Search results for: Murat Kemal Karacan

Authors: Bahaddin Bukcu, Murat Kemal Karacan

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In this study, we have defined slant helix according to Bishop frame in Euclidean 3-Space. Furthermore, we have given some necassary and sufficient conditons for the slant helix.

Keywords: Slant helix, Bishop frame, Parallel transport frame

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Authors: Murat Sengoz, Mustafa Kemal Topcu

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This study aims to contribute to efforts of Turkey to increase research and development to overcome mid-income level trap by discussing regulations on patenting and licensing. Knowledge and technology transfer from universities to business world is attached great significance to increase innovation. Through literature survey, it is observed that the States accomplished to boost the economy and increase welfare by the Bayh-Dole Act enacted in 1980. Thus, this good practice is imitated by other nations to make technological developments. The Act allows universities to acquire patent right in research programs funded by government to increase technology transfer from universities whilst motivating real sector to use research pools in the universities. An act similar with Bayh-Dole could be beneficial to Turkey since efforts in Turkey are to promote research, development and innovation. Towards this end, the impact of Bayh-Dole Act on the patent system for universities in the Sates is deliberately examined, applicability in Turkey is discussed. However, it is conceded that success rate of applying Bayh-Dole Act in Turkey would be low once Turkey mainly differs from the States regarding social, economic and cultural traits.

Keywords: Bayh-Dole act, knowledge transfer, license, patent, spin-off.

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Authors: Kemal Efe, Gui-Liang Feng

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The optimal bisection width of r-dimensional N× · · ·× N grid is known to be Nr-1 when N is even, but when N is odd, only approximate values are available. This paper shows that the exact bisection width of grid is Nr -1 N-1 when N is odd.

Keywords: Grids, Parallel Architectures, Graph Bisection, VLSI Layouts.

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Authors: Tugrul Oktay, Mehmet Konar, Mohamed Abdallah Mohamed, Murat Aydin, Firat Sal, Murat Onay, Mustafa Soylak

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In this paper, it is aimed to improve autonomous flight performance of a load-carrying (payload: 3 kg and total: 6kg) unmanned aerial vehicle (UAV) through active wing and horizontal tail active morphing and also integrated autopilot system parameters (i.e. P, I, D gains) and UAV parameters (i.e. extension ratios of wing and horizontal tail during flight) design. For this purpose, a loadcarrying UAV (i.e. ZANKA-II) is manufactured in Erciyes University, College of Aviation, Model Aircraft Laboratory is benefited. Optimum values of UAV parameters and autopilot parameters are obtained using a stochastic optimization method. Using this approach autonomous flight performance of UAV is substantially improved and also in some adverse weather conditions an opportunity for safe flight is satisfied. Active morphing and integrated design approach gives confidence, high performance and easy-utility request of UAV users.

Keywords: Unmanned aerial vehicles, morphing, autopilots, autonomous performance.

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Authors: O. Eren, N. Ucar, A. Onen, N. Kızıldag, O. F. Vurur, N. Demirsoy, I. Karacan

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PAN nanofibers reinforced with amine functionalized carbon nanotubes. The effect of amine functionalization and the effect of concentration of CNT on the conductivity and mechanical and morphological properties of composite nanofibers were examined. 1%CNT-NH2 loaded PAN/CNT nanofiber showed the best mechanical properties. Conductivity increased with the incorporation of carbon nanotubes. While an increase of concentration of CNT increases the diameter of nanofiber, the use of functionalized CNT results to decrease of diameter of nanofiber.

Keywords: Amine functionalized carbon nanotube, electrospinning, nanofiber, polyacrylonitrile.

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Authors: Bahadir O. Guler, Serkan Kader, Murat Besenk

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In this paper we examine some properties of suborbital graphs for the congruence subgroup r 0 (N) . Then we give necessary and sufficient conditions for graphs to have triangels.

Keywords: Congruence subgroup, Imprimitive action, Modulargroup, Suborbital graphs.

