Performance improvement in VSLAM using stabilized feature points

Simultaneous localization and mapping (SLAM) is the main prerequisite for the autonomy of a mobile robot. In this paper, we present a novel method that enhances the consistency of the map using stabilized corner features. The proposed method integrates template matching based video stabilization and Harris corner detector. Extracting Harris corner features from stabilized video consistently increases the accuracy of the localization. Data coming from a video camera and odometry are fused in an Extended Kalman Filter (EKF) to determine the pose of the robot and build the map of the environment. Simulation results validate the performance improvement obtained by the proposed technique

Under vehicle perception for high level safety measures using a catadioptric camera system

In recent years, under vehicle surveillance and the classification of the vehicles become an indispensable task that must be achieved for security measures in certain areas such as shopping centers, government buildings, army camps etc. The main challenge to achieve this task is to monitor the under frames of the means of transportations. In this paper, we present a novel solution to achieve this aim. Our solution consists of three main parts: monitoring, detection and classification. In the first part we design a new catadioptric camera system in which the perspective camera points downwards to the catadioptric mirror mounted to the body of a mobile robot. Thanks to the catadioptric mirror the scenes against the camera optical axis direction can be viewed. In the second part we use speeded up robust features (SURF) in an object recognition algorithm. Fast appearance based mapping algorithm (FAB-MAP) is exploited for the classification of the means of transportations in the third part. Proposed technique is implemented in a laboratory environment

Not defteri

Taha Toros Arşivi, Dosya No: 155-Vedat Örfi Bengüİstanbul Kalkınma Ajansı (TR10/14/YEN/0033) İstanbul Development Agency (TR10/14/YEN/0033

Determining Optimum Tilt Angles of Photovoltaic Panels by Using Artificial Neural Networks in Turkey

Sun is the most important energy source of the world. To make use of this energy source effectively, the sun’s angle of incidence to earth must be known. The angle, however, between rotation axis and orbital plane of the world is not constant and it changes continuously. Depending on this change, the incidence angle of sun beams also change. For purpose of increasing the light amount falling on solar panels, light beams must be adjusted according to their angles of incidence. The difference of this study from the studies in literature realized to determine the optimum tilt angle by means of mathematical methods is the determination of optimum tilt angles with artificial neural networks. In the study, not each province within boundaries of Turkey but the whole country as a system was introduced to the artificial neural network. Thanks to this, monthly optimum tilt angle of the system to be installed in any place within boundaries of Turkey was determined by the artificial neural network. The installed solar panels were adjusted according to this optimum tilt angle. Thanks to this, it was ensured to be obtained maximum output from solar panels. Mounting of the system according to an angle as predicted by artificial neural network has caused 34% increase in energy amount obtained from fixed solar panel systems. Consequently, in this study, in prediction of optimum tilt angle of fixed solar panels, in what extent the artificial neural networks are successful were observed. It was determined that correct results have been obtained in respect of both economy and utilization

JOHN DEWEY’S INFLUENCE ON TURKISH EDUCATION SYSTEM IN THE EARLY REPUBLIC ERA

In this research, the influence of John Dewey’s visit to Turkey in 1924, his report on Turkish education system and its influence on Turkish education system in the early republic era were discussed. John Dewey was invited by Ministry of Education in 1924. He made investigations concerning the education system, participated in interviews, and submitted a report to the ministry. He stayed approximately two months in Istanbul and Ankara. He prepared two reports about Turkish education system: The first report was mainly about urgent addition of some allowances to the budget rather than a report on the general problems of education, and it was in nature of memorandum indicating how to share these allowances. After returning to his country, he wrote and sent the second report. Both reports were published by the Ministry of Education. Dewey emphasized a new and unique Turkish education system. Dewey stated that teachers’ salaries have to be increased rapidly, appointments should be balanced and it is crucial to provide housing for teachers. He emphasized the importance of awareness of the innovation of the managers and teachers in the education system through training magazines which will be published. He pointed out the importance of the establishment of a library in every school, and a course set on the librarianship at schools. He recommended establishment of an independent unit at the school buildings and architecture in the training organizations, and doing studies abroad on the subject. He expressed that Turkish education system was in a centralized structure whereas having a decentralized structure as well will form a structure distant from bureaucracy. Dewey’s suggestions tried to be implemented by some ministers especially by the Minister of Education, Mustafa Necati, in the early republic period. In this study, document analysis technique which was included in qualitative research methods was used.   Article visualizations

Neopterin and asymmetric dimethylarginine levels in patients with type 2 diabetic retinopathy

