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Control and simulation of swarm mobile robots

Şen, Hayrettin

Yüksek Lisans | 2016 | İzmir Katip Çelebi Üniversitesi Fen Bilimleri Enstitüsü

This thesis presents both control of mobile robots that can move by using collective motion algorithm and simulation of the robots during the motion. The orientation of the robots was controlled remotely by one user during the collective motion. The transmission of orientation data from the remote controller to the robots was done by using XBee modules. The control algorithm of collective motion was developed by using individual-based model. Two modes are considered during the control. These modes are search and swarm mode. The collective motion was performed by robots that are moving with respect to some pair-wise interactions. Th . . .e pair-wise interactions between the robots were proposed based on three rules namely attraction, parallel orientation and repulsion fields rules. While the mobile robots try to move toward their neighbors in attraction field, they try to remain close to their neighbors in parallel orientation field. The repulsion field rule avoids the collision with each other during the collective motion. Since the commercial mobile robots which can be used in swarm robotics are very expensive, the robots used in this study were manufactured in the Prototyping Laboratory, in Izmir Katip Çelebi University. The mechanical parts of mobile robots were designed using SolidWorks and manufactured by using 3D printer technology. Arduino Mega 2560 programmable board was used as control unit of the robots. One electronic circuit, named Arduino Shield Circuit was designed using Proteus 8 Professional. It was produced in order to connect the used electronic components to related pins on Arduino Mega 2560 easily and in a secure way avoiding short circuits. The simulation code works as a real-time simulation. The code uses the data received from the robots to simulate the motion of the robots. The simulation also saves the all the received data from the robots to one Excel file. Two parameters, polarization and expanse were calculated in order to observe and characterize the motion of the swarm robots by using the saved data. Lastly the collective motion was tested for a group of two, three, four and five robots. The expanse and polarization values were presented for each test Daha fazlası Daha az

Evaluation of effectiveness of cold atmospheric plasma treatment methods for prevention of ventilator-associated pneumonia

İbiş, Fatma

Yüksek Lisans | 2016 | İzmir Katip Çelebi Üniversitesi Fen Bilimleri Enstitüsü

Hospital-acquired infections (HAI) (nosocomial infection) are serious health problems that occur when person acquires infection during stay in a hospital for causes other reasons than that infection. Colonization of microorganisms pave the way for deaths, in detail, Ventilator Associated Pneumonia (VAP) is remarkable in terms of mortality accounted for 15% of nosocomial infections. Ventilator associated pneumonia (VAP) is common a disease, especially among patients that are on connected ventilators in intensive care units. It is defined as the pneumonia, in which occurs in at least 48 hours after mechanical ventilation, is pr . . .ovided via endotracheal tubes or tracheostomy. This infection occurs because of assault of microorganisms that settle in endotracheal tubes in respiratory tract and then in lung parenchyma tissue. The most common settling organisms in respiratory tract are S.aureus, P. aureginosa, K. pneumonia, E.coli and Acinetobacter, Candida, Enterobacter species. Due to multi drug resistant microorganisms, the current treatments are inadequate and the mortality rate increases. Therefore, plasma can play significant role for the management of ventilator-associated pneumonia. Plasma is ionized gas and defined as the fourth state of matter. The treatments of plasma in health care can ensure quick and pretty effect to protect from resistant microorganism to antibiotics to patients. The purpose of present study is to develop a method of plasma treatment which can be utilized for the control and prevention of ventilatör associated pneumonia. For this concept, we have designed different systems and determined optimum parameters to prevent and eradicate biofilms of Staphylococcus aureus, Acinotabacter baumannii, Pseudomonas aureginosa, and Candida Albicans in endotracheal tubes. Our results indicate that, various plasma treatment modalities are capable of prevention and eradication of biofilms grown in endotracheal tubes. Therefore, cold atmospheric pressure plasma treatment methods could be considered as for the management of ventilator associated pneumonia Daha fazlası Daha az

Expert system design by using artificial intelligence techniques for the diagnosis of liver disorders