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Authors: Mustafa M. Donma

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Circumference measurements may give meaningful information about the varying stages of obesity. Some formulas may be derived from a number of body circumference measurements to estimate body fat. Waist (WC), hip (HC) and neck (NC) circumferences are currently the most frequently used measurements. The aim of this study was to develop a formula derived from these three anthropometric measurements for the differential diagnosis of morbid obesity with and without metabolic syndrome (MetS), MOMetS+ and MOMetS-, respectively. 187 children were recruited from the pediatrics outpatient clinic of Tekirdag Namik Kemal University, Faculty of Medicine. Signed informed consent forms were taken from the participants. The study was carried out according to the Helsinki Declaration. The study protocol was approved by the institutional non-interventional ethics committee of Tekirdag Namik Kemal University Medical Faculty. The study population was divided into four groups as normal-body mass index (N-BMI) (n = 35), obese (OB) (n = 44), morbid obese (MO) (n = 75) and MetS (n = 33). Age- and gender-adjusted BMI percentile values were used for the classification of groups. The children in MetS group were selected based upon the nature of the MetS components described as MetS criteria. Anthropometric measurements, laboratory analysis and statistical evaluation confined to study population were performed. BMI values were calculated. A circumference index, advanced Donma circumference index (ADCI) was presented as WC*HC/NC. The statistical significance degree was chosen as p < 0.05. BMI values were 17.7 ± 2.8, 24.5 ± 3.3, 28.8 ± 5.7, 31.4 ± 8.0 kg/m2, for N-BMI, OB, MO, MetS groups (p = 0.001), respectively. An increasing trend from N-BMI to MetS was observed. However, the increase in MetS group compared to MO group was not significant. For the new index, significant differences were obtained between N-BMI and OB, MO, MetS groups (p = 0.001). A significant difference between MO and MetS groups was detected (p = 0.043). A significant correlation was found between BMI and ADCI. In conclusion, in spite of the strong correlation between BMI and ADCI values obtained when all groups were considered, ADCI, but not BMI, was the index, which was capable of differentiating cases with morbid obesity from cases with morbid obesity and MetS.

Keywords: Anthropometry, body mass index, childhood obesity, body circumference, metabolic syndrome.

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Authors: Saniyam A. Ibragimova, Zhandos M. Basygarayev, Almagul R. Kerimkulova, E. A. Bukenova, Murat K. Gilmanov

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New biostimulator from wheat seeds which by its chemical composition relates to fusicoccin is presented in this article. New biostimulator could be used as powerful hormonal substance that has ability to increase productivity and salt tolerance of agricultural plants. Also on the basis of biostimulator we have developed vegetative method for fast reproduction of perennial plants as desert plant - Tamarix gracilis.

Keywords: Biostimulator, crop productivity, ecology, fussicoccin, salt tolerance.

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Authors: Mehmet Sagbas, Kemal Fidanboylu, M. Can Bayram

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A new voltage-mode triple-input single-output multifunction filter using only two current conveyors is presented. The proposed filter which possesses three inputs and single-output can generate all biquadratic filtering functions at the output terminal by selecting different input signal combinations. The validity of the proposed filter is verified through PSPICE simulations.

Keywords: Active Filters, Voltage mode, Current conveyor

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Authors: Kemal Çomakli, Uğur Çakir

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This research evaluated and compared the thermodynamic performance of heat pump systems which can be run under two different modes as air to air and air to water by using only one compressor. To achieve this comparison an experimental performance study was made on a traditional vapor compressed heat pump system that can be run air to air mode and air to water mode by help of a valve. The experiments made under different thermal conditions. Thermodynamic performance of the systems are presented and compared with each other for different working conditions.

