134 research outputs found
Context-Aware Collaborative Pushing of Heavy Objects Using Skeleton-Based Intention Prediction
No full textIn physical human-robot interaction, force feedback has been the most common sensing modality to convey the human intention to the robot. It is widely used in admittance control to allow the human to direct the robot. However, it cannot be used in scenarios where direct force feedback is not available since manipulated objects are not always equipped with a force sensor. In this work, we study one such scenario: the collaborative pushing and pulling of heavy objects on frictional surfaces, a prevalent task in industrial settings. When humans do it, they communicate through verbal and non-verbal cues, where body poses, and movements often convey more than words. We propose a novel context-aware approach using Directed Graph Neural Networks to analyze spatiotemporal human posture data to predict human motion intention for non-verbal collaborative physical manipulation. Our experiments demonstrate that robot assistance significantly reduces human effort and improves task efficiency. The results indicate that incorporating posture-based context recognition, either together with or as an alternative to force sensing, enhances robot decision-making and control efficiency
The Diophantine equation revisited
No full textLet k,l >= 2 be fixed integers, and C be an effectively computable constant depending only on k and l. In this paper, we prove that all solutions of the equation (x + 1)(k) + (x + 2)(k) + ... + (lx)(k) = y(n) in integers x, y,n with x, y >= 1, n >= 2, k not equal 3 and l 1 (mod 2) satisfy max{x, y, n} < C. The case when is even has already been completed by the second author (see [24])
The validity and reliability of the Turkish version of the 6-item female sexual function index (FSFI-6) and the relationship between climacturia and female sexual dysfunction
No full text© 2021, The Author(s), under exclusive licence to Springer Nature Limited.This study aims to assess the validity and reliability of the Turkish version of the FSFI-6 questionnaire,an abbreviated version of FSFI-19,a common tool for evaluating female sexual function. The study included 120 female patients aged between 18–65 years who presented to the urology clinic between December 2019 and March 2020. The Turkish version of FSFI-6 was translated from the English version for validation. The abridged FSFI-6 questionnaire consists of questions 2, 4, 7, 11, 16, and 17 of the FSFI-19 form. We recorded the demographic data of the patients. All subjects filled out the FSFI-19 and FSFI-6 questionnaires. The patients were asked to fill out the questionnaires again after two weeks. The mean age of the subjects was 46.58 ± 9.89 years (28–63). The results of the reliability analysis indicated that the intraclass correlation coefficient of the total FSFI-6 score was 0.92 (weighted kappa coefficients of individual items, 0.868–0.975) and the Cronbach’s alpha was 0.862. The validity analysis indicated that the mean total FSFI-6 score was strongly correlated with the mean FSFI-19 score (p < 0.001, r = 0.997). In the test-retest analysis,the kappa coefficient was calculated as 0.891. The FSFI-19 and FSFI-6 scores of the patients with (n = 52) and without climacturia (n = 68) were compared, and it was observed that the scores of the patients with climacturia were significantly lower than those without climacturia (p < 0.001). The abbreviated FSFI-6 questionnaire is a valuable tool for screening women with FSD. It can be used more extensively due to being short and easy to apply. Our results approve the Turkish version of the questionnaire as a valid and reliable tool for evaluating FSD
An Investigation of the Relationship between Agricultural Production and Greenhouse Gas Emissions
No full textLaser micro-polishing of stainless steel for antibacterial surface applications
No full textIn this work laser micro polishing (LMP) of cold rolled 0.3 mm thick 304 stainless steel with a pulsed fibre laser is studied, for applications
where antibacterial properties are required. Due to its production method, the initial surface roughness of the tested material was considerably
low (Sa=85.3±2.8 μm), rendering a demanding case for the laser polishing process. Accordingly, process feasibility under three different
atmospheric conditions, namely ambient, Ar and N2 atmosphere, was investigated. A large set of process parameter combinations was tested
and initial analysis was carried out to identify the polishing feasibility by inspection under an optical microscope. Once the feasibility window
was determined, a primary characterization was made on selected surfaces for roughness and waviness. Results show that in some process
conditions belonging to the explored feasibility range, surface roughness could be decreased by 50%
SamenMarkt®, a Proposal for Restoring Trust in the Horticultural Fresh Food Market by Using Multi-agent System Technology