Mülayim, Naciye

Yüksek Lisans | 2016 | İzmir Katip Çelebi Üniversitesi Fen Bilimleri Enstitüsü

Nowadays, Expert System (ES)s are used widely in many areas to solve real world problems. Artificial Intelligence (AI) techniques are used to obtain timely and accurately decision about solution of daily problems in ESs designing because AI can mimic behaviours and thought system of people. Especially in medical area, there are many researches and applications using ESs based on various AI techniques to obtain diagnosis for any diseases. The liver is a vital internal organ for a human body and it has many functions, which are associated with the other organs. Although the liver can renew itself in the face of a damage and ¼ of live . . .r can even be enough for liver functions, a major damage is an obstacle for continual of the liver functions. For this reason, early diagnosis is very important in liver disorders. In this study, it was intended to generate expert systems based on Firefly Algorithm (FA) and Support Vector Machine (SVM) techniques for the diagnosis of liver disorders by using C# programming language and “Indian Liver Patient Dataset (ILPD)” and “Liver Disorder Dataset (BUPA Dataset)”. For performance evaluations of the proposed systems Accuracy, Positive Predictive Value, Negative Predictive Value, Sensitivity, Specificity, Precision and F-Measure were used. For ILPD, the proposed system based on Firefly Algorithm (FA) gave 92% Accuracy, 92% Sensitivity, 84.61 % Specificity, 95.91 % Positive Predictive Value, 83.01 % Negative Predictive Value, 95.91 % Precision and 93.91 % F-Measure. The proposed system based on Support Vector Machine (SVM) gave 78.33% Accuracy, 79.9% Sensitivity, 75% Specificity, 87.16 % Positive Predictive Value, 63.71 % Negative Predictive Value, 87.16 % Precision and 83.37 % F-Measure. For BUPA Dataset, the proposed system based on Firefly Algorithm (FA) gave 92.8% Accuracy, 96% Sensitivity, 90.66 % Specificity, 87.27 % Positive Predictive Value, 97.14 % Negative Predictive Value, 87.27 % Precision and 91.42 % F-Measure. The proposed system based on Support Vector Machine (SVM) gave 76.8 % Accuracy, 82% Sensitivity, 73.33% Specificity, 67.21 % Positive Predictive Value, 85.93 % Negative Predictive Value, 67.21 % Precision and 73.87 % F-Measure. It was clearly observed that the proposed system based on FA gave more successful predictions than the proposed system based on SVM in both liver disorders datasets and it is hoped that the generated systems will make contribution to in researches of expert systems based on artificial intelligence Daha fazlası Daha az

Fuzzy logic modelling of sediment transport in annulus

Müftüoğlu, Tevfik Denizhan

Yüksek Lisans | 2016 | İzmir Katip Çelebi Üniversitesi Fen Bilimleri Enstitüsü

The understanding of sediment transport with fluid in pipes is one of the important issues in hydraulics engineering. If the fluid velocity is lower than a critical value, a stationary cuttings bed develops, which may cause excessive head loss. In this study, a Fuzzy Logic (FL) model is developed to estimate stationary cuttings bed thickness inside the annulus. Experimental data is collected from literature in order to train proposed models. Results showed that the cuttings bed thickness could be estimated using the developed model with a reasonable accuracy when compared with the experimental results. Also, the thickness of the sta . . .tionary bed can be estimated within an error range of ± 6.8 %, more accurately than the widely used models available in the literature Daha fazlası Daha az

Group effect in axially loaded chemical anchors embedded in low strength concrete