Keywords: Air source heat pump, Energy Analysis, Heat Pump

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Authors: Kemal Bicakci, Yusuf Uzunay

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It is well-known that in wireless local area networks, authenticating nodes by their MAC addresses is not secure since it is very easy for an attacker to learn one of the authorized addresses and change his MAC address accordingly. In this paper, in order to prevent MAC address spoofing attacks, we propose to use dynamically changing MAC addresses and make each address usable for only one session. The scheme we propose does not require any change in 802.11 protocols and incurs only a small performance overhead. One of the nice features of our new scheme is that no third party can link different communication sessions of the same user by monitoring MAC addresses therefore our scheme is preferable also with respect to user privacy.

Keywords: Authentication, MAC address spoofing, security, wireless networks.

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Authors: N. Demirsoy, N. Uçar, A. Önen, N. Kızıldağ, Ö. F. Vurur, O. Eren, İ. Karacan

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Polymer composite nano-fibers including (1, 3 wt %) silver nano-particles have been produced by electrospinning method. Polyacrylonitrile/N,N-dimethylformamide (PAN/DMF) solution have been prepared and the amount of silver nitrate have been adjusted to PAN weight. Silver nano-particles were obtained from reduction of silver ions into silver nano-particles by chemical reduction by hydrazine hydroxide (N2H5OH). The different amount of silver salt was loaded into polymer matrix to obtain polyacrylonitrile composite nano-fiber containing silver nano-particles. The effect of the amount of silver nano-particles on the properties of composite nano-fiber web was investigated. Electrical conductivity, mechanical properties, thermal properties were examined by Microtest LCR Meter 6370 (0.01 mΩ-100 MΩ), Tensile tester, Differential scanning calorimeter DSC (Q10) and SEM respectively. Also antimicrobial efficiency test (ASTM E2149-10) was done against to Staphylococcus aureus bacteria. It has been seen that breaking strength, conductivity, antimicrobial effect, enthalpy during cyclization increase by use of silver nano-particles while the diameter of nano-fiber decreases.

Keywords: Composite polyacrylonitrile nano-fiber, electrical conductivity, electrospinning, mechanical and thermal properties, silver nano-particles.

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Authors: Hilmi Yazıcı

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M. Kemal Ataturk was a great leader who was fond of art and he had displayed his being fond of art many times. In his speeches and writings you can see that he had showed his approval to art and the importance of artists and art for the society. During the foundation of republic, he also wanted renovation in art as in other fields and ordered many novelties both in art and society. One of the greatest steps in realizing this was to prepare a national Turkish opera. In this study, it was studied how a Turkish opera, Özsoy was prepared in the context of social and political conditions of that time and what kind of processes it passed. As a result, it is seen that there was two main aims for Ataturk with this opera. First, Ataturk wanted to abolish the sectarian conflict between Iran and Turkey going on for centuries. The second and maybe the most important is that he wanted to make a revolution in the field of art and aimed to reach the level of civilized countries.

Keywords: Opera, Atatürk, Özsoy, Adnan Saygun, The first Turkish opera.

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Authors: Erol Seke, Kemal Özkan

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Linear approximation of point spread function (PSF) is a new method for determining subpixel translations between images. The problem with the actual algorithm is the inability of determining translations larger than 1 pixel. In this paper a multiresolution technique is proposed to deal with the problem. Its performance is evaluated by comparison with two other well known registration method. In the proposed technique the images are downsampled in order to have a wider view. Progressively decreasing the downsampling rate up to the initial resolution and using linear approximation technique at each step, the algorithm is able to determine translations of several pixels in subpixel levels.

Keywords: Point Spread Function, Subpixel translation, Superresolution, Multiresolution approach.

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Authors: Mehmet Sagbas, Kemal Fidanboylu, Mehmet C. Bayram

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A new current-mode multifunction filter using minimum number of passive elements is proposed. The proposed filter has single-input and four high-impedance outputs. It uses four passive elements (two capacitors and two resistors) and four dual output second generation current conveyors. Each output provides a different filter response, namely, low-pass, high-pass, band-pass and band-reject. The sensitivity analysis is also carried out on both ideal and non-ideal filter configurations. The validity of the proposed filter is verified through PSPICE simulations.

