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Shared-Control Teleoperation Paradigms on a Soft-Growing Robot Manipulator
No full textSemi-autonomous telerobotic systems allow both humans and robots to exploit their strengths while enabling personalized execution of a remote task. For soft robots with kinematic structures dissimilar to those of human operators, it is unknown how the allocation of control between the human and the robot changes the performance. This work presents a set of interaction paradigms between a human and a remote soft-growing robot manipulator, with demonstrations in both real and simulated scenarios. The soft robot can grow and retract by eversion and inversion of its tubular body, a property we exploit in the interaction paradigms. We implemented and tested six different human-robot interaction paradigms, with full teleoperation at one extreme and gradually adding autonomy to various aspects of the task execution. All paradigms are demonstrated by two experts and two naive operators. Results show that humans and the soft robot manipulator can effectively split their control along different degrees of freedom while acting simultaneously to accomplish a task. In the simple pick-and-place task studied in this work, performance improves as the control is gradually given to the robot’s autonomy, especially when the robot can correct certain human errors. However, human engagement is maximized when the control over a task is at least partially shared. Finally, when the human operator is assisted by haptic guidance, which is computed based on soft robot tip position errors, we observed that the improvement in performance is dependent on the expertise of the human operator. © 2023, The Author(s), under exclusive licence to Springer Nature B.V.National Science Foundation, NSF: 2024247; Center for Selective C-H Functionalization, National Science Foundation; Center for Hierarchical Manufacturing, National Science Foundation, CHM, NSF; Toyota Research Institute, TRIThis work was supported in part by Toyota Research Institute (TRI) and National Science Foundation grant 2024247. TRI provided funds to assist the authors with their research but this article solely reflects the opinions and conclusions of its authors and not TRI or any other Toyota entity
Using Hybrid Approaches for Credit Application Scoring
No full textUsing various methods of computational intelligence, scores for credit applications are predicted for making a decision to accept or to reject. Past data about credits accepted in a financial institution are used to develop hybrid models implementing gradient boosting and attention supported neural networks. The performance (Gini scores above 0.7), limitations and further research directions are discussed. © 2023 IEEE.Türkiye Bilimsel ve Teknolojik Araştırma Kurumu, TÜBİTAK, (1505-5220055
Conclusion: Talking the Talk, Walking the Walk
No full textThis chapter points out that the uncertain political-economic environment in the international system brings us back to the quality of domestic institutions and the need to establish durable links between the domestic development regime and the foreign policy regime. Based on our regime coherence framework, we argue that weak institutional complementarities constitute Turkey’s main challenge to building a development-oriented foreign policy outlook in an increasingly multipolar order. We conclude the three complementary pillars, economic governance, state-business ties, and financial statecraft could not be systematically incorporated into the Turkish foreign policy framework despite certain improvements. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG
Poverty and Income Distribution Incidence of the Covid-19 Outbreak: Investigating Socially Responsible Policy Alternatives for Turkey
