Istanbul Technical University
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Imitation Learning for Autonomous Driving: Insights from Real-World Testing
No full textThis work focuses on the design of a deep learning-based autonomous driving system deployed and tested on the real-world MIT Racecar to assess its effectiveness in driving scenarios. The Deep Neural Network (DNN) translates raw image inputs into real-time steering commands in an end-to-end learning fashion, following the imitation learning framework. The key design challenge is to ensure that DNN predictions are accurate and fast enough, at a high sampling frequency, and result in smooth vehicle operation under different operating conditions. In this study, we design and compare various DNNs, to identify the most effective approach for real-time autonomous driving. In designing the DNNs, we adopted an incremental design approach that involved enhancing the model capacity and dataset to address the challenges of real-world driving scenarios. We designed a PD system, CNN, CNN-LSTM, and CNN-NODE, and evaluated their performance on the real-world MIT Racecar. While the PD system handled basic lane following, it struggled with sharp turns and lighting variations. The CNN improved steering but lacked temporal awareness, which the CNN-LSTM addressed as it resulted in smooth driving performance. The CNN-NODE performed similarly to the CNN-LSTM in handling driving dynamics, yet with slightly better driving performance. The findings of this research highlight the importance of iterative design processes in developing robust DNNs for autonomous driving applications. The experimental video is available at https://www.youtube.com/watch?v=FNNYgU--iaY.In International Congress on Human-Computer Interaction, Optimization and Robotic Applications, 2025https://doi.org/10.1109/ichora65333.2025.11017061https://dx.doi.org/10.48550/arxiv.2504.18847http://arxiv.org/abs/2504.18847https://doi.org/10.48550/arXiv.2504.1884
Paleoclimatic study of Kumlubent Lagoon based on Oxygen-18 and Carbon-13 isotope data from sequenced mollusc shells on the western coast of the Sea of Marmara, NW Türkiye
No full textOxygen isotope (δ18O) and carbon isotope (δ13C) data obtained from marine carbonate shells allow the understanding of paleoclimatic conditions. The mass difference between the isotopes of an element leads to a change in the ratio of heavy and light isotopes within the structure of an organism due to certain events. In this study, we present the paleoclimatic findings from the analysis of fossils obtained from sediment cores of a lagoon on the Marmara coast, located in the coastal region of Kumlubent on the Gelibolu peninsula, Çanakkale.In the Kumlubent lagoon, two sediment cores were taken from depths of 3.40 m and 2.78 m respectively. The cores were mainly composed of gray sand material intercalating with distinct intervals of silt-size materials, sapropels, and layers of pebbles suggesting event-type sedimentations.   Morphological identification of the fossil shells in the sediment cores was examined by using light microscopy as well as a Scanning Electron Microscope (SEM). Oxygen and carbon isotope measurements in the carbonate shells were measured by Inductively Coupled Mass Spectrometry (ICP-MS) analyses.  The values obtained were converted to δ18O-δ13C values based on the ratio "18O:16O seawater-13C:12C" to track depletion and enrichment. Our results show that the marine fossil community in Kumlubent lagoon includes 35 different species and 25 genera. The abundance of species in the sediment cores varied significantly indicating possible intervals of high primary production. The most commonly found genus in the cores were Bittium species — in particular Bittium latreillii, Bittium reticulatum, and Bittium sp.— - which were selected for the oxygen and carbon isotope analyses. Using the isotopic behavior diagram constructed from the collected data, we investigated the relationship between the behavior of the δ18O isotope ratio and the dry periods of the environment in which the Bittium species, as observed in the recovered sediment cores. δ18O data in the ranged from -2.63‰ to -0.94‰, and δ13C values ranged from 0.25‰ to 1.98‰. Paleotemperature calculations for Kumlubent carbonate shells indicated seawater temperatures between 24.8°C and 32.0°C during the formation of the shell material. δ18O and δ13C values showed opposite increase-decrease patterns reflecting varying precipitation-evaporation and varying freshwater input in the Kumlubent region in the Sea of Marmara.https://doi.org/10.5194/egusphere-egu24-868
Rainwater Harvesting for Lawn Irrigation: A Case Study in Diyarbakır Province
No full textThe prevalence of global water stress is rising annually as a consequence of population growth and industrialisation. The utilization of potable water from the drinking water network for irrigation, toilet flushing, and cleaning, which do not necessitate drinking water quality, exerts strain on freshwater resources. Consequently, the adoption of alternate water sources, such as rainwater harvesting (RWH) for non-potable applications, is becoming increasingly prevalent. This study investigates the potential of rooftop RWH to mitigate water stress in Diyarbakır, Turkey, by supplying irrigation water for lawns area. The research calculates the volume of rainwater that can be collected, filtered, and stored for irrigation, comparing it with the water needed to irrigate the lawn. The findings indicate that the potential