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Aerial Swarms: Recent Applications and Challenges
(Springer, 2021) Mohamed Abdelkader; Samet Güler
Purpose of review: Currently, there is a large body of research on multi-agent systems addressing their different system theoretic aspects. Aerial swarms as one type of multi-agent robotic systems have recently gained huge interest due to their potential applications. However, aerial robot groups are complex multi-disciplinary systems and usually research works focus on specific system aspects for particular applications. The purpose of this review is to provide an overview of the main motivating applications that drive the majority of research works in this field, and summarize fundamental and common algorithmic components required for their development._x000D_ _x000D_ Recent findings: Most system demonstrations of current aerial swarms are based on simulations, some have shown experiments using few 10 s of robots in controlled indoor environment, and limited number of works have reported outdoor experiments with small number of autonomous aerial vehicles. This indicates scalability issues of current swarm systems in real world environments. This is mainly due to the limited confidence on the individual robot's localization, swarm-level relative localization, and the rate of exchanged information between the robots that is required for planning safe coordinated motions._x000D_ _x000D_ Summary: This paper summarizes the main motivating aerial swarm applications and the associated research works. In addition, the main research findings of the core elements of any aerial swarm system, state estimation and mission planning, are also presented. Finally, this paper presents a proposed abstraction of an aerial swarm system architecture that can help developers understand the main required modules of such systems.
Citation - WoS: 11
Citation - Scopus: 14
Detection of Movement Intention in EEG-Based Brain-Computer Interfaces Using Fourier-Based Synchrosqueezing Transform
(World Scientific Publ Co Pte Ltd, 2021) Karakullukcu, Nedime; Yilmaz, Bulent
Patients with motor impairments need caregivers' help to initiate the operation of brain-computer interfaces (BCI). This study aims to identify and characterize movement intention using multichannel electroencephalography (EEG) signals as a means to initiate BCI systems without extra accessories/methodologies. We propose to discriminate the resting and motor imagery (MI) states with high accuracy using Fourier-based synchrosqueezing transform (FSST) as a feature extractor. FSST has been investigated and compared with other popular approaches in 28 healthy subjects for a total of 6657 trials. The accuracy and f-measure values were obtained as 99.8% and 0.99, respectively, when FSST was used as the feature extractor and singular value decomposition (SVD) as the feature selection method and support vector machines as the classifier. Moreover, this study investigated the use of data that contain certain amount of noise without any preprocessing in addition to the clean counterparts. Furthermore, the statistical analysis of EEG channels with the best discrimination (of resting and MI states) characteristics demonstrated that F4-Fz-C3-Cz-C4-Pz channels and several statistical features had statistical significance levels, p, less than 0.05. This study showed that the preparation of the movement can be detected in real-time employing FSST-SVD combination and several channels with minimal pre-processing effort.
The Joubert syndrome protein CEP41 is excluded from the distal segment of cilia in C. elegans
(2021) Sebiha Cevik; Oktay I Kaplan
Rare diseases are a fundamental issue in today's world, affecting more than 300 million individuals worldwide. According to data from Orphanet and OMIM, about 50-60 new conditions are added to the list of over 6,000 clinically distinct diseases each year, rendering disease diagnosis and treatment even more challenging. Ciliopathies comprise a heterogeneous category of rare diseases made up of over 35 distinct diseases, including Joubert syndrome (JBTS; OMIM 213300), that are caused by functional and structural defects in cilia. JBTS is an autosomal recessive condition characterized by a range of symptoms, including cerebellar vermis hypoplasia and poor muscle tone. There are now a total of 38 genes that cause JBTS, almost all of which encode protein products that are found in cilia and cilia-associated compartments, such as the basal body and transition zone. CEP41 is a JBTS-associated protein that is found in cilia and the basal body of mammals, but its localization in other ciliary organisms remains elusive. C. elegans is an excellent model organism for studying the molecular mechanisms of rare diseases like JBTS. We, therefore, decided to use C. elegans to identify the localization of CEP41. Our microscopy analysis revealed that CEPH-41(CEntrosomal Protein Homolog 41) not only localizes to cilia but is excluded from the distal segment of the amphid and phasmid cilia in C. elegans. Furthermore, we discovered a putative X-box motif located in the promoter of ceph-41 and the expression of ceph-41 is regulated by DAF-19, a sole Regulatory Factor X (RFX) transcription factor.
On Critical Buckling Loads of Columns under End Load Dependent on Direction
(Hindawi Publishing Corporation, 2014) Başbük, Musa; Eryılmaz, Aytekin; Atay, Mehmet Tarik
Most of the phenomena of various fields of applied sciences are nonlinear problems. Recently, various types of analytical approximate solution techniques were introduced and successfully applied to the nonlinear differential equations. One of the aforementioned techniques is the Homotopy analysis method (HAM). In this study, we applied HAM to find critical buckling load of a column under end load dependent on direction. We obtained the critical buckling loads and compared them with the exact analytic solutions in the literature.
Subcellular localization of the voltage-gated K+ channel EGL-36 , a member of the KV3 subfamily, in the ciliated sensory neurons in C. elegans
(2021) Sebiha Cevik; Oktay I Kaplan
Delineated as the first cellular organelle in 1675 by Antonie van Leeuwenhoek, cilia did not receive much attention until the 2000s, when it became apparent that cilia played a key role in the development of embryos, a variety of signaling pathways. Therefore, collective efforts by many scientists have led to the identification of many novel ciliopathy and cilia genes, while we are still far from disclosing the complete components of cilia.Here we used the ciliated sensory neurons in C. elegans as a model system that revealed the voltage-gated K+ channel EGL-36 (a member of the Shaw subfamily) as a new component associated with cilia. The confocal microscopy examination of fluorescence tagged EGL-36 together with ciliary (IFT-140) or transition zone (MKS-6) markers reveal that EGL-36 is only expressed in subsets of the ciliated sensory neurons, where it partially overlaps with the basal body signals and predominantly localizes to the periciliary membrane compartment. This expression pattern along with studies of egl-36 gain-of-function variants indicates that egl-36 is not essential for ciliogenesis in C. elegans. Our data identify the voltage-gated K+ channel EGL-36 as a new cilia-associated protein, and future studies should reveal the functional significance of EGL-36 in cilia biogenesis.

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