Arslan, Tolga

Yüksek Lisans | 2016 | İzmir Katip Çelebi Üniversitesi Fen Bilimleri Enstitüsü

The use of chemical anchors for the connection of existing structural elements with the new elements during strengthening of existing structures is quite a preferred method. Since in our country, chemical anchors are being widely used for repair and strengthening works, there should be a standard of design and application on this topic. Up to now, research done on the topic of chemical anchors, are mostly carried out on concrete blocks of compressive strength 20 MPa and higher. Since parameters such as distance from the edges, embedment depth and group effect were mostly ignored, the resulting behavior was brittle, instead of . . . the desired ductile behavior. This is particularly true for low strength concretes, in which concrete related damages increase the probability of an overall brittle behavior. In the scope of this study, 100 epoxy bonded anchors were embedded into concrete blocks of strength between 5.8-16.4 MPa. Among these anchors, 22 were single anchors, and 26 were group of three anchors. In these experiments, 12 mm S420a and 20 mm S420b rebars were used. The behavior of the anchors was investigated by varying embedment depth and distance from edges and corners. It was observed that stress concentrations in projected failure area are more significant for greater bar diameters. And increase in expected stress levels, increases the possibility of having concrete governing failure. Therefore, it is suggested to put an upper limit in codes for bar diameters. It was observed that stress concentrations in projected failure area are more significant for greater bar diameters. And increase in stress levels, increases the possibility of having brittle concrete breakout failure. Therefore, it is suggested to put an upper limit for bar diameter to limit this possibility. Besides, findings about stress concentrations show that ACI318 formulation yields safer design strength for small-diameter anchors with respect to large-diameter anchors. To compensate this, some modification factors have been proposed for the calculation of projected breakout failure area according to ACI318. Calculated design strengths of specimens per ACI318 were lower than anchor capacities obtained from tests. It is observed that average factor of safety for majority of the experiments is around 2. Therefore, it is concluded that ACI318 design strength can safely be used for most of the anchor configurations. However, in some experiments, ultimate capacity of specimens were very close to ACI318 design strength. This is especially observed for the cases where stress concentrations occur, for example group anchors with large diameter bars located parallel to edges Daha fazlası Daha az

Audiometer device design with integration of different sources = Farklı kaynaklara entegre işitme cihazı tasarımı

Uzun, Yiğit Ömer

Yüksek Lisans | 2016 | İzmir Katip Çelebi Üniversitesi Fen Bilimleri Enstitüsü

Audiometry is the technique to identify the nature of hearing loss and to determine the threshold of hearing by recording responses of the patient after presenting him with auditory stimuli with varying intensity levels. There are different audiometric techniques and procedures used for achieving this. The vast majority of medical devices found in the marketplace as a commercial product for the field of audiology have been developed for clinical limited testing. These devices cannot be used for purposes other than those specified by the manufacturer. This has serious limitations in the experimental design of scientific research carr . . .ied out in limited budget training research hospitals, and it reduces the quality of the research that is revealed. With the circuit designs that can be integrated externally to the devices used in the audiology clinics, the capabilities of these devices can be increased and the usage capacity can be increased in line with the requirements of the clinician or researcher. In this study, an audiometer is designed and prototyped to generate pure tone, control both audio channels separately, control audio sources connected from external input. The pure tone produced or the audio signal from the external source is routed through switches and transmitted to the patient through the attenuator circuit. Device control is performed by STM32F746 development kit. The device has three different modes as manual test automatic, pure tone threshold test and volume control. In manual mode, the operator can send pure tone signals to the patient's ear at a frequency of 250 Hz - 8000 Hz and a range of 0-110 dB with 1 dB sensitivity. According to the responses taken from the patient response button, an audiogram is created simultaneously on the device screen. In addition, masking white noise and pink noise with sound-loaded on the memory card can be used. The Hughson Westlake method was used as the automatic test method. After the test is started, hearing threshold values are recorded according to the test procedure. An audiogram is created simultaneously on the screen during the test. In the audio control mode, the audio signals from the external source can be independently controlled 1 dB in two channels. This audiometer helps contribute to academic studies. Moreover, this has been used in graduate-degree theses in Audiometer branch of Otology in the Faculty of Medicine in Dokuz Eylul University. Developed audiometer is also almost ready to manufacture as a commercial device after some procedures for international test and calibration. Research Fund of the İzmir Katip Celebi University supported this work. Project Number: 2016-TYL-FEBE-0031 Daha fazlası Daha az

Boron doped titanium dioxide nanotube arrays: production, characterization and photocatalytic properties

