departments. Methods: This study was performed retrospectively by examining patient files of patients who came to Emergency Medicine Clinic between 01.01.2019-31.12.2019. As a control group for comparison of blood parameters, blood parameters of 72 patients suitable for the same age population, without intraparenchymal haemorrhage.Results: A total of 54.10% (n=85) intraparenchymal bleeding patients (IPC) and 45.90% (n=72) healthy control groups (HCG) were included in the study. There was no statistically significant difference between the clinical results of IPC groups in terms of mortality of RDW parameter and MPV parameter (p=0.930; p=0.118). When PVI ratio was evaluated in IPC group and HCG; the mean PVI (MPV/Platelet ratio) in the IPC group was 4.37±1.66, and the PVI (MPV/Platelet ratio) in the HCG was 3.89±1.02.A statistically significant difference was found between the PVI in the patient group and the HCG.A statistically significant difference was found between the PVI ratio clinical results of the patients with IPC (p=0.043).Conclusion: Spontaneous Intraparenchymal hemorrhage are among the leading causes of stroke-induced mortality and disability. The Hemphill Score and hemorrhage volume are important factors in mortality evaluation in intraparenchymal hemorrhage. There are not many studied conducted on Platelet Volume Index, and it is an important marker in predicting mortality, especially in these patients

A Human-Robot Interaction Perspective on Assistive and Rehabilitation Robotics

Assistive and rehabilitation devices are a promising and challenging field of recent robotics research. Motivated by societal needs such as aging populations, such devices can support motor functionality and subject training. The design, control, sensing, and assessment of the devices become more sophisticated due to a human in the loop. This paper gives a human–robot interaction perspective on current issues and opportunities in the field. On the topic of control and machine learning, approaches that support but do not distract subjects are reviewed. Options to provide sensory user feedback that are currently missing from robotic devices are outlined. Parallels between device acceptance and affective computing are made. Furthermore, requirements for functional assessment protocols that relate to real-world tasks are discussed. In all topic areas, the design of human-oriented frameworks and methods is dominated by challenges related to the close interaction between the human and robotic device. This paper discusses the aforementioned aspects in order to open up new perspectives for future robotic solutions

