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Şeritte hareket eden bir robot için radyatif olmayan bir kablosuz güç aktarımı yöntemi teorisi ve deneyi
No full textToday, the usage of robots is growing in the warehouses for automated organizing of goods and in the field for harvesting foods and other agriculture tasks. Many big resellers use robots in their distribution warehouses in an automated delivery system and, many manufacturers use them in their factories to transfer goods and components between production lines and warehouses integrated with enterprise resource planning (ERP) systems. A battery is needed such devices and, the battery size and capacity needed in such devices can be reduced thanks to WPT technology. It is useful for reducing environmental pollution resulted from disposing of batteries used for battery-operated vehicles and robots. With motivation for reducing battery size in robots, the main aim of the research is to find an alternative method of dynamic wireless power transfer to a moving object such as an electric vehicle or a robot that it moves on wheels on the floor. The well-known systems and their common series-connected/switched road embedded segment structures are discussed and challenged. Then, an alternative method of synchronization to the secondary resonance is presented. The suggested method eliminates switches between road-embedded coil units and makes the energy transition easy among units. This method shortens the length of the EMF radiative part of road embedded segments and the application is suitable for two-dimensional floor embedded structures for robot applications. The experimental and the simulation results are shared. The last chapter concludes thesis with discussion on the results of the thesis and future work.Günümüzde, depolarda ürünlerin otomatik olarak organize edilmesi, tarım işleri ve gıdaların hasat edilmesi için robotların kullanımı artmaktadır. Birçok büyük dağıtım şirketinin depolarında otomatik bir dağıtım sisteminde robotlar kullanılmaktadır. Birçok üreticinin fabrikalarında malları ve malzemeleri üretim ile depolar arasında aktarmak için ERP sistemleriyle entegre robotlar kullanılmaktadır. Bu tür cihazlarda bataryaya ihtiyaç vardır ve dinamik kablosuz güç transfer (wireless power transfer - WPT) teknolojisi ile ihtiyaç duyulan batarya boyutu ve kapasitesi azaltılabilir. Ömrü biten bataryaların atılmasından kaynaklanan çevre kirliliğini azaltmak için fayda sağlayabilir. Robotlarda batarya boyutunu küçültme motivasyonuyla yapılan bu araştırmanın temel amacı, elektrikli araç veya zemin yüzünde tekerlekler üzerinde hareket eden bir robot gibi hareketli bir nesneye alternatif bir dinamik kablosuz güç aktarımı yöntemi bulmaktır. İyi bilinen sistemler ve bunların ortak seri bağlantılı ara güç anahtarlı yola gömülü segment yapıları tartışılmakta ve irdelenmektedir. Ardından, alternatif olarak önerilen ikincil rezonansa senkronizasyon yöntemi sunulur. Önerilen yöntem, yola gömülü bobin üniteleri arasındaki anhtarlarla geçişleri ortadan kaldırır ve üniteler arasında geçiş esnasında enerjilendirmeyi kolaylaştırır. Bu yöntem, yola gömülü bölümlerin elektromanyetik bozucu yayan kısmının uzunluğunu kısaltır ve uygulama, robot uygulamaları için iki boyutlu zemin gömülü yapılar için uygundur. Sonrasında simülasyon ve deney sonuçları paylaşılmaktadır. Son bölüm, tezin sonuçları ve gelecekteki çalışmalar hakkında tartışma ile tezi sonlandırmaktadır
Ottoman urban environment in the Balkans: The case study of Ohrid, Macedonia
No full textAs part of the eighth AACCP symposium Cities in Evolution: Diachronic Transformations Of Urban And Rural
Settlements, this article will try to give an outlook of the urban environment and the architecture in the
Ottoman Balkans presented through a case study.
The spatial development of the Balkan towns, especially those in the European territory of Rumelia, has its
roots in Ottoman concepts strongly influenced by local pre-existing conditions. However, the Ottoman
concepts were deeply founded in the institution of the pious foundations and the quarter. Typically, the
physical shape of a town was consisted of an organic accumulation of these quarters and the house
appearance influenced both by the formation of neighborhoods, the organic disposition of streets, and the
morphology of the terrain. All these elements can be seen in this case study confirming the continuity and
the regional Ottoman era architectural influences and realizations as well as climate, geographic and
historical circumstances under which the town has been developing its physical appearance.