No full textIn the horticultural fresh food supply chain network in the Netherlands, a crisis is emerging. The market is out of balance and many growers are facing bankruptcy, in the period of 2011–2013, 50% of the growers were not able to pay interest and redemption. Trust between participants in the supply chain network has decreased. This chapter presents the currently not established and identiies design requirements for new systems to address this challengeand provide directions for possible improvement. As a result, this chapter introduces the concept of SamenMarkt®, a participatory system in which multi-agent system technology enables distributed price negotiation, distribution and communication between producers, retailers and consumers. A SWOT analysis of the concept of SamenMarkt® is provided together with a research and development plan in which simulation and emulation create the basis for stakeholder- and participant involvement in the design process of a distributeddigital market place. Further research aims to study how SamenMarkt® can provide a solution space for the emerging global food crises. At present, we are using agent-based modelling to simulate the present market and scenarios. The next step will be to build the actual agent-based platform for real-time negotiations and business intelligence
Hand-held spectrophotometer design for textile fabrics
No full textIn this study, a hand-held spectrophotometer was designed by taking advantage of the developments in modern optoelectronic technology. Spectrophotometer devices are used to determine the color information from the optic properties of the materials. As an alternative to a desktop spectrophotometer device we have implemented, it is the first prototype, low cost and portable. The prototype model designed for the textile industry can detect the color tone of any fabric. The prototype model consists of optic sensor, processor, display floors. According to the color applied on the optic sensor, it produces special frequency information on its output at that color value. In Arduino type processor, the frequency information is evaluated by the program we have written and the color tone information between 0-255 ton is decided and displayed on the screen
A Comparative fatty acid compositional analysis of different wild species of mushrooms from Turkey
No full textMushrooms have been recognized as important food items due to their high nutritional and medicinal value. The present work quantifies and compares the fatty acids composition among eleven mushroom species (Auricularia auricular-judae, Collybia dryophila, Rammulina ve/utipes, Helvella lacunose, Polyporus squamosus, Rhizopogon roseolus, Russula albonigra, Russula delica, Sparassis crispa, collinitus and Volvariella gloiocephala) harvested from Turkey. The lipid contents of the mushrooms varied from 0.13% (Auricularla auricula-judae) to 2.90% (Sparassis crispa). A total of 14 fatty acids were identified and quantified by gas chromatography in the selected mushrooms species with linoleic (13.17 to 79.41%), oleic (0.71 to 55.07%) and palmitic (8.95 to 30.84%) acids as the major components in the tested mushrooms species. The amount of total saturated fatty acids (SFAs), total monounsaturated FAs (MUFAs) and total polyunsaturated FAs (PUFAs) ranged from 13.97 to 59.44%, 0.94 to 55.44% and 13.54 to 79.93%, respectively. Moreover, the mushrooms tested can be explored as a rich dietary source of essential fatty acids (13.34-79.76%) for human nutrition
Glutathione S-Transferase M1 and T1 Gene Polymorphisms in Patients with Chronic Plaque-Type Psoriasis: A Case-Control Study
No full textObjective: To determine the role of glutathione S-transferase (GST) isoenzyme polymorphisms as susceptibility factors in patients with psoriasis in a Turkish cohort. Subjects and Methods: In this case-control study, 105 patients with plaque-type psoriasis and 102 healthy controls were recruited from the dermatology outpatient clinics of two university hospitals. Genomic DNA was extracted from whole blood using a DZ DNA isolation kit. Multiplex PCR was used to determine GSTM1 and GSTT1 polymorphisms in the isolated DNAs. Results: Of the 150 patients with psoriasis, 83 (79%) were identified with the GSTT1 genotype and 22 (21%) with the null genotype. Of the 102 patients in the control group, 69 (67.6%) subjects were identified with the GSTT1 genotype and 33 (32.4%) with the null genotype. There was no significant difference between the patient and control groups (p = 0.063). Regarding the GSTM1 polymorphism, 54 (51.4%) patients were identified with this genotype and 51 (48.6%) with the null genotype; in the control group, 50 (49%) were identified with this genotype and 52 (51%) with the null genotype. Again there was no statistically significant difference between the groups (p = 0.957). Conclusion: In this Turkish cohort of patients with psoriasis, neither GSTT1 nor GSTM1 polymorphisms were associated with disease susceptibility. Larger studies with a wider range of GST isoenzyme are needed. (C) 2015 S. Karger AG, Base
A Multiattribute Utility Model for Consumer Decision Making and Optimal Product Configuration
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