Implementation and enforcement of the Criminal Law enforcement pre-facilities

YÖK Tez ID: 308668?Ceza Hukukunda Yaptırımın Uygulanması ve İnfazı Öncesi İmkanlar? adlı tez konusu seçilmekle özellikle yargı sisteminin aşırı iş yükü koşullarında artık nicelik olarak milyonlarla ifade edilen dosyalar arasında kaybolup giden gerçek adalet, infaza dönüşen tutukluluk kurumu, gittikçe artan suç yoğunluğu ve ceza infaz kurumlarının gerçek ıslahı ve resosyalizasyonu sağlayamaması parametreleri çerçevesinde devletin cezalandırma erkini kullanmazdan önce her nasılsa suça bulaşmış ve pişmanlık gösteren faile son bir şans daha verilmesini amaçlayan bu çerçevede onu infaz kurumlarının olumsuzluklarıyla karşı karşıya getirmeden yeniden kazanarak tekrar toplum içerisine alma, cezaevine girmiş damgalanmasının önüne geçme amacını güden 5237 sayılı Türk Ceza Kanunu ve 5271 sayılı Ceza Muhakemesi Kanunumuzda yer alan muhakeme kurumları incelenmiştir. Çalışma yukarıda belirtilen amaçlar doğrultusunda infazın siyasi ve sosyal boyutları dışında teoriden daha çok ceza mevzuatımızda ve uygulamada yer alan ve yüksek mahkeme içtihatlarıyla her gün şekillenen pratik muhakeme kurumlarının uygulanırlık şartları ve sonuçları yönünden irdelenerek yapılmıştır. Tez üç ana bölüm ile giriş ve sonuç kısmından oluşmuştur. Birinci bölümde ceza hukuku ve ceza yargılama hukukunun üzerine inşa edildiği kavram olan ve ceza hukukuna bu özelliğini veren yaptırım ve daha da özelde ceza hukukuna has olmak üzere ceza yaptırımı, bu yaptırımın unsurları, nitelikleri, amaçları ve bu yaptırımın infazı, infazda karşılaşılan sorunlar irdelenmiştir. İkinci bölümde devletin cezalandırma erkine başvurmadan önce fail hakkında soruşturma safhasında kullanılan kamu davasının açılmasının ertelenmesi, önödeme ve uzlaşma kurumları; üçüncü bölümde ise kovuşturma safhasında uygulanabilen mahkumiyetine karar verilmiş, suçluluğunun tespiti yapılmış failler açısından hükmedilen cezanın infazını erteleyen ve bu kapsamda faile son bir şans bahşeden cezaların ertelenmesi ve hükmün açıklanmasının geri bırakılması kurumları hukuki nitelikleri, uygulanma şartları ve sonuçları açısından irdelenmiştir.İrdelenen kurumların hepsinin ortak özelliği suç işlemeyi itiyat haline getirmiş veya mükerrir suçlular haricinde ilk defa suç işlemiş veya geçmişte işlediği bir suçu bulunup da yasanın öngördüğü şartları taşıyanlara pişmanlık duymalarını sağlamak koşuluyla ıslahı sağlamak ve onları tekrar kazanarak suçsuz bir hayat sürmelerini temin etmektir. Bu nedenlerle hem uygulanma şartları açısından basit suçluluk alanlarında uyuşmazlığı ağır işleyen yargı mekanizmasının dışında ve daha hızlı çözen yine tarafların çözüme daha etkin olarak katıldığı bu kurumların kapsamlarının genişletilmesi ve yine gerçek ıslahı sağlamadığı araştırmalarla ve yaşanan gerçeklikle anlaşılan cezaevlerine faili kapatmak yerine faili toplum içine hapsederek özgürlük içerisinde ıslah ve resosyalizasyon amaçlanarak bu kurumların daha da etkin olarak uygulanması önerilmiştir.Implementation and Enforcement of the Criminal Law Enforcement Pre-Facilities in the thesis were selected by the judicial system, especially in conditions of excessive workload, the files are no longer expressed in terms of quantity among the millions lost to the real justice, the execution turned into detention institution, an increasing intensity of crime and penal institutions and the real improvement within the parameters of the state before the punishment can no socialization faculty somehow fails party to a crime and show remorse in this context, it aims to give people one last chance of their negations enforcement agencies face in society again without winning re-import, entered the prison of the Turkish Criminal Code No. 5237 which aim to halt of incuse in our law Criminal Procedure Code and Law No. 5271 of the institutions were discernment . The study mentioned above, except for purposes of execution of political and social dimensions of criminal legislation and in practice more than theory in the high court case law and practical reasoning is shaped every day conformity institutions in terms of conditions and the results were examined. The thesis consists of three main sections with the introduction and a conclusion part. In the first section was built on the concept of criminal law and criminal trial law and criminal law enforcement and, more specifically that this feature of the criminal law to specific criminal sanction, the sanction elements, attributes, goals and execution of this sanction, discussed problems encountered in the execution. In the second part of the state before applying power punishment phase of the investigation about the perpetrator used the postponement of the opening public trial, pre-payment and settlement institutions; the third section can be applied in the prosecution phase, it was decided the conviction, determination of deliquency has been awarded the penalty for the perpetrators perpetrator in this context, one last chance and postponing execution of grant back to the left to the announcement of the postponement of penalties and the provision of legal institutions, qualifications, application requirements, and results are discussed.The common feature of all of the institutions has been analyzed persistenth crime or criminals, except for the first time brought into habit committed a crime or a crime committed in the past there who carry the conditions stipulated by the law provided that enable them to hear remorse provide breeding and supplying them is to live a life again, winning an innocent. For these reasons, both in terms of conditions of application of a simple mismatch in the areas of the guilt out of the mechanism of heavy-functioning judiciary more efficient and faster solution to solve the participation of the parties again and again expanding the scope of these institutions provide a real improvement in the research and understood the reality of freedom in prisons confining the offender into the community instead of closing the perpetrator. The goal was to reform these institutions and more effective implementation of the proposed socialization

Geleneksel işletmecilik modellerinin yeşil işletmecilik modellerine dönüştürülmesi : Akçansa uygulaması

Kaynak kıtlığı ve çevre intikali konusunda günümüzde yaşanan toplumsal sıkıntılarda, işletmeler giderek sürdürülebilirlikle ilgili tartışmaların merkezinde bulunmaya başladılar. Kurum ve kuruluşların, gelecek nesillerin kaynak yetersizliği ve çevresel tehlikelere maruz kalmalarını en aza indirgemek amacıyla işletmecilik süreçlerini nasıl “yeşil” hale getirmeye başladıkları hakkında yıllardır süren kamu tartışmaları ve akademik tartışmalarda çeşitli terim ve tanımlar geliştirilmiştir. Son zamanlarda en dikkate değer olanlardan biri de “Yeşil İşletmecilik Modelleri”dir. Bu terimin daha somut ve derinlemesine anlaşılabilmesi için bu tezde, şirketlerin nasıl mevcut “İşletmecilik Modellerini”, “Sürdürülebilir Yeşil İşletmecilik Modelleri”ne dönüştürdüğünü değerlendirerek yeşil odaklı işletmecilik modeli yeniliği fikri incelenmektedir. Ayrıca, bu süreçle ilgili olarak Politika ve Politika Yapıcıların rolüne de özellikle dikkat çekilmiştir. Tezin asıl katkısı ise literatür incelemesine göre geleneksel işletmecilik modellerinin nasıl daha yeşil işletmecilik modellerine dönüştürüldüğünü gösteren bir çerçevenin oluşturulmasıdır. Burada, Yeşil Yenilik, Yeşil İşletmecilik Modeli Yeniliği sürecine neden olan esas mevzu olarak görülürken Politika ve Politika Yapıcılar da Yeşil İşletmecilik Modellerinin geliştirilmesinde önemli bir işleve sahip olarak tanımlanmaktadır. Daha sonra bu sonuçlar seçilen ilgili bir vaka çalışmasının üyeleriyle görüşmeler yoluyla toplanan verilere göre araştırılır. Sonuç, geliştirilen çerçevelerin işletmeye yönelik pratik ve teorik uygulamalarının kısıtlamalarını ve aynı zamanda daha fazla araştırmaya yönelik soru ve öneri sayısını belirleyen analitik bir tartışmadır

