Tuning the Proportional-Integral-Derivative Control Parameters of Unmanned Aerial Vehicles Using Artificial Neural Networks for Point-to-Point Trajectory Approach.

Nowadays, trajectory control is a significant issue for unmanned micro aerial vehicles (MAVs) due to large disturbances such as wind and storms. Trajectory control is typically implemented using a proportional-integral-derivative (PID) controller. In order to achieve high accuracy in trajectory tracking, it is essential to set the PID gain parameters to optimum values. For this reason, separate gain values are set for roll, pitch and yaw movements before autonomous flight in quadrotor systems. Traditionally, this adjustment is performed manually or automatically in autotune mode. Given the constraints of narrow orchard corridors, the use of manual or autotune mode is neither practical nor effective, as the quadrotor system has to fly in narrow apple orchard corridors covered with hail nets. These reasons require the development of an innovative solution specific to quadrotor vehicles designed for constrained areas such as apple orchards. This paper recognizes the need for effective trajectory control in quadrotors and proposes a novel neural network-based approach to tuning the optimal PID control parameters. This new approach not only improves trajectory control efficiency but also addresses the unique challenges posed by environments with constrained locational characteristics. Flight simulations using the proposed neural network models have demonstrated successful trajectory tracking performance and highlighted the superiority of the feed-forward back propagation network (FFBPN), especially in latitude tracking within 7.52745 × 10-5 RMSE trajectory error. Simulation results support the high performance of the proposed approach for the development of automatic flight capabilities in challenging environments.

Investigation of boron nanosized particles prepared with various surfactants and chitosan in terms of physical stability and cell viability.

Nanosuspensions (NS) are one of the new generation drug carrier forms developed to overcome the deficiencies of drugs with poor water solubility or insolubility and are considered to be one of the most successful approaches to formulate compounds in recent years. Boron nitride (BN) is insoluble in water and chemically more stable than carbon, it offers better biological superiority although the application of carbon structures in the biomedical field has increased in recent years. Chitosan is a polymer with excellent processability and biocompatibility thanks to its high dielectric constant. In addition, chitosan has a high affinity for metal ions. This study aims to combine BN and chitosan, which have unique properties, using six different surfactants, and to investigate their long-term stability for the use of both in medicine. In this direction, 24 different BN NS formulations were prepared. The 6th and 12th months' stability of these formulations were studied at +25 °C, 60% relative humidity, and +4 °C. Also, the prepared formulations were evaluated by cell viability test and examined in terms of toxicity. FTIR spectra of the formulations were taken and their morphologies were characterized by SEM. Prepared NSs with Poloxamer 407 + Tween (N1 - N6) were found to be the most stable formulations for 6 and 12 months both at +4 °C and +25 °C. The fact that BN has a negative zeta potential and chitosan has a high positive zeta potential in formulations is very important in terms of their potential antimicrobial activities. The low cellular toxicity of BN NSs, especially chitosan-coated BN NSs, at higher concentrations shows that they have enormous potential in the diagnosis and treatment of diseases with boron-based compounds in the future.

Heavy metal accumulation of urban Scots pine (Pinus sylvestris L.) plantation.

In soil and plant tissues, the concentrations and reserves of manganese (Mn), zinc (Zn), nickel (Ni), copper (Cu), and lead (Pb) were calculated to measure the heavy metal quantities of the Scots pine afforestation. In the soil and plant tissues, heavy metal concentrations varied. The highest concentration of heavy metal was found in Mn and the lowest concentration in Pb in the soil. Heavy metal stocks followed the order of Mn > Zn > Ni > Cu > Pb in soil, and the order of Zn > Cu > Mn > Ni > Pb in the plant. In the Scots pine parts, Pb and Zn concentrations and BCFs follow Needle > Branch > Bark > Root > Trunk order, while Cu concentrations follow Root > Needle > Branch > Bark > Trunk order, Mn concentrations follow Needle > Branch > Bark > Trunk > Root order and Ni concentrations follow Needle > Branch > Root > Bark > Trunk order. In particular, Scots pine needles are considered to be ideal to be used as biomonitoring plants, especially in monitoring increases in heavy metal concentrations in urban areas. Besides, in order to be more effective in the retaining of heavy metals, it is proposed that mixtures of hyperaccumulator plants be added which are appropriate for climatic conditions.

The Case of Reactive Arthritis Secondary to Echinococcus Infestation.

Reactive arthritis is an inflammatory joint disease that develops after an infection and it usually occurs following a gastrointestinal or genitourinary system infection and it belongs to the family of arthritis called "spondyloarthritis." We wanted to represent a rare case of reactive arthritis secondary to Echinococcus infestation. Cyst hydatid disease is common in endemic regions like Turkey. Internal organ involvements, especially liver and lung, are most frequent involvements. Primary bone involvement is rare complication of Echinococcus infestation. In our case, the patient with Echinococcus infection developed right knee arthritis and sacroiliitis. Other reactive and oligoarthritis causes were excluded and diagnosis of reactive arthritis secondary to cyst hydatid infestation was done with the present findings. Cold pack and TENS treatment were applied as symptomatic treatment to the right knee of the patient. Acemetacin was given as medical treatment. On the 5th day of treatment, right knee and ankle arthritis were clinically regressed. In regions where the disease is seen as endemic, such as Turkey, patients with musculoskeletal symptoms should consider the possibility of musculoskeletal involvement due to the hydatid cyst.

Some productive characteristics and body measurements of Norduz goats of Turkey.

Productive characteristics and body measurements of Norduz goats, a native genetic resource in Turkey, were measured. The animals studied were brought from natural habitats to the farm of the Animal Science Department of Agricultural Faculty, Yüzüncü Yil University. Least squares means of withers height (WH), body length (BL), chest width at back of withers (CWBW), chest depth (CD), chest girth (CG) and leg girth (LG) of Norduz does were 65.9 ± 1.08, 67.2 ± 1.08, 21.1 ± 0.88, 30.8 ± 0.62, 88.9 ± 1.78 and 60.4 ± 1.28 cm, respectively. Least squares means of body weights after parturition of does were 41.3 ± 2.01 kg. The means of lactation length and lactation milk yield were 226. ± 7.2 days and 347 ± 40.1, respectively. Twinning rate, fertility, fecundity, litter size and litter size at weaning were 30%, 98%, 1.27, 1.30 and 1.28, respectively. Means of WH, BL, CWBW, CD, CG, LG and body weights of Norduz bucks were 73.9 ± 2.61, 75.6 ± 2.23, 21.4 ± 0.67, 33.9 ± 1.15, 95.0 ± 2.34, 69.8 ± 2.69 cm and 58.7 ± 3.91 kg, respectively.

The effect of feeding system on fattening performance, slaughter, and carcass characteristics of Norduz male kids.

The study was conducted to determine the effect of feeding systems on fattening performance, slaughter, and carcass characteristics of male Norduz kids. In the study, 20 male Norduz kids weaned at 2.5 months of age were divided into two groups after weaning. The first group was reared under semi-intensive conditions (SI) on a mixture of pasture and concentrate, and the second group was reared under extensive conditions (E) on pasture only. SI group had higher final weight (35.30 kg versus 32.81 kg), daily weight gain (153.10 g versus 132.14 g), and warm carcass yield (44.84% versus 46.55%) compared to the E group although there were no significant differences. Body organs, carcass parts, prime cuts, and chemical composition of the chop area did not also differ in two groups significantly. As a conclusion, this study showed that semi-intensive feeding systems improved kid fattening performance and carcass characteristics.