Bilgin, Kübra

Yüksek Lisans | 2016 | İzmir Katip Çelebi Üniversitesi Fen Bilimleri Enstitüsü

Photocatalytic degradation and complete mineralization of toxic organic compounds in water, soil, and air in the presence of semiconductor materials have received much attention over the last decades. Electronic structure of semiconductors is characterized by a filled valence band and an empty conduction band. When the semiconductor is irradiated with light of sufficient energy corresponding to or exceeding its band gap, an electron is promoted into the conduction band, leaving a hole in the valence band. The electrons and holes are good reductants and powerful oxidants, respectively, and they can initiate redox reactions on the sem . . .iconductor surface. Titanium dioxide (TiO2) as a semiconductor is considered the most promising photocatalyst due to its high efficiency, chemical stability and non-toxicity. Due to the fact that in this study, titanium dioxide nanotube arrays fabricated by potentiostatic anodization of titanium that offers a large internal surface area. TiO2 nanotube arrays have been found to possess outstanding charge transport and carrier lifetime properties enabling a variety of advanced applications, including their usage as sensors, dye sensitized solar cells, hydrogen generators, photocatalysts, and super capacitors. However, the use of TiO2 is restricted by its wide band gap (3.2-3.6 eV), which requires ultraviolet irradiation for photocatalytic activation (λ Daha fazlası Daha az

Slow food and food tourism: Foça earth market case study

Meriç, Hamit Gökay

Yüksek Lisans | 2016 | İzmir Katip Çelebi Üniversitesi Sosyal Bilimler Enstitüsü

Destinations are most attractive for the tourists with their unique cultural elements and food is a substantial amount of the unique local identity. Therefore, food tourism has always been a very important aspect of the destination and tourists have always been eager to try unique tastes of the culinary culture in the destination they are visiting. In this thesis study, the concepts of food tourism and food tourists are explained in detail and their importance in the context of destinations is mentioned with concrete reasons. On the other hand, the industrial revolution, which took place recently, created today's highly inte . . .grated and typical global markets. This rapid change also forced people around the world to have a typical life style with common interests, hobbies and tastes. This standardization and singularity affected nations’ culinary culture and created monotype, relatively tasteless and “fast” food. As a result, the culinary cultures of different places started to dissolve. This was a reflection of the globalized and similarized world and it made an impact on the food cultures of communities, even exposing them to the danger of perishing. This problem necessitated a comprehensive movement to protect the unique food cultures of nations, as they are a significant part of the destinations’ identities. Slow Food movement was born in the 1980’s as an answer to this progress and became a major influence for countries. Starting in Italy, Slow Food is a highly recognized, almost brand-like, organization and movement around the world today. It has strict regulations and the main aim of this organization is to protect the cultural food heritage besides ensuring a healthy agricultural production. The basic principles of this movement, such as good, clean and fair food, and the brief history of the organization are explained thoroughly in this thesis study. viii Being an active Slow Food point and carrying out the regulations and principles of Slow Food create a certain attraction for destinations. The main reason behind this is that Slow Food is a worldwide-recognized organization and it creates an attraction point for green tourists, food tourists and ordinary tourists with its support to sustainable local production besides offering cultural experiences, providing ethical tourism mobility and protecting the local identity. This study also discusses the effects of Slow Food on the destination’s food culture and food production as well as the touristic attraction it creates in the context of food tourism. For this purpose, Earth Markets, which are solid applications of Slow Food, are investigated in this thesis and through the case study of Foça Earth Market. Foça is a seaside town in Turkey near Izmir and it is a major touristic destination. Therefore, the Earth Market in Foça is a perfect example for investigating the effects of Slow Food principles on a destination. The thesis' objective is to show how the application of Earth Markets create an attraction and at the same time protects both the local producers and the local values of the destination in order to obtain a balanced result for the touristic activities, sustainability and economic benefits. The research about Foça Earth Market was conducted face-to-face in the market area as structured interviews, semi-structured interviews and on-site observations. The collected data were then evaluated by the help of qualitative research techniques and the results were explained thoroughly. According to the research results, Slow Food’s regulations are followed in Foça Earth Market and therefore, it helps to protect the local identity and products. Also, since Slow Food is a well known brand it adds to the image of the destination and it is observed that it has an important role for destination attractiveness in the context of food tourism. It is found in the research results that the Slow Food applications contribute to touristic development of destinations but at the same time provide a sustainable production and protect the local economy creating a balance for the stakeholders and the destination Daha fazlası Daha az