Keywords: Active filter, Universal filter, Currentconveyors.

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Authors: Sema Kurtuluş, Kemal Kurtuluş

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The objective of this paper is to review and assess the methodological issues and problems in marketing research, data and knowledge mining in Turkey. As a summary, academic marketing research publications in Turkey have significant problems. The most vital problem seems to be related with modeling. Most of the publications had major weaknesses in modeling. There were also, serious problems regarding measurement and scaling, sampling and analyses. Analyses myopia seems to be the most important problem for young academia in Turkey. Another very important finding is the lack of publications on data and knowledge mining in the academic world.

Keywords: Marketing research, data mining, knowledge mining, research modeling, analyses.

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Authors: Ülkü Erişoğlu, Murat Erişoğlu, Hamza Erol

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In this paper we propose a mixture of two different distributions such as Exponential-Gamma, Exponential-Weibull and Gamma-Weibull to model heterogeneous survival data. Various properties of the proposed mixture of two different distributions are discussed. Maximum likelihood estimations of the parameters are obtained by using the EM algorithm. Illustrative example based on real data are also given.

Keywords: Exponential-Gamma, Exponential-Weibull, Gamma-Weibull, EM Algorithm, Survival Analysis.

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Authors: Nasıf Ekiz, Tara Salih, Sibel Küçüköner, Kemal Fidanboylu

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Continuation of an active call is one of the most important quality measurements in the cellular systems. Handoff process enables a cellular system to provide such a facility by transferring an active call from one cell to another. Different approaches are proposed and applied in order to achieve better handoff service. The principal parameters used to evaluate handoff techniques are: forced termination probability and call blocking probability. The mechanisms such as guard channels and queuing handoff calls decrease the forced termination probability while increasing the call blocking probability. In this paper we present an overview about the issues related to handoff initiation and decision and discuss about different types of handoff techniques available in the literature.

Keywords: Handoff, Forced Termination Probability, Blocking probability, Handoff Initiation, Handoff Decision, Handoff Prioritization Schemes.

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Authors: Mustafa M. Donma, Orkide Donma

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Obesity is known to be associated with many clinically important diseases including metabolic syndrome (MetS). Vitamin B₁₂ plays essential roles in fat and protein metabolisms and its cooperation with vitamin B₉ is well-known. The aim of this study is to investigate the possible contributions as well as associations of these micronutrients upon obesity and MetS during childhood. A total of 128 children admitted to Namik Kemal University, Medical Faculty, Department of Pediatrics Outpatient Clinics were included into the scope of this study. The mean age±SEM of 92 morbid obese (MO) children and 36 with MetS were 118.3±3.8 months and 129.5±6.4 months, respectively (p > 0.05). The study was approved by Namık Kemal University, Medical Faculty Ethics Committee. Written informed consent forms were obtained from the parents. Demographic features and anthropometric measurements were recorded. WHO BMI-for age percentiles were used. The values above 99 percentile were defined as MO. Components of MetS [waist circumference (WC), fasting blood glucose (FBG), triacylglycerol (TRG), high density lipoprotein cholesterol (HDL-Chol), systolic pressure (SP), diastolic pressure (DP)] were determined. Routine laboratory tests were performed. Serum vitamin B₁₂ concentrations were measured using electrochemiluminescence immunoassay. Vitamin B₉ was analyzed by an immunoassay analyzer. Values for vitamin B₁₂ < 148 pmol/L, 148-221 pmol/L, > 221 pmol/L were accepted as low, borderline and normal, respectively. Vitamin B₉ levels ≤ 4 mcg/L defined deficiency state. Statistical evaluations were performed by SPSSx Version 16.0. p≤0.05 was accepted as statistical significance level. Statistically higher body mass index (BMI), WC, hip circumference (C) and neck C were calculated in MetS group compared to children with MO. No difference was noted for head C. All MetS components differed between the groups (SP, DP p < 0.001; WC, FBG, TRG p < 0.01; HDL-Chol p < 0.05). Significantly decreased vitamin B₉ and vitamin B₁₂ levels were detected (p < 0.05) in children with MetS. In both groups percentage of folate deficiency was 5.5%. No cases were below < 148 pmol/L. However, in MO group 14.3% and in MetS group 22.2% of the cases were of borderline status. In MO group B₁₂ levels were negatively correlated with BMI, WC, hip C and head C, but not with neck C. WC, hip C, head C and neck C were all negatively correlated with HDL-Chol. None of these correlations were observed in the group of children with MetS. Strong positive correlation between FBG and insulin as well as strong negative correlation between TRG and HDL-Chol detected in MO children were lost in MetS group. Deficiency state end-products of both B₉ and B₁₂ may interfere with the expected profiles of MetS components. In this study, the alterations in MetS components affected vitamin B₁₂ metabolism and also its associations with anthropometric body measurements. Further increases in vitamin B₁₂ and vitamin B₉ deficiency in MetS associated with the increased vitamin B₁₂ as well as vitamin B₉ deficiency metabolites may add to MetS parameters.

