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    Article
    Citation - WoS: 15
    Citation - Scopus: 27
    Distributed Formation Control of Drones With Onboard Perception
    (IEEE-Inst Electrical Electronics Engineers Inc, 2022) Kabore, Kader Monhamady; Guler, Samet; 0000-0001-5388-9649; 0000-0002-9870-166X; AGÜ, Fen Bilimleri Enstitüsü, Elektrik ve Bilgisayar Mühendisliği Ana Bilim Dalı; Kabore, Kader Monhamady; Guler, Samet; 01. Abdullah Gül University; 02. Mühendislik Fakültesi; 02.05. Elektrik & Elektronik Mühendisliği
    While aerial vehicles offer enormous benefits in several application domains, multidrone localization and control in uncertain environments with limited onboard sensing capabilities remains an active research field. A formation control solution which does not rely on external infrastructure aids such as GPS and motion capture systems must be established based on onboard perception feedback. We address the integration of onboard perception and decision layers in a distributed formation control architecture for three-drone systems. The proposed algorithm fuses two sensor characteristics, distance, and vision, to estimate the relative positions between the drones. Particularly, we utilize the omnidirectional sensing property of the ultrawideband distance sensors and a deep learning-based bearing detection algorithm in a filter. The entire system leads to a closed-loop perception-decision framework, whose stability and convergence properties are analyzed exploiting its modular structure. Remarkably, the drones do not use a common reference frame. We verified the framework through extensive simulations in a realistic environment. Furthermore, we conducted real world experiments using two drones and proved the applicability of the proposed framework. We conjecture that our solution will prove useful in the realization of future drone swarms.
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    Doctoral Thesis
    Meme Kanseri Hedefli, Çok Fonksiyonlu, Çapraz Bağlı Misel Nanotaşıyıcıların Geliştirilmesi
    (Abdullah Gül Üniversitesi, Fen Bilimleri Enstitüsü, 2023) Bayram, Nazende Nur; İşoğlu, Sevil Dinçer; AGÜ, Fen Bilimleri Enstitüsü, Biyomühendislik Ana Bilim Dalı; 01. Abdullah Gül University
    In this thesis, we developed two different micelle-based nanocarriers, which are pH-responsive and core cross-linked micelle (CCMs), and specifically target HER2 receptor on breast cancer cells. Intracellularly degradable and stabilized micelles were prepared by core cross-linking and RAFT polymerization in the presence of an acid-sensitive cross-linker. Poly(OEGMA) and poly(SBMA) were used as shell parts of these micelles in order to compare the effect of hydrophilic coatings on nanocarrier characteristics. In the first design, we applied drug conjugation (Doxorubicin) with a cleavable linker while in the second design, we used the encapsulation method for drug loading. Targeted micelles were obtained by coupling of HER2-specific peptides (VSSTQDFP and LTVSPWY) and antibody (Herceptin) to POEGMA and poly (SBMA) based CCMs, respectively. These nanocarriers are designed to be stable in blood circulation but cleavable intracellulary to achieve controlled drug release. Nanocarriers were characterized structurally by FTIR and 1H-NMR spectroscopies for all synthesis and conjugation steps. Moreover, nanocarriers and drug-loaded formulations were investigated by Zetasizer, Nanosight, and TEM/SEM analysis. The results showed that designed nanocarriers have a very high potential for HER2-specific targeted drug release for the treatment of breast cancer. This thesis holds significant importance due to its successful demonstration of two distinct systems exhibiting high stability, pH sensitivity, and high selectivity for HER2-targeted therapy of breast cancer.
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    Master Thesis
    Peynirden İlk Defa İzole Edilen Loigolactobacillus Coryniformis FOL-19'un Yeni Nesil Dizilenmesi ve Diğer L. Coryniformis Suşlarıyla Karşılaştırmalı Genomik Analizleri
    (Abdullah Gül Üniversitesi, Fen Bilimleri Enstitüsü, 2023) Gümüştop, İsmail; Ortakcı, Fatih; AGÜ, Fen Bilimleri Enstitüsü, Biyomühendislik Ana Bilim Dalı; 01. Abdullah Gül University
    Loigolactobacillus coryniformis is a member of lactic acid bacteria isolated from various ecological niches. We isolated a novel L. coryniformis strain FOL-19 from artisanal Tulum cheese and performed the whole-genome sequencing for FOL-19 using Illumina NextSeq. Then, genomic characterization of FOL-19 against ten available whole genome sequences of the same species isolated from kimchi, silage, fermented meat, air of cowshed, and dairy was performed. The average genome size of 2.93 ±0.1 Mb, GC content of 42.96% ±0.002, number of CDS of 2905 ±165, number of tRNA of 56 ±10, and number of CRISPR elements of 6.55 ±1.83 was achieved. Both Type I and II Cas clusters were observed in L. coryniformis. Only one strain (CECT 5711) was predicted to encode a Carnocin CP52 bacteriocin gene cluster. The presence of CRISPR elements and Cas clusters suggests that L. coryniformis holds a promising potential for being a reservoir for new CRISPR-based tools. These findings put a step forward for the genomic characterization of L. coryniformis strains for biotechnological applications via genome-guided strain selection to identify industrially relevant traits.