The effect of pulsed electromagnetic fields for in vitro wound healing exposure systems

Gümüşay, Mehmet

Yüksek Lisans | 2016 | İzmir Katip Çelebi Üniversitesi Fen Bilimleri Enstitüsü

THE EFFECT OF PULSED ELECTROMAGNETIC FIELDS FOR IN VITRO WOUND HEALING EXPOSURE SYSTEMS SUMMARY Electromagnetic fields have achieved important role as stimulator and therapeutic facility in biology and medicine (Blank & Findl, 2013). The effects of low magnitude, low frequency pulsed electromagnetic fields have been a period of study since past few decades, which was mainly on the treating soft tissue injuries, skin ulcers, nonuniform bone fractures and degenerative nerve healing (Hug & Röösli, 2012b). Chronic wounds are a major healthcare problem for patient morbidity and contribute significantly to the cost of health care in t . . .he world. Chronic ulcers or wounds are breaks in the skin of greater than 6 weeks or with frequent recurrence. The most common etiologies of chronic ulcers include venous leg ulcers, pressure ulcers (PrUs), diabetic neuropathic foot ulcers (DFUs), and leg ulcers of arterial insufficiency (Markova & Mostow, 2012). From this point of view, the main purpose of the present study is to investigate the effects of pulsed radio frequency energy (PRFE) at 27.12 MHz carrier frequency on the proliferation and migration of cells involved in wound healing in vitro with the ultimate aim of developing an applicator antenna. One of the aims of this study was to investigate effect of Pulsed electromagnetic field (PEMF) at 75 Hz frequency by applying on the same cell lines and investigated its effects on wound healing. The applications of the developed PRFE and PEMF exposure systems have been investigated in terms of the experimental evaluation of in vitro Scratch Assay, MTT Assay, and Immunohistochemistry analyses. The PRFE antennas and PEMF coils were designed and simulated using CST Microwave studio software and measurements were carried out to verify the results. E field and H field simulations were also carried out with biological materials (tissue or cell culture in petri dishes). Through this study, we experimentally proved that it is possible to optimize PRFE and PEMF parameters (frequency, f, and magnetic flux density, B ) of the applied irradiation for accelerated wound healing. Obtained results showed that the application of PEMF and PRFE increase proliferation of non-cancerous cells while cease the proliferation of cancer cells stopped Daha fazlası Daha az

Using alcohol as a carrier producing polyanionic cellulose (PAC) polymer from solid textile waste

Karakuş, Hüseyin

Yüksek Lisans | 2016 | İzmir Katip Çelebi Üniversitesi Fen Bilimleri Enstitüsü

Cellulose is the most abundant organic polymer on earth. It is naturally regenerated by forests and cotton plantations with a speed of 10 billion metric tons per year regularly. Not only its natural reproduction makes it ecologically beneficial but also its biological degradability makes cellulose an ‘eco-friendly material’. Applications of cellulose is limited due to its insolubility in water. Contrarily, its water-soluble derivatives, especially cellulose ethers, are found in nearly all the products we are using in our daily life. Although cellulose is the main raw material for producing cellulose ethers, its commercial productio . . .n stopped with the shutdown of ‘Turkish Cellulose and Paper Factories’ (SEKA) in 2006. Turkish cellulose ether producers are forced to import all the cellulose they are using in their production. In 2009, 425 thousand tons of household textiles waste and 458.5 thousand tons of industrial textile waste was generated in Turkey. Most of these wastes are made of cotton yarn which has 90% cellulose content. This study aimed to use this type of textile waste as raw material for the production of polyanionic cellulose polymer (PAC), so that they would be returned back to the economy with higher values. This study is carried out as a project by The Scientific and Technological Research Council of Turkey (TÜBİTAK) and Ugur Seluloz Kimya A.S. under the 1507 - SME RDI (Research, Development & Innovation) Grant Programme. In this waste recovery process, solid textile waste is used as raw material and the alcoholic (ethyl alcohol) medium is used to increase the quality of the PAC products in order to meet the criteria of PAC LV (low viscosity) and PAC HV (high viscosity) standards introduced by American Petroleum Institute (API). The most important outcome of this study was to produce PAC-LV and PAC-HV polymers in API standards from textile waste without using any imported cellulose. This production method not only prevents the import but also enables the use of natural wastes so that the added value of the product increases. Quality of synthesized products (PAC-LV and PAC-HV) are verified by Turkish Petroleum (TP) Research Laboratories Daha fazlası Daha az