Keywords: Children, cobalamin, folate, metabolic syndrome, obesity.

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Authors: Dogan Ciloglu, Abdurrahim Bolukbasi, Kemal Comakli

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In this study, the effect of nanofluids on the pool film boiling was experimentally investigated at saturated condition under atmospheric pressure. For this purpose, four different water-based nanofluids (Al2O3, SiO2, TiO2 and CuO) with 0.1% particle volume fraction were prepared. To investigate the boiling heat transfer, a cylindrical rod with high temperature was used. The rod heated up to high temperatures was immersed into nanofluids. The center temperature of rod during the cooling process was recorded by using a K-type thermocouple. The quenching curves showed that the pool boiling heat transfer was strongly dependent on the nanoparticle materials. During the repetitive quenching tests, the cooling time decreased and thus, the film boiling vanished. Consequently, the primary reason of this was the change of the surface characteristics due to the nanoparticles deposition on the rod-s surface.

Keywords: Heat transfer, nanofluid, nanoparticles, pool film boiling

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Authors: Kemal Izci

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Assessment forms an important part of instruction. Assessment that aims to support learning is known as formative assessment and it contributes student’s learning gain and motivation. However, teachers rarely use assessment formatively to aid their students’ learning. Thus, reviewing the factors that limit or support teachers’ practices of formative assessment will be crucial for guiding educators to support prospective teachers in using formative assessment and also eliminate limiting factors to let practicing teachers to engage in formative assessment practices during their instruction. The study, by using teacher’s change environment framework, reviews literature on formative assessment and presents a tentative model that illustrates the factors impacting teachers’ adoption of formative assessment in their teaching. The results showed that there are four main factors consisting personal, contextual, resource-related and external factors that influence teachers’ practices of formative assessment.

Keywords: Assessment practices, formative assessment, teachers, factors for use of formative assessment.

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Authors: Raif Parlakkaya, Huseyin Cetin, Halil Akmese, Mesut Murat Adabali

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As the economies of other countries in the Mediterranean Basin, the tourism sector in our country has a high denominator in economics. Tourism businesses, which are building blocks of tourism, sector faces with a variety of problems during their activities. These problems faced make business efficiency and competition conditions of the businesses difficult. Most of the problems faced by the tourism businesses and the information of consumers about consumers’ rights were used in this study, which is conducted to determine the problems of tourism businesses in the Central Anatolia Region. It is aimed to contribute the awareness of staff and executives working at tourism sector and to attract attention of businesses active concurrently with tourism sector and legislators.

Keywords: Financial Problems, The problems of Tourism businesses, Tourism Businesses, Tourism Sector in Turkey.

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Authors: Muzaffer Borekci, Murat S. Kirçil

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Predicting the collapse potential of a structure during earthquakes is an important issue in earthquake engineering. Many researchers proposed different methods to assess the collapse potential of structures under the effect of strong ground motions. However most of them did not consider degradation and softening effect in hysteretic behavior. In this study, collapse potential of SDOF systems caused by dynamic instability with stiffness and strength degradation has been investigated. An equation was proposed for the estimation of collapse period of SDOF system which is a limit value of period for dynamic instability. If period of the considered SDOF system is shorter than the collapse period then the relevant system exhibits dynamic instability and collapse occurs.

Keywords: Collapse, degradation, dynamic instability, seismic response.

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Authors: Murat Gunduz, Mohanad H. A. AbuHassan

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Construction industry mainly focuses on the superstructure, infrastructure, and oil and gas industry. The development of infrastructure projects in developing countries attracted a lot of foreign construction contractors, consultants, suppliers and diversified workforce to interfere and to be evolved in such huge investment. Reducing worksite delays in such projects require knowledge and attention. Therefore, it is important to identify the influencing delay attributes affecting construction projects. The significant project factors affecting construction delays were investigated. Data collection was carried out through an online web survey system to capture significant factors. Significant factors were determined with importance index and relevant recommendations are made. The output of the data analysis would lead the industry experts better assess the impact of construction delays on construction projects.

Keywords: Construction industry, delays, importance index.

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Authors: Kemal Comakli, Meryem Terhan

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In this study, the potential of heat recovery from waste flue gas was examined in 60 MW district heating system of a university, and fuel saving was aimed by using the recovered heat in the system as a source again. Various scenarios are intended to make use of waste heat. For this purpose, actual operation data of the system were taken. Besides, the heat recovery units that consist of heat exchangers such as flue gas condensers, economizers or air pre-heaters were designed theoretically for each scenario. Energy analysis of natural gas-fired boiler’s exhaust flue gas in the system, and economic analysis of heat recovery units to predict payback periods were done. According to calculation results, the waste heat loss ratio from boiler flue gas in the system was obtained as average 16%. Thanks to the heat recovery units, thermal efficiency of the system can be increased, and fuel saving can be provided. At the same time, a huge amount of green gas emission can be decreased by installing the heat recovery units.

Keywords: Heat recovery from flue gas, energy analysis of flue gas, economical analysis, payback period.

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Authors: Tugrul Oktay, Mehmet Konar, Mustafa Soylak, Firat Sal, Murat Onay, Orhan Kizilkaya

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In this paper, autonomous performance of a small manufactured unmanned helicopter is tried to be increased. For this purpose, a small unmanned helicopter is manufactured in Erciyes University, Faculty of Aeronautics and Astronautics. It is called as ZANKA-Heli-I. For performance maximization, autopilot parameters are determined via minimizing a cost function consisting of flight performance parameters such as settling time, rise time, overshoot during trajectory tracking. For this purpose, a stochastic optimization method named as simultaneous perturbation stochastic approximation is benefited. Using this approach, considerable autonomous performance increase (around %23) is obtained.

Keywords: Small helicopters, hierarchical control, stochastic optimization, autonomous performance maximization, autopilots.

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Authors: Mevlüt Burak Dalmış, Kemal Yaman

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In this study, flutter characteristics of cantilever rectangular plate structure under incompressible flow regime are investigated by comparing the results of commercial flutter analysis program ZAERO^© with wind tunnel tests conducted in Ankara Wind Tunnel (ART). A rectangular polycarbonate (PC) plate, 5x125x1000 mm in dimensions, is used for both numerical and experimental investigations. Analysis and test results are very compatible with each other. A comparison between two different solution methods (g and k-method) of ZAERO^© is also done. It is seen that, k-method gives closer result than the other one. However, g-method results are on conservative side and it is better to use conservative results namely g-method results. Even if the modal analysis results are used for the flutter analysis for this simple structure, a modal test should be conducted in order to validate the modal analysis results to have accurate flutter analysis results for more complicated structures.

Keywords: Flutter, plