29 research outputs found
Changes in essential oil composition, phenylalanine ammonia lyase gene expression and rosmarinic acid content during shoot organogenesis in cytokinin-treated Satureja spicigera (C. Koch) boiss. shoots
No full textWOS: 000516134000001This study investigated the effects of different concentrations of zeatin and thidiazuron on the accumulation of phenolics and activity of phenylalanine ammonia lyase gene in the micropropagated Satureja spicigera shoots. S. spicigera clones were generated from cultured nodal segments on Murashige and Skoog including vitamins medium supported with zeatin and thidiazuron concentrations. Shoots were subcultured three times in the same medium and harvested at the end of the third month. The expression levels of phenylalanine ammonia lyase gene were conducted using semi-quantitative reverse transcription polymerase chain reaction technique. Rosmarinic acid contents were determined using reverse phase-high performance liquid chromatography with a diode array detector. Genetic stability of regenerants was performed using random amplified polymorphic DNA markers. Essential oils from shoots were identified by gas chromatography-mass spectrophotometry analysis. It has been detected that 0.1 mg/L thidiazuron is more effective on the node formation and shoot elongation. Contrarily, 4.0 mg/L thidiazuron caused a significant increase in shoot multiplication. The highest biomass accumulation was calculated from medium including 1.0 mg/L zeatin. According to random amplified polymorphic DNA analysis, all banding profiles from micropropagated plants were monomorphic. Gas chromatography-mass spectrophotometry analysis showed that rising concentrations of zeatin and thidiazuron increased the thymol and decreased the carvacrol content. It was also found that rosmarinic acid production increased significantly at 1.0 mg/L zeatin application. However, thidiazuron applications had no positive effect on rosmarinic acid accumulation. Comparing phenylalanine ammonia lyase gene expression and rosmarinic acid accumulation in in vitro shoots, it was found that they were correlated.Giresun UniversityGiresun University [FENBAP-A-140316-28]This study was supported by Project No: FENBAP-A-140316-28 of Scientific Research Projects, Giresun University. The author thanks to Huseyin SAHI. N from Espiye Vocational School, Giresun University, for his help in the HPLC analysis, and Halil I. brahim GULER from Department of Molecular Biolgy and Genetics, Karadeniz Technical University for his help in determining the expression levels of the phenylalanine ammonia lyase gene and genetic stability of shoots
Robust standing control with posture optimization
No full textHumans need to shift their center of mass during standing for several purpose such as preparing for the upcoming motion or increasing their stability. In this paper, we present a control strategy for robust center of mass shifting motions during standing, In our strategy, the desired posture can be defined with only a few high level features, such as the desired character center of mass position and the foot configurations. An online optimization process is designed for generating a kinematic lower body and pelvis posture that satisfies these high level features together with some criteria that guide a natural standing pose. Natural knee bending behaviours automatically arise as a result of this optimization process. Internal joint torques for tracking this optimized posture together with the given desired upper body pose are calculated by the physics-based control framework. Moreover, a physics-based arm control strategy that regulates the angular momentum of the character is devised in order to increase the robustness of the character under external disturbances. Several experiments are conducted to demonstrate the effectiveness of the proposed strategy. Because the strategy does not include any off-line parameter optimization, equations of motion, or inverse dynamics, it is highly suitable for online applications
Skill learning based catching motion control
No full textLearned biomechanical strategies prepare the human body in kinematics and kinetics terms during interception tasks, such as throwing and catching, in real world. Based on this, we present a real-time physics-based approach that generates natural and physically plausible motions for a highly complex task ball catching. We showed that ball catching behavior could be achieved with the proper combination of rather simple motor skills, such as standing, walking, and reaching. The character learns some policies to know how and when to react by using reinforcement learning in order to use time accurately. We demonstrate the effectiveness of our method with some of the catching animation results in different catching strategies. Copyright (c) 2015John Wiley & Sons, Ltd.IS
Bilateral same-session flexible ureterorenoscopy for renal and/or ureteric stone disease treatment
No full textArda, Ersan (Trakya author)Objective: To evaluate the effectiveness and safety of bilateral same-session flexible ureterorenoscopy (f-URS) in the treatment of bilateral renal and/ or ureteric stone disease. Patients and methods: From October 2007 to December 2015, 62 patients who had undergone bilateral, same-session f-URS were included in the study. The procedures were performed under general anaesthesia, in lithotomy, and initiated on the side in which the patient was clinically symptomatic or on the side in which the stone was smaller. Plain abdominal radiography, intravenous urography, renal ultrasonography and/or non-contrast computed tomography scans were conducted in all patients. The success rate was defined as, patients who were stone-free or only had residual fragments of < 3 mm. Results: A total of 62 patients (43 male, 19 female), with a mean (SD) age of 39 (15.1) years, were included. The mean (SD) stone size was 23.2 (6.11) mm with a mean (SD) operative time of 58.8 (16.24) min. The stone-free rates were 90.3% and 100% after the first and second procedures, respectively. The mean (SD) hospital stay was 1.58 (0.72) days. There were minor complications (Clavien-Dindo grade I-II) in 10 (16%) patients and major complications (Clavien-Dindo III-IV), e.g. distal ureter laceration and laser injury of the ureter, in two patients. Conclusion: Same session bilateral f-URS is a successful and safe method for bilateral renal and/or ureteric stones. (C) 2018 Production and hosting by Elsevier B.V. on behalf of Arab Association of Urology