The Ottoman era house developed its forms in different cultural areas, adapted itself to a variety of climatic
and topographical situations and even though many external factors contributed the development of its
type of life style and aesthetics of the ethnic groups as well. These in particular are illustrated very well in the houses
of the Balkan Peninsula where there was not just merging of elements but also merge of different religions
and cultures. The non-Muslim population that was native inhabitants of this area had their contribution to the
development of the vernacular, even though interaction with the artisans of the regions. These led to a form
of a vernacular where opponent elements stood one by another in harmony in the Ottoman era matrices
and their places of worship, the mosques.
Ohrid, Republic of Macedonia, is a town that within the borders of the Ottoman Empire was part of the
regional architectural influences. The town, positioned on a hill, built by the homonymous lake possess long
historical continuity going as far back to neolith eras when in the Ottoman times reached its peak in the urban
and house development.Publisher versio
Contact force distribution using centroidal momentum feedback for quadruped locomotion
No full textThis paper proposes a method to distribute contact forces to eliminate undesired torso orientation fluctuations and regulate heading during dynamic quadruped trot-walking motion. The proposed method makes use of centroidal momentum, an essential physical quantity in characterizing the whole-body behavior and overall balance of the robot. The contact forces are computed using centroidal momentum feedback and injected into the locomotion controller via virtual model control, which can render virtual forces to regulate robot-environment interaction. In combining the virtual model control and centroidal momentum feedback, one can attain dynamically feasible contact force distribution, a key objective in controlling dynamic quadruped locomotion. In order to validate the proposed method, a series of simulation experiments were conducted using a realistic model of our quadruped robot Kara. As a result, we obtained dynamically consistent trot-walking behavior in which torso orientation and heading were well regulated
Elektrikli araç şarj cihazlarının dağıtım şebekesindeki yerleşiminin gerçek veri odaklı nicel araştırması
No full textIt is very evident that the number of electric vehicles worldwide will increase and that the dominant mobility concept in the future will be at the center of EVs. As a requirement of e-mobility, EVs should be rechargeable anywhere and in any situation, and this will increase EV-based electrification. The effects of EV charging stations on the grid are very important in the increasing electricity demand level and the installation of EV charging stations on distribution transformers (DTs) should be balanced and should not have negative effects on the transformers. This thesis aims to determine the quantitative deployments of EV charging stations to be installed on distribution transformers in an optimized and safe manner. The data of 8361 distribution transformers in the Central Anatolian Region were collected and analyzed. Data verification was completed with data cleansing methods and an effective EV charging station installation modeling was developed. Three different risk level modeling allows the installation of different EV charging stations in the most optimized way by determining the current state of the distribution transformer. The general situation of DTs in the region was determined with the pilot region application. Basic data can be revealed by modeling which region should be improved for the EV infrastructure to advance.Dünya genelinde elektrikli araç sayısının artacağı ve gelecekte baskın mobilite konseptinin EV'leri merkezinde olacağı çok açıktır. E-mobilitenin bir gereği olarak EV'lerin her yerde ve her durumda şarj edilebilir olması EV tabanlı elektrifikasyonu artıracaktır. Artan elektrik talep seviyesinde, EV şarj istasyonlarının şebeke üzerindeki etkileri oldukça önemlidir ve şarj istasyonlarının dağıtım trafoları (DT'ler) üzerine kurulması dengeli olmalı ve trafolara olumsuz etkileri olmamalıdır. Bu tez, dağıtım trafolarına kurulacak EV şarj istasyonlarının nicel açıdan dağılımlarını optimize ve güvenli bir şekilde belirlemeyi amaçlamaktadır. Orta Anadolu Bölgesi'nde bulunan 8361 dağıtım trafosunun verileri toplanmış ve etkin bir şarj istasyonu kurulum modellemesi geliştirilmiştir. Üç farklı risk seviyesi modellemesi ile dağıtım transformatörlerinin mevcut durumunu belirleyerek en optimize şekilde farklı EV şarj istasyonlarının kurulumuna imkan vermektedir. Pilot bölge uygulaması ile DT'lerin bölgedeki genel durumu belirlenmiştir. Elektrikli araç altyapısının geliştirilmesi için hangi bölgenin iyileştirilmesi gerektiği modellenerek temel veriler ortaya çıkarılabilir