Urban regeneration strategies for supporting social sustainability of Roma community: Izmir-Ege neighbourhood urban regeneration project

Cin, Mehmet Melih

Yüksek Lisans | 2016 | İzmir Katip Çelebi Üniversitesi Fen Bilimleri Enstitüsü

Urban regeneration greatly affect marginalized groups both across the world and in Turkey and therefore it is a hot topic in the public discussions of urban context. One of those marginalized groups are Roma communities. Their neighborhoods, particularly inner urban areas, face social and physical decay due to discrimination against Roma communities. To address these social and physical problems, urban regenerations projects have been launched in Turkey in the name of improving life standards of Roma citizens. However, implementations could not go further than improving physical conditions of the neighborhood. Social, economic and e . . .nvironmental aspects of the regeneration projects have been ignored. Also, inhabitants could not be part of the urban regeneration projects and decision making process. These deficiencies caused gentrification of society. These widespread implementations and their outcomes bring out question of how to prevent gentrification on Roma community. Therefore, this study aims to analyze urban regeneration project in Ege neighborhood in Izmir from Henri Lefebvre’s right to the city concept In doing so, the study draws its data from 102 questionnaires and 9 interviews. The study first analyses the extent Ege neighborhood urban project enables the inhabitants to use and access their right of city. Then, it proposes a participation model to prevent gentrification caused by urban regeneration models Daha fazlası Daha az

Improvement of engineering properties and liquefaction reduction of sandy soils using electric arc furnace slag and roof tile powder

Agolli, Drinela

Yüksek Lisans | 2016 | İzmir Katip Çelebi Üniversitesi Fen Bilimleri Enstitüsü

The scarcity of suitable land for construction of engineering facilities and shortage of natural earth aggregates has highlighted the need for finding innovative way of construction. Nowadays problematic soils such as: soft clay, organic soils and liquefiable soils can be improved to the required civil engineering requirements by application of soil stabilization. Soil stabilization is a method intended to increase or preserve the stability of soil mass and chemical alteration of soil to improve engineering properties. Generally, ground treatment techniques used are: densification, reinforcement, drainage and deep soil mixing. Usin . . .g soil treatement, unbound materials can stabilized with cementitious materials (lime, cement, fly ash, waste materials). Replacement of stabilizing agents with waste materials is becoming a need due to lack of natural resources and environmental concerns. Slag a by-product of metallurgical industry is being used to improve engineering properties of low bearing capacity soils. In this study, mechanical properties of non-cohesive soils are improved using waste materials. Waste material used is: electric arc furnace slag (EAF slag). Natural materials diatomite and roof tile powder are mixed too. In order to activate slag, some chemical additives were added. Firstly, cylindrical samples with different proportions were prepared. They were tested for period of 7, 21 and 28 days under unconfined compressive strength (UCS) test. The optimum mixture was tested also under 1-D shaking table subject to different earthquake records. Photogrammetric approach was used to observe behaviour of soil under dynamic load and settlement. It was seen that combination giving the highest compressive strength was mixture containing EAF slag, sand, lime and sulphuric acid (H2SO4). The highest compressive strength obtain was 7.736 MPa. Bonding capacity between EAF slag and sand is increased by addition of sulphuric acid. Liquefaction effect and settlement was reduced compare to control sample. Photogrammetric approach seems to be a valuable way to calculate settlement of a structure. Soil stabilization with EAF slag waste material with some deeper studies can be a useful method to treat non-cohesive soils Daha fazlası Daha az

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