Investigation of graphene-coated Ag/AgCl electrode performance in surface electromyography measurement
No full textConventional silver-silver chloride (Ag/AgCl) electrodes are widely used for recording surface electromyography (sEMG) with a conductive gel. However, for long-term sEMG recording, the gel has some disadvantages that cause high impedance. Therefore, the dry electrodes have been alternatively purposed to overcome these disadvantages. Recently, the nanomaterial-based dry electrodes have been developed for long term electrophysiological signal recording. In the present study, we aimed to develop a graphene-coated Ag/AgCl electrode for long-term recording. We transferred single layer graphene (SLG) on the Ag/AgCl electrode surface by using chemical vapor deposition and confirmed this process by Raman scattering spectroscopy and scanning electron microscopy. We then compared the graphene-coated Ag/AgCl and conventional Ag/AgCl electrodes by evaluating median motor nerve conduction studies (mNCS) and their impedance. The charge transfer resistance (Rct) for the Ag/AgCl electrode (4170 ?) was much higher than graphene-coated Ag/AgCl electrode (Rct = 24.6 ?). For median mNCS measurements without gel, the graphene-coated Ag/AgCl electrode provided a better amplitude of distal and proximal compound muscle action potential (28.3 mV and 25.8 mV, respectively) than the Ag/AgCl electrode (21.8 mV and 20.9 mV, respectively). Consequently, the present study suggests promising results in terms of the usability of graphene-coated Ag/AgCl electrodes for long-term monitoring and wearable systems applications of sEMG. In future studies, we aim to investigate clinical applicability of graphene-coated sEMG electrodes that include extended clinical settings and larger study population. © 2022 The Author(s
Robust balance shift control with posture optimization
No full textIn this paper we present a control framework which creates robust and natural balance shifting behaviours during standing. Given high-level features such as the position of the center of mass projection and the foot configurations, a kinematic posture satisfying these features is synthesized using online optimization. The physics-based control framework of the system calculates internal joint torques that enable tracking the optimized posture together with balance and pelvis control. Our system results in a very stable pose regardless of the position of the COM projection within the foot support polygon. This is achieved using an online knee bending and hip joint position optimization scheme. Moreover, we improve the robustness of the character under external perturbations by an arm control strategy that regulates the body's angular momentum. The capabilities of the system are demonstrated under different scenarios. The proposed framework doesn't include equations of motions or inverse dynamics. The simulations run in real-time on a standard modern PC without needing any preprocessing like offline parameter optimization. As a result, our system is suitable for commercial real-time graphics applications such as games
Style-based biped walking control
No full textWe present a control approach for synthesizing physics-based walking motions that mimic the style of a given reference walking motion. Style transfer between the reference motion and its physically simulated counterpart is achieved via extracted high-level features like the trajectory of the swing ankle and the twist of the swing leg during stepping. The physically simulated motion is also capable of tracking the intra-step variations of the sagittal character center of mass velocity of the reference walking motion. This is achieved by an adaptive velocity control strategy which is fed by a gain-deviation relation curve learned offline. This curve is learned from a number of training walking motions once and is used for velocity control of other reference walking motions. The control approach is tested with motion capture data of several walking motions of different styles. The approach also enables generating various styles manually or by varying the high-level features of an existing motion capture data. The demonstrations show that the proposed control framework is capable of synthesizing robust motions which mimic the desired style regardless of the changing environment or character proportions
Evaluating the records associated with the Turkish in historia damiatina book written by oliveri paderbornensis
No full textOliveri Paderbornensis’in Historia Damiatina adlı eserindeki Türklere dair
kayıtların değerlendirilmesi isimli bu çalışma Türkiye’de V. Haçlı Seferi ile ilgili yeterli
sayıda eser bulunmadığı için seçilmiştir. Çalışmada önce eserdeki Türklerle ilgili
bölümlerin çevirisi verilmiş, daha sonra ise bu bölümlerdeki bilgiler ile kıyaslanması
için diğer dönem kaynakları ve telif eserlerdeki bilgiler dipnot şeklinde sayfa sonlarına
eklenmiştir. Konumuz kapsamı kısaca şöyledir: Papa III. Innocentus Mısır’ın ele
geçirilip Kudüs Krallığının güneyini sağlama almak ve onu güçlendirmek amacıyla V.