for water savings is up to 55% when rainwater is collected on a 3600 m² roof area and used for irrigation on a 100 m² lawn area. In cases where the roof area exceeds 3600 m², the annual cash flow is consistently positive from the outset. Furthermore, it is important to note that the annual interest and inflation rates may vary from one country to another, which in turn affects the annual cash flow of the RWH system in each respective country. Moreover, the sum of the net present value (NPV) becomes positive only after 43 years. In the event that the storage tank and pump, which constitute the initial investment costs, are provided free of charge with the incentive, NPV is positive from the first year onwards. The study highlights that RWH can only achieve substantial water savings when there are extensive roof areas, thereby contributing to the alleviation of water scarcity in arid regions. Furthermore, the economic viability of RWH is contingent upon the provision of government incentives or subsidies.https://doi.org/10.24012/dumf.157525
Integrating AI-based Monitoring System for Microgreen Growth in Vertical Farming
No full texthttps://doi.org/10.1109/sist61657.2025.1113915
Harnessing Machine Learning for Intelligent Networking in 5G Technology and Beyond: Advancements, Applications and Challenges
No full textA revolutionary age in telecommunications is being ushered in by the confluence of machine learning (ML) with fifth-generation (5G) wireless communication technologies and beyond. This research investigates ML approaches in 5G networks for adaptive spectrum usage, quality of service (QoS) management, predictive maintenance, and network optimization. By leveraging ML algorithms, 5G networks can forecast user behavior, allocate resources optimally, and dynamically adjust to changing conditions, enhancing performance and dependability. Additionally, ML-driven methods improve cybersecurity in 5G settings. Furthermore, the integration of ML in 5G networks is pivotal for advancing intelligent transportation systems, enabling dynamic route optimization, adaptive traffic management, and enhanced vehicular communication. Intelligent networks will transform wireless communication by replacing traditional processing with end-to-end solutions, utilizing cognitive radio systems and deep reinforcement learning for optimized spectrum sharing and efficiency. Despite significant potential, challenges such as interoperability, security, scalability, and energy efficiency must be addressed. This paper discusses these challenges and highlights future trends beyond 5G, emphasizing ML's critical role in shaping the future of wireless communication systems.https://doi.org/10.1109/ojits.2025.3564361https://doaj.org/article/06f67c29f67a4be98db751ede68202d
Ion-specific effects on the bubble coalescence in aqueous medium
No full textThe flotation froth must have low durability to be useful for the mineral separation process. For this reason, suitable frothers are used. Their role is to suppress the coalescence of the bubbles in the liquid phase of the reactor and to form a short-lasting froth cap above the level of the liquid. Indeed, one could state the question; what makes the bubble coalesce in pure water? They coalesce to decrease their surface energy, which is related to the hydrophobicity of the bubbles. In such a case, why do frothers with very small concentrations, practically not affecting the surface tension value, obstruct their coalescence? The answer, in our opinion, is the hydration repulsion between the bubbles, which are covered by frother with a hydrophilic head pointing outward the bubble. This makes the bubble more hydrophilic even when its surface tension values are practically the same as this one in the absence of a frother. Such a more hydrophilic bubble with a scarce frother adsorption layer has no sufficient Gibbs elasticity to underpin a stable froth cap above the level of the liquid. Some time ago an excellent group from Istanbul Technical University built up a unique setup, able to determine the fraction of bubble coalescence versus the frother concentration. We show in this work that the experimental curve determined by this setup can be converted to an experimental level of hydrophilicity of the bubbles versus the concentration of the frothers. Hundred percent of the primary bubbles coalesce in pure water, where they are the most hydrophobic. At 100% hydrophilicity, the bubbles do not coalesce but form a froth cap, which is short-lasting. Within this context, in this study, the effects of NaCl and CaCl2 on the coalescence of the bubbles being either frother-free or in the presence of sodium dodecyl sulfate (SDS) were investigated. Their foamability was studied as well. The fraction of the coverage of SDS, NaCl, and CaCl2 species on the surface of the bubble and the level of hydrophilicity versus their bubble percentage coalescence were determined. The experimental data were related to the adsorption energy of SDS, Na+, Cl-, and Ca2+ on the air/water interface and their Gibbs hydration energy. It was established a linear dependence between the value of CCC and its corresponding level of coverage of the added agent.https://doi.org/10.37190/ppmp/20458
Meteorin Is a Novel Interaction Partner of p60‐Katanin During Mitosis in HCT ‐116 Colorectal Cancer Cells