Optimal dimensional synthesis of a dual purpose haptic exoskeleton

This paper presents multi-criteria design optimization of a 3RPS-R parallel mechanism to be employed as a dual purpose haptic exoskeleton for human forearm and wrist. The primary use for the optimized device is aimed as a high fidelity haptic interface, while the exoskeleton can also be employed as a rehabilitation device. Multiple design objectives are discussed and classified for both application scenarios, and optimization problems to study the trade-offs between these criteria are formulated. A general framework for optimization of haptic interfaces is applied to efficiently obtain the Pareto-front hyper-surfaces between conflicting criteria. Optimal dimensional synthesis of the dual purpose haptic exoskeleton is demonstrated

Comparison of Writing Anxiety and Writing Dispositions of Sixth, Seventh and Eighth Grade Students

The purpose of this study is to determine sixth, seventh and eighth grade students’ writing anxiety and dispositions and to examine to what extent they predict each other. The basis of this study is to determine whether writing disposition is the significant predictor of writing anxiety or not and whether students’ grade levels and genders are significant predictor of writing anxiety and dispositions or not. The research was designed according to survey model. The study group, selected through simple sampling method, is made up of 860 students studying at 6th, 7th and 8th grades in elementary schools of Şarkışla District, Sivas. While “Writing Anxiety Scale”, adapted into Turkish by Özbay and Zorbay (2011), was administered to determine the study group’s writing anxiety level, “Writing Disposition Scale”, adapted into Turkish by İşeri and Ünal (2010), was used to determine the writing disposition level. At the end of the study, it was found that writing disposition is a significant predictor of writing anxiety and students’ grade levels and genders are significant predictors of writing anxiety and dispositions. An education environment to create a strong writing disposition for students is recommended. Also, similar studies on different dimensions of the issue can be conducted

İlköğretim Sosyal Bilgiler Dersinde (5.Sınıflar) Problem Çözme Yönteminin Uygulanabilirliği

Problem çözme yöntemi, bilgiyi aktarma yerine yaratıcı bilgiyi üretmek için çocuklara yaratıcı ve üretici olmayı öneren bir yaklaşım biçimini ortaya koyar. Böylece öğrenciler bu yöntemi kullanarak, bilgileri öğrenmeyi beceri ve tutumlarını geliştirerek bunları kullanmayı ve karşılaşacakları sorunları çözmeyi kolaylıkla başarabilirler. Sosyal Bilgiler dersinde problem çözme yönteminin uygulandığı deney grupları ile klasik yöntemlerin uygulandığı kontrol grubundaki öğrencilerin (5.Sınıf) son test puanları ortalamaları arasında önemli farklar ortaya çıkmıştır. Kısacası problem çözme yönteminin Sosyal Bilgiler dersinde, öğrenci başarısı açısından daha etkili olduğu tespit edilmiştir. Bu yöntemin işleyişinde; öğrencileri etkin olarak öğrenmeye katılmış ve daha çok motive olarak grup amacını gerçekleştirmeye çalışmışlardır. Yöntem öğrenciler tarafından çok sevilmiş, ilgiyle karşılanmıştır. Yöntemin uygulandığı sınıflarda öğrencilerin %90’nı söz konusu yönteme devam etmek istediklerini belirtmişlerdir.Problem solving method is an appraach to learninng which focuses on teaching children how to be creative and productive in getting knowledge instead of simply transferring knowledge. Thus, using this tecnigue, students can easily achieve absorbing knowledge, using and imroving their skills and attitudes and finally overcoming the problems they ever face. In order to conduct the procedures of this research, two different groups of fifth year studens were chosen. This careful selection qas carried out through a pre – test. Then, while one of the groups (the Control Group) continued learning in classical method, the other group (the Experimental Group) carried on learning in proble solving method. At the end of the scheduled time, a post – test has shown that there are significant differences between the averoges of the post – test scores of each group. In brief, the problem – solwing method has been proved to be more effective. Burning the process, the students qere highly motivated and participated the learning activity actively . 90 per cent of the students staed thet they had found the method in guestion useful and interesting