Haçlı Seferini ilan etmek istemiştir. Lakin bu durum onun ölümünden sonra halefi III.
Honorius döneminde mümkün olmuştur. İçinde eserini incelediğimiz Kölnlü papaz
Oliveri Paderbornansis’in de olduğu Avrupadan gelen Haçlılarla doğudaki Frankların
birleşimi sonucunda Mısır’a saldırılmış, Dimyat gibi önemli bir şehir ele geçirilmiştir.
Ancak bu olaydan sonra Haçlıların arasındaki anlaşmazlıklar ve Müslümanların onlara
karşı birleşmesi V. Haçlı Seferinin başarısızlığına sebep olmuştur. Tezimiz, eserini
incelediğimiz Paderbornlu Oliver’ın hayatı, Historia Damiatina hakkında bilgi, Giriş, I.
Bölüm, II. Bölüm, III. Bölüm, Sonuç, Kaynakça ve Eklerden oluşmaktadır. Paderbornlu
Oliver’ın hayatı kısmında eserini incelediğimiz yazar hakkında, Historia Damiatina
kısmında bu eser hakkında, Giriş kısmında ise Haçlı seferlerinin ortaya çıkışı ve ilk beş
haçlı seferi hakkında kısaca bilgi verilmiştir. Tezimizin asıl kısmını oluşturan I.
Bölümde V. Haçlı Seferinin başından sonuna kadar yazarın Türkler ile ilgili verdiği
bilgiler bulunmaktadır. II. Bölümde Historia Damiatina’nın İngilizce çevirisi, III.
Bölümde de Latince çevirisi bulunmaktadır. Sonuç kısmında tez hakkında genel bir
değerlendirme yaptık. Son olarak Ekler kısmında ise V. Haçlı Seferi ile ilgili birkaç
resim ilave ettik.Evaluation is the record of the Turks in the work entitled Historia Damiatina
Oliveri Paderbornansis was selected for this study that there was insufficient number of
work related to the Fifth Crusade in Turkey. In the study, the sections related to the
Turks in the work were first translated and then the other sources and the information in
the copyright books were added to the end of the page in order to compare them with
the information in these sections. The scope of our brief is as follows: Pope Innocentus
III wanted to declare the Crusade of Egypt in order to seize Egypt and secure the south
of the Kingdom of Jerusalem. However, this situation after his death, It was possible in
the period of Honorius III. As a result of the combination of the Crusaders from Europe
and the Franks in the east, which included the Cologne-based pastor Oliveri
Paderbornansis, we attacked Egypt and an important city like Damietta was captured.
But after this event, the disagreements between the Crusaders and the unification of
Muslims against them led to the failure of the Fifth Crusade. Our thesis, the life of
Oliver, who studied his work, information about Historia Damiatina, Introduction, Part
I, II., III, It consists of the Section, Conclusion, Bibliography and Annexes. About the
author we examined the work of Oliver of Paderborn, about this work in the section of
Historia Damiatina, briefly about the emergence of the Crusades and the first five
crusades in the entrance part. In the first part of the thesis, which is the main part of our
thesis, the author gives information about the Turks from the beginning of the Crusade
to the end. In the second part, Historia Damiatina is translated into English and in the
third section there is a Latin translation. In the conclusion part, we made a general
evaluation about the thesis. Finally, in the Appendix section, we added a few pictures
about the Fifth Crusade