No full textABSTRACT Microtubule cytoskeletal proteins are essential for maintaining cellular functions. In addition to dynamic instability, the organization of the microtubule cytoskeleton is also regulated by microtubule‐severing proteins, which play roles in critical processes such as cell division. One of the microtubule‐severing proteins, p60‐Katanin, localizes to the mitotic spindle, centrosomes, midbody, and contractile ring, thereby facilitating the proper completion of the cell cycle, which requires microtubule remodeling. Here, we identify Meteorin as a novel interaction partner of p60‐Katanin in HCT‐116 colorectal cancer (CRC) cells. Meteorin is observed to localize at spindle poles during prophase, metaphase, anaphase, and telophase in cell division. Our findings also indicate that Meteorin co‐localizes with p60‐Katanin during mitosis. Silencing of Meteorin leads to reduced cell proliferation irrespective of TP53 expression in both HCT‐116 and HCT‐116 p53 (−/−) CRC cells. Upon Meteorin silencing, p60‐Katanin expression decreases in both CRC cell types, whereas it increases due to Meteorin overexpression in only HCT‐116 CRC cells. Overall, these results indicate that Meteorin localizes to spindle poles and interacts with p60‐Katanin, and that depletion of Meteorin inhibits the proliferation of HCT‐116 CRC cells regardless of p53 expression.https://doi.org/10.1002/cm.7005
Design and development of pH-sensitive nanocarriers using molecularly imprinted polymers for the targeted delivery of sodium thiopental
No full textThis research introduces the design and synthesis of pH-sensitive MIPs, including magnetic, nonmagnetic, and fiber, as targeted nanocarriers for the selective uptake and controlled release of STL molecules in SGF and SIF environments.https://doi.org/10.1039/d4na00926fhttps://pubmed.ncbi.nlm.nih.gov/39974344http://dx.doi.org/10.1039/d4na00926fhttp://urn.kb.se/resolve?urn=urn:nbn:se:miun:diva-53892https://doi.org/https://doi.org/10.1039/d4na00926
Synthesis and Characterization of Coated CoFe2O4 Nanoparticles with Biocompatible Compounds and In Vitro Toxicity Assessment on Glioma Cell Lines
No full textAbstractRapid advances in the development of nanotechnology in recent years have led to functional magnetic nanoparticle types (MNPs) with different properties. The diverse applications of these nanoparticles make them a desirable candidate for use in biomedical areas due to their exclusive chemical and physical properties. The present work is conducted to study the in vitro biocompatibility of CoFe2O4@shell with different surface coatings (shell: ascorbic acid (AA), dextran (DEX), and polyethyleneimine (PEI). The cytotoxicity of coated nanoparticles is screened toward the glioma cancer line (C6) and fibroblast cell line (L929) using an MTT assay. CoFe2O4 NPs are synthesized using the co‐precipitation method together with hydrothermal synthesis and characterized regarding their structural and magnetic properties using state‐of‐the‐art techniques. Results showed the particles are consistent with the crystal structure of CoFe2O4 and the average crystallite size in the range of 16–18 nm. For the coated NPs, only a slight increase in the Hc is found except for the CoFe2O4@PEI NPs. The comparative analysis of the cytotoxic effects of CoFe2O4@shell NPs on L929 fibroblast and glioma cells shows that the cytotoxicity of samples is much more specific in brain tumor cells, especially it also indicates the significant efficacy of CoFe2O4@PEI in cancer cells.https://doi.org/10.1002/admi.202400613https://doaj.org/article/dcd2f0c10a6c4f7b90aeb35d4cf577e3https://avesis.yildiz.edu.tr/publication/details/08ef7137-62f1-454e-9e1b-a7acf7652d7f/oaihttps://avesis.yeniyuzyil.edu.tr/publication/details/08ef7137-62f1-454e-9e1b-a7acf7652d7f/oa
Search for resonant pair production of Higgs bosons in the final state using large-area jets in proton-proton collisions at = 13 TeV
No full textAbstract A search is presented for the resonant production of a pair of standard model-like Higgs bosons using data from proton-proton collisions at a centre-of-mass energy of 13 TeV, collected by the CMS experiment at the CERN LHC in 2016–2018, corresponding to an integrated luminosity of 138 fb −1. The final state consists of two b quark-antiquark pairs. The search is conducted in the region of phase space where at least one of the pairs is highly Lorentz-boosted and is reconstructed as a single large-area jet. The other pair may be either similarly merged or resolved, the latter reconstructed using two b-tagged jets. The data are found to be consistent with standard model processes and are interpreted as 95% confidence level upper limits on the product of the cross sections and the branching fractions of the spin-0 radion and the spin-2 bulk graviton that arise in warped extradimensional models. The limits set are in the range 9.74–0.29 fb and 4.94–0.19 fb for a narrow radion and a graviton, respectively, with masses between 1 and 3 TeV. For a radion and for a bulk graviton with widths 10% of their masses, the limits are in the range 12.5–0.35 fb and 8.23–0.23 fb, respectively, for the same masses. These limits result in the exclusion of a narrow-width graviton with a mass below 1.2 TeV, and of narrow and 10%-width radions with masses below 2.6, and 2.9 TeV, respectively.https://doi.org/10.1007/jhep02(2025)040https://dx.doi.org/10.3204/pubdb-2025-00891https://dx.doi.org/10.5445/ir/1000180003https://doaj.org/article/85b12b3dffe247a2b7bc9af843369ee3https://bib-pubdb1.desy.de/record/624423https://publikationen.bibliothek.kit.edu/1000180003/157674462https://publikationen.bibliothek.kit.edu/1000180003https://doi.org/10.5445/IR/1000180003https://hdl.handle.net/11589/28426