Kanallar arası dolandırıcılık tespiti için yeni bir örnekleme tekniği ve gradyan artırıcı ağaç tabanlı yaklaşım
No full textThe most recent research on hundreds of financial institutions uncovered that only 26% of them have a team assigned to detect cross-channel fraud. Due to the developing technologies, various fraud techniques have emerged and increased in digital environments. Fraud directly affects customer satisfaction. For instance, only in the UK, the total loss of fraud transactions was £1.26 billion in 2020. In this study, we come up with a Gradient Boosting Tree (GBT)-based approach to efficiently detect cross-channel frauds. As a part of our proposed approach, we developed an algorithm able to generate an optimized training set to train the model and overcome imbalanced data problems. This solution made it easier for the model to understand the concept drift, another major problem arising from changing customer behavior. We boost the performance of our GBT model by integrating additional demographic, economic, and behavioral features as a part of feature engineering. Hyperparameter tuning methods find the best parameters for the model. The cross-channel fraud detection performance of the model is evaluated on a real banking dataset which is highly imbalanced in terms of fraud which is another challenge in the fraud detection problem. We use our trained model to score real-time cross-channel transactions by a leading private bank in Turkey. As a result, our approach can catch almost 75% of total fraud loss in a month with a low false-positive rate and acceptable call count.Yüzlerce finans kurumu üzerinde yapılan en son araştırmalara göre, bu kurumların sadece %26'sının kanallar arası dolandırıcılığı tespit etmek için atanmış bir ekibe sahip olduğu ortaya çıktı. Gelişen teknolojiler neticesinde dijital ortamlarda çeşitli dolandırıcılık yöntemleri ortaya çıkmıştır ve var olan yöntemler gelişmiştir. Sahte işlemler, direkt olarak müşteri memnuniyetine etki eder. Örneğin, 2020 yılında sadece Birleşik Krallıkta dolandırıcılık işlemlerinden ortaya çıkan toplam kayıp 1.26 milyar £'du. Bu çalışmada, kanallar arası sahtekarlıkları verimli bir şekilde tespit etmek için Gradient Boosting Tree (GBT) tabanlı bir yaklaşım uygulandı. Çalışmada önerilen yaklaşımın bir parçası olarak, modeli eğitmek ve dengesiz veri sorunlarının üstesinden gelmek için optimize edilmiş bir eğitim seti oluşturabilen bir algoritma geliştirdik. Bu çözüm, modelin değişen müşteri davranışından kaynaklanan bir diğer önemli sorun olan kavram kaymasını anlamasını kolaylaştırdı. Öznitelik mühendisliğinin bir parçası olarak var olan özniteliklere ek demografik, ekonomik ve davranışsal öznitelikleri entegre ederek GBT modelinin performansı arttırıldı. Hiper parametre optimizasyon yöntemleri, model i ̧cin en iyi parametrelerin bulunmasında kullanıldı. Dolandırıcılık tespit problemindeki bir diğer zorluk olan, dolandırıcılık açısından oldukça dengesiz olan gerçek bir bankacılık veri seti u ̈zerinde bu çalışmada geliştirilen kanallar arası dolandırıcılık tespit yönteminin performansı ölçüldü. Türkiye'nin önde gelen özel bankalarından birinin gerçek zamanlı ve tarihsel çapraz kanal işlemlerini puanlamak için eğitimli modelimizi kullanıyoruz. Bu çalışmanın sonucunda uygulanan yaklaşım, düşük bir yanlış pozitif oranıyla dolandırıcılık işlemleri nedeniyle bir ayda gerçekle ̧sen toplam kaybın neredeyse %75'ini yakalayabilir
Gender equality policies in Turkey's opposition municipalities: Factors that impact policy-making according to gender advocates
No full textThe article explores gender equality policy processes in Turkey's opposition-controlled municipalities faced with a national government that has an anti-gender equality stance in an authoritarian populist context. Based on interview data and documentary review, we identify four factors that facilitate and hinder gender equality policies and argue that the interaction between political party ideology and mayors' individual perceptions creates spaces for gender mainstreaming processes in which gender experts play a key role. Gender mainstreaming plays an enabling role by improving policy capacity, diffusing gender awareness and in some cases changing politicians' perceptions of electoral prospects; however, adversarial inter-governmental interactions hinder transformative actions although the latter carry the potential for future politicisation in feminist terms
Unveiling the dynamics of emotions in society through an analysis of online social network conversations