Objective: We aimed at determining the relationship between asymmetric dimethyl arginine (ADMA) and neopterin levels and diabetic retinopathy (DR) in type 2 diabetes mellitus (T2DM). Materials and methods: In our study, we included 41 T2DM patients with DR, 21 T2DM patients without DR, and 20 healthy controls. We measured HbA1c, fasting blood glucose, creatinine, total cholesterol, triglycerides, HDL cholesterol, LDL cholesterol, neutrophil-lymphocyte ratio, neopterin, and ADMA levels by taking fasting serum and plasma samples. In healthy controls, we evaluated ADMA and neopterin levels in T2DM patients with DR, and T2DM patients without DR. We evaluated the relationship between ADMA levels and HbA1c, fasting blood glucose, total cholesterol, triglycerides, HDL cholesterol, LDL cholesterol, and neopterin. Results: There was no statistically significant difference in ADMA and neopterin levels between the DR group, the non-DR group, and the control group. There was no significant relationship found between ADMA and neopterin levels and the severity of retinopathy.In our study, we only found a moderate positive correlation between ADMA and neopterin (ρ=0.453 p<0.001). Conclusions: Serum ADMA and neopterin levels did not differ significantly between groups at all stages of DR. Regardless of macrovascular disease, we think that serum neopterin and ADMA levels are not associated with retinopathy in patients with T2DM. Further studies are needed to determine whether ADMA and neopterin have an effect on the pathogenesis

A Universal Design for Robotics Education

In this century technological and educational needs increase drastically. Out of local language, educators need to teach robotic language and use necessary technologies to design robots like Arduino set. This set let users to know less code/computer language and knowledge about electronics. Users may develop their own robots with this set. It also improves design and implementation skills. However, it is not a suitable design for blinds. Universal design approach suggests educators to design courses in a way to meet the needs of all participants. By this approach, learning environments are helpful and useful for participants with special needs. With the scope of the study we suggest a three steps course design for robotics education; introducing with appropriate materials, using real materials with descriptions and discussing for further designs. In the first step bigger materials with big holes and big bottoms will be used to make sense about devices. In the second step, during the sighted learners are testing we suggest to educator to describe what is happening. The last step will be about imagination for what we should do more. Present study may lead to new insights on how to introduce system to blinds during the learning process

An efficient heuristic for the multi-vehicle one-to-one pickup and delivery problem with split loads

In this study, we consider the Multi-vehicle One-to-one Pickup and Delivery Problem with Split Loads (MPDPSL). This problem is a generalization of the one-to-one Pickup and Delivery Problem (PDP) where each load can be served by multiple vehicles as well as multiple stops by the same vehicle. In practice, split deliveries is a viable option in many settings where the load can be physically split, such as courier services of third party logistics operators. We propose an efficient heuristic that combines the strengths of Tabu Search and Simulated Annealing for the solution of MPDPSL. Results from experiments on two problems sets in the literature indicate that the heuristic is capable of producing good quality solutions in reasonable time. The experiments also demonstrate that up to 33\% savings can be obtained by allowing split loads; however, the magnitude of savings is dependent largely on the spatial distribution of the pickup and delivery points

EFFECT OF CORE EXERCISES ON BALANCE AND VERTICAL JUMP OF 12-14 AGED FEMALE VOLLEYBALL PLAYERS

The aim of this study is to investigate the effect of the 8-weeks core training program on balance and vertical jump in female volleyball players. 24 female volleyball players aged 12-14 (12 in experimental group, 12 in control group) voluntarily participated in the study. While the core training program and routine volleyball training was applied to the experimental group for 8 weeks, 3 days in a week/ 60 minutes per day, only routine volleyball training was applied to the control group for 8 weeks. Balance and vertical jump tests were applied to the subjects before (pre-test) and after (post-test) 8 weeks core training program. Paired and Independent Samples t Tests on SPSS 22.0 program were used for statistical analysis. There was a significant difference between the pre-test and the post-test in terms of balance and vertical jump values of the experimental group (p <0.05). While there was no statistically significant difference between the pre-test and post-test of the control group in non-blind standing stork test (p> 0.05), there was significant difference in blind stork test and vertical jump tests (p <0.05). When the change between the groups was examined by looking at the difference of the pre-posttests, non-blind stork test was 3.73 cm, blind stork test was 2.45 cm and vertical jump test was 2.50 cm. After 8 weeks of core training, a significant difference was found between the two groups’ balance and vertical jump values (p <0.05). As a result, it could be said that the core training program has positive effects on balance and vertical jump when applied with volleyball training.  Article visualizations