No full textTo counterbalance the deep systemic global crisis triggered by the COVID-19, many countries introduced a vast arsenal of fiscal policy instruments coupled with monetary accommodation. Yet, Turkey's response had almost exclusively relied on credit expansion and loan guarantees while minimizing the role of fiscal policy. Within that context, this article has three interrelated objectives. Firstly, we evaluate the effects of the crisis and the implemented policies on poverty and income distribution. Second, we measure the macroeconomic impacts of COVID-19 on the Turkish economy through a general equilibrium model. We find that these policies had a limited impact on reducing crisis-induced poverty. Finally, we propose alternatives to mitigate the effects of the COVID-19 crisis, which are compatible with fiscal constraints. Our results suggest that by pursuing a targeted fiscal income transfer programme covering wage earners and small-sized enterprises, Turkey could have achieved a more egalitarian and effective response to the Covid-19 crisis.Scientific And Technological Research Council Of Turk (TubitakSOBAG) [120K541]This work was supported by The Scientific And Technological Research Council Of Turk (TubitakSOBAG) under Project no 120K54
Effect of Mos2 on Simple and Novel Peg K-Carrageenan Hydrogel for Tnbc Cancer Drug Loading and Release
No full textİki boyutlu inorganik bir molekül olan molibden disülfür (MoS2), ayırt edici özellikleri nedeniyle son zamanlarda tıbbi araştırmalarda farmasötiklerin taşınması açısından incelenmiştir. Oluşturulacak biyobozunur bir polimer sistemi, MoS2 ilavesiyle kanser ilacı dağıtımında uygulanabilir. Bu yazıda MoS2 miktarının yeni jel karışımımızın özellikleri ve performansı üzerindeki etkisini araştırıyoruz. Üçlü negatif meme kanseri (TNBC) ilaç taşıyıcı sisteminde uyarana duyarlı polimerik hidrojel olarak taşıyıcı olarak kullanılma potansiyeline sahip olduğu düşünülen MoS2 katkılı polietilen glikol ile yeni bir jel karışımının hazırlanması amaçlandı. PEG)/k-karagenan kombinasyonunun ilk özelliklerinin verilmesi. Bu 2D malzeme, polimerik jelin normal MoS2 içermeyen yapısına kıyasla geçirgenlik, şişme ve elastikiyet performansını artırarak hidrojeli etkiledi. Polimer karışımı özellikleri esas olarak UV-VIS spektrofotometresi ve gravimetrik analiz kullanılarak test edildi. Bu jel karışımlarının çeşitli özellikleri beş farklı kütlede araştırıldı. 5 mg MoS2, yeni ve basit malzeme kombinasyonumuza MoS2 eklenmesinin hidrojel özelliklerinin iyileştirilmesiyle sonuçlandığını gösteren verilere göre esneklik açısından araştırılan en iyi örnekti. Araştırmanın sonuçları, kanser ilaçlarının kesin olarak hedeflenmiş ve düzenlenmiş dağıtımı için ilaç yükleme ve ilaç salma kinetiğine kadar genişletilebileceğini gösterdi. Yakın gelecekteki bu hedefe yönelik ön veriler oluşturmak amacıyla doksorubisin ilacının üretilen jele yüklenme ve salınma mekanizmaları incelendi. Anahtar Kelimeler – Molibden Disülfür, geçirgenlik, şişme, K-Karragenan, Polietilen GlikolMolybdenum disulphide (MoS2), a two-dimensional inorganic molecule, has lately been studied in medical research with regard to carrying pharmaceuticals due to its distinctive characteristics. A biodegradable polymer system to be created can be applicable in cancer drug delivery with the addition of MoS2. In this paper, we investigate the influence of MoS2 amount on the characteristics and performance of our novel gel blend. It was aimed to prepare a new gel blend, which is thought to have the potential to be used as a stimulussensitive polymeric hydrogel as a carrier in the triple negative breast cancer (TNBC) drug delivery system, with the MoS2 added polyethylene glycol (PEG)/k-carrageenan combination and to give its first characteristics. This 2D material impacted the hydrogel by improving the transmittance, swelling, and elasticity performance compared to the normal no MoS2 structure of the polymeric gel. Polymer blend characteristics were mainly tested using UV-VIS spectrophotometer and by gravimetric analysis. The varied properties of these gel mixtures were investigated at five different masses. The 5mg MoS2 was the best sample investigated regarding the elasticity according to the data demonstrating that the addition of MoS2 to our novel and straightforward material combination resulted in improved hydrogel characteristics. The results of the study demonstrated that it can be extended to drug-loading and drug-release kinetics for precisely targeted and regulated delivery of cancer drugs. To create preliminary data for this near future goal, the loading and release mechanisms of doxorubicin drug into the produced gel were examined. Keywords – Molybdenum Disulphide, transmittance, swelling, K-Carrageenan, Polyethylene Glyco