No full textSocial networks can provide insights into the emotions expressed by a society. However, the dynamic nature of emotions presents a significant challenge for policymakers, politicians, and communication professionals who seek to understand and respond to changes in emotions over time. To address this challenge, this paper investigates the frequency, duration, and transition of 24 distinct emotions over a 2-year period, analyzing more than 5 million tweets. The study shows that emotions with lower valence but higher dominance and/or arousal are more prevalent in online social networks. Emotions with higher valence and arousal tend to last longer, while dominant emotions tend to have shorter durations. Emotions occupying the conversations predominantly inhibit others with similar valence and dominance, and higher arousal. Over a month, emotions with similar valences tend to prevail in online social network conversations.Bilim Akademisi ; Sabancı Üniversites
Landscape planning for sustainable water management: a systematic review of green infrastructure literature in the Australian context
No full textAustralian cities have experienced a high number of floods and droughts. In Australia, green infrastructure (GI) is increasingly popular in considering natural processes in sustainable water management practices. However, to date, there has been little examination of how the academic literature has addressed the use of GI in Australian landscape planning for water management. To investigate this, we applied a thematic framework and used the PRISMA approach to identify and analyse 98 peer-reviewed papers to better understand whether and how landscape planning perspectives are considered in current water management approaches in Australia. We found a recent increase in Australian-based literature related to GI for water management. However, there is limited literature discussing the significance of landscape connectivity and the multi-functionality of GI. This article concludes with recommendations for future research on the landscape planning principles of multi-functionality, landscape connectivity, and the integration of multiple scales of GI in Australian urban water management.Queensland University of Technolog
“More Alike than Different”: a qualitative exploration of the relational experiences of multicultural couples in Turkey
No full textIn this study, multicultural couples’ experience of the impact of culture on their romantic relationships was explored. The sample included eight heterosexual couples cohabiting or married for at least 6 months, and who differed in ethnicity, religion, and native language. Women were from Turkey and men were from Germany, Greece, United Kingdom, France, Italy, Spain, and Chile, with ages ranging from 22 to 43. The semi-structured in-depth interviews generated data about the cultural differences participants observed about their partners and how those differences affect the romantic relationship. The thematic analysis revealed three major themes: “More Alike Than Different”; “The Difference Is In The Cultures, Not In The Relationship”, and “There Is More Room For Growth”. Although the couples had cultural differences regarding social and familial structures, they emphasized the similarities which kept them together, and engaged in understanding and empathic communication which helped them overcome the cultural differences. The study also provided information that might help practitioners working with multicultural couples. The findings are discussed in the context of the literature on similarity and compatibility, and limitations and suggestions for further studies are presented
Drivers and barriers in the diversification of airline business models in Turkey (1980-2020): An institutional logic perspective
No full textThe primary objective of this study is to explore the diversification of airline business models in Turkey in four decades and
show the reasons and logic behind the diversification from the institutional logic perspective. For this purpose, airline business
models were examined, and critical events in the organizational field were explored based on secondary data. The case study
research was conducted to explore the diversifications of the business model within institutional logic. The gathered data
were examined with the content analysis method. The results show that multiple institutional logic (state and commercial
logic) in the field can pave the way or prevent diversifying airline business models. Multiple logics shape the regulations
and approaches of the state and other organizations in the field, and these changes may play a role as a barrier or driver for
diversification. Each barrier and driver may affect each airline’s business model differently. This study contributes to business
models and institutional logics literature by providing evidence of the effect of the pattern of approaches of the actors on the
airline business models and by showing the relations between these approaches and institutional logi