On the analysis and control of a bipedal legged locomotion model via partial feedback linearization.

In this study, we introduce a new model for bipedal locomotion that enhances the classical Spring-Loaded Inverted Pendulum (SLIP) model. Our proposed model incorporates a damping term in the leg spring, a linear actuator serially interconnected to the leg, and a rotary actuator affixed to the hip. The distinct feature of this new model is its ability to overcome the non-integrability challenge inherent in the conventional SLIP models through the application of partial feedback linearization. By leveraging these actuators, our model enhances the stability and robustness of the locomotion mechanism, particularly when navigating across varied terrain profiles. To validate the effectiveness and practicality of this model, we conducted detailed simulation studies, benchmarking its performance against other recent models outlined in the literature. Our findings suggest that the redundancy in actuation introduced by our model significantly facilitates both open-loop and closed-loop walking gait, showcasing promising potential for the future of bipedal locomotion, especially for bio-inspired robotics applications in outdoor and rough terrains.

[Effects of new warning labels on cigarette packets among high school adolescents]. / Sigara paketleri üzerinde yer alan yeni uyari yazilarinin lise ögrencileri üzerinde etkileri.

In developing countries, smoking habit develops between the ages of 12-16. In recent years, various ways to struggle against smoking have been implemented and one of them is to print warnings on cigarette packets. The purpose of this study was to determine the effects of these warnings among high school adolescents and their efficiency to make them quit smoking. The total number of the subjects were 917, 103 of whom were female and 814 of whom were male students. The mean age of the subjects was 16.6 + or - 1.1. The rate of the smokers was 24.1%. The rate of the subjects who had tried smoking at least once was 50.6%. When if or not the students were educated about the harmful effects of smoking by any means was evaluated, the rate of educated subjects was 58.3% and 41.7% of the subjects were not educated by any means. All the warnings on cigarette packets were considered to be "important" and "very important" by the subjects. The rate of the subjects who think that the warning phrases will have positive effects on the way to quit was 38.9%, while the rate of the subjects who think that they will have no positive effect was 61.1%. The rate of the subjects who had quitted smoking after reading these warnings was 22.5%, 44.4% of the subjects stated that they were effected but did not quit, and 33.1% of the subjects stated that they were not effected at all by the warnings and continued to smoke. The warnings on cigarette packets were found to serve as an additional information source about the harmful effects of smoking and had beneficial effects on the subjects' decision to quit. It was concluded that the method is an important step in the struggle against smoking.

Smoking status and levels of knowledge regarding cigarettes among primary school teachers.

OBJECTIVES: Teachers are believed to be important role models for their students. This study's objective was to determine primary school teachers' smoking status, their level of knowledge regarding cigarettes and their attitude towards prohibition; and to obtain preliminary data that may contribute to the development of antismoking campaigns in schools. METHODS: In total, 468 teachers were recruited and given a questionnaire. RESULTS: The answers revealed that among respondents, 58.1% were current smokers, 36.1% were ex-smokers, and 5.8% had never smoked. The percentage of current smokers among females (71.7%) was significantly higher than among males (50.7%). The percentage of those who had begun smoking at age 15 or earlier was 32.0% in smoking males and 19.3% in females; this difference was also statistically significant. No significant difference regarding ideas about smoking and prohibitions on cigarettes was found among current smokers, ex-smokers, and nonsmokers. CONCLUSIONS: Due to the high number of smoking teachers and their role model status, students may also be at risk of starting smoking. It was concluded that it would be beneficial to deliver educational programs and seminars encouraging smoking cessation to this professional group.

Prevalence of asthma and respiratory symptoms by age, gender and smoking behaviour in Samsun, North Anatolia Turkey.

Asthma is a major health problem worldwide. This is the first study determining the prevalence of asthma among adults in Samsun which is situated in the centre of the Black Sea region of Turkey. The aim of our study was to assess the prevalence of asthma and asthmatic symptoms, and the relationships of these with age, gender and smoking behaviour in this region. A questionnaire interview adapted from the European Respiratory Community Health Survey (ERCHS) was performed by health centre officers with selected people between November-December, 2002. The study population included a total of 1.916 [810 men (42.3%) and 1.106 women (57.7%)] inhabitants of Samsun city center, aged 15 years of age or above. The mean age was 37.8 years+/-15.5, the prevalence of asthma was 2.7%, receiving asthma medicine was 2.2%, the prevalence of wheezing in the last 12 months was 15.5% and shortness of breath with wheezing was 11.6%. The frequency of symptoms was higher among the elderly population when compared to other groups (p<0.0001). Asthma diagnosis by a physician was more frequent among women (chi2=5.16, p<0.05). Morning cough, day time cough, chronic cough, phlegmy cough and waking up with cough symptoms were more frequent among the smokers (p<0.001). Asthma diagnosis and asthma treatment are at a very low level compared to reported asthma related symptoms.