Improving Supply Chain Management Using Smart Contracts
No full textBu tez, Solidity dilini kullanarak Ethereum ağında akıllı sözleşmelerin uygulanması yoluyla, blok zinciri ve akıllı sözleşmeler teknolojilerinin tedarik zinciri yönetimini süreçlerini iyileştirebilme potensiyelini araştırmaktadır. Tez boyunca, tedarik zinciri yönetimi, blok zinciri, dağıtık defter teknolojisi ve akıllı sözleşmeler kavramları, tedarik zinciri süreçlerinin şeffaflığını, işlem hızının, izlenebilirlik ve hesap verilebilirliğinin arttırılması ve geliştirilmesi bağlamında incelenmiştir.Bu teknolojilerin tedarik zinciri süreçlerinde uygulanma ve potansiyel kullanım durumları araştırıldıktan sonra, tedarik zinciri yönetimi için akıllı sözleşmelerin uygulanmasına yönelik bir mimari oluşturulmuştur. Tedarik zinciri yönetimi süreçlerini iyileştiren bir akıllı sözleşme uygulamasının potansiyel veri modelleri ve fonksiyonlar tanıtılmakta ve tartışılmaktadır. Önerilen mimarinin oluşturulmasından sonra önerilen sistemin tedarik zinciri süreçleri üzerindeki etkisi açıklanmış ve bu sistemin geliştirilmesi için gelecekte yapılabilecek çalışmalar tartışılmıştır. Önerilen mimari, DLT'lerin (Dağıtık Defter Teknolojisi) kullanımı sayesinde tedarik zincirinin geçmişe ait verisinin güvenilirliğini artırmakta ve akıllı sözleşmelerin kullanımı sayesinde tedarik zincirinin yönetilebilirliğini ve izlenebilirliğini artırmaktadır. Yine de, tedarik zincirlerinin sürekli değişen ve bir çok değişkeni içerisinde barındıran doğası nedeniyle, tedarik zinciri yönetimi uygulamaları için her tedarik zincirine özel çözümler gereklidir.This thesis investigates the potential of integrating supply chain management with blockchain technology, specifically through the implementation of smart contracts on the Ethereum network using Solidity. Throughout the thesis, concepts of supply chain management, blockchain, distributed ledger technology, and smart contracts are investigated in the context of their integration into supply chains so that they have increased traceability, transparency, and accountability with faster process times. After investigating these technologies' applications and potential use cases, a framework for smart contract implementation for supply chain management is constructed. Potential data models and functions of a smart contract implementation that is improving supply chain management processes are introduced and discussed. After constructing a framework, the effect of the proposed system on supply chain management processes is explained, implementation is validated with several tests and future work is discussed. The proposed framework increases the reliability of the supply chain history due to the usage of DLTs (Distributed Ledger Technology) and increases the manageability and traceability of the supply chain by utilizing smart contracts. However, due to the ever-changing and variable nature of the supply chains, tailor-made solutions are necessary for supply chain management implementations
Sustainability Performance Analysis of Micro-Mobility Solutions in Urban Transportation With a Novel Ivfnn-Delphi-LOPCOW-CoCoSo Framework
No full textAlmost all megacities worldwide are under pressure from environmental pollution and excessive resource usage due to rapid urbanization and increasing urban population. Within this scope, micro-mobility solutions (MMSs), an extension to the primary urban transportation network, have become even more critical recently. However, when we executed a preliminary investigation concerning MMSs' sustainability, we noted some critical theoretical and managerial gaps: (1) the number of studies assessing MMSs using decision-making approaches is excessively scarce, (2) no paper in the literature deals with the MMSs' sustainability performance, and (3) there are no commonly accepted criteria set to assess the sustainability of the MMSs in the literature. The current study aims to present a practical and robust decision-making framework that can over-come excessively complicated uncertainties to evaluate the sustainability performance of MMSs. Further, it suggests a novel methodological framework, i.e., Delphi, Loga-rithmic Percentage Change-Driven Objective Weighting (LOPCOW), and Combined Compromise Solution (CoCoSo) methods with interval-valued fuzzy neutrosophic number (IVFNN) informa-tion, which can be defined as a reconciliation tool to set the criteria affecting the assessment processes. Findings present that computing time, scenic adoption, and accidents are the foremost criteria, whereas mini-electric VH, powered standing scooter, and powered seated scooter are the most promising MMSs, respectively. Findings reveal that computing time, scenic adoption, and accidents are the critical factors for the sustainability assessment of MMSs, whereas mini-electric VH, powered standing scooter, and powered seated scooter are the most promising MMSs, respectively. The current paper's overall outcomes and findings can assist practitioners and policy-makers in the urban transportation industry in setting sustainability policies and investing in the more rational and sustainable MMSs
Put Your Glasses On: a Voxel-Based 3d Authentication System in Vr Using Eye -Gaze
No full text30th IEEE Conference Virtual Reality and 3D User Interfaces (IEEE VR) -- MAR 25-29, 2023 -- Shanghai, PEOPLES R CHINADue to the current push of social Virtual Reality (VR) apps and mobile VR headsets, users are surrounded by people in real life and virtually. Users need a private method to authenticate payments or login into apps. In this paper, we propose VoxAuth, a novel voxel-based 3D authentication system, allowing users to input their password in a private way. By using eye-gaze as a secure, input method, people outside VR are prevented from observing the password. Sunglasses on the avatar appear during the authentication process both as a gaze observation prevention and as a signal that the user is still connected.IEEE,IEEE Comp Soc,Lujiazui Financial City,Baidu,Sensetime,Unity,Ximmerse,Vivo,GritWorld,Alibaba,Image Derivat Inc,Raysengine,S Dream,Virtual Reall Inteligent Hardware,Hypergryph,EVIS,Soarscape,United Imagin
Validation of Wind Turbine Model Software Simulation Using Real Time Windspeed Measurements
No full textBased on the achievements regarding the 2020 targets, the Renewable Energy Directive established a new, higher target for 2030, reflecting a significant increase of interest for renewable energy sources (RES). As a result, various new software simulation packages, featuring models of RES, have been developed and being used in academia as well as in industry for research, educational or training purposes. In this paper Wind turbine (WT) characteristics and wind speed data obtained from a commissioned wind farm in Cyprus are used to implement a simulation model in two different software programs featuring RES simulation capabilities. Power System Computer Aided Design (PSCAD) is used to investigate the electrical power output of a WT model, and KYAMOS software is used to investigate the modelling of the blades, the resulting primary torque and the resulting rotor rotational speed. The investigation result novelty is the establishment of the ability of the proposed, under development, software program to satisfy the three required characteristics. Therefore, Deviation from measured values of the turbine characteristics is observed for both programs, user interface and blade modelling, and the potential of integrating results of one software into the other is investigated. © 2023 IEEE.Research and Innovation Foundation, RIF, (CODEVELOPGT/0322/0081); Research and Innovation Foundation, RI
A New Capacitive Coupler Design for Wireless Capacitive Power Transfer Applications
No full textCapacitive power transfer (CPT) technology has become a promising alternative solution for wireless charging applications. This paper proposes a novel coupler design to form a resonant capacitor by inserting dielectric material between two bent metal plates for each primary and secondary circuit. The main purpose of the proposed coupler is to eliminate the external capacitors and solve the low coupling capacitance for CPT applications. A comparison to the conventional four-plate coupler is presented, which shows specifically higher coupling capacitance, lower required inductance, and lower cost. Finally, the effectiveness of the proposed coupler structure is verified by simulation and experimental results. (c) 2023 Karabuk University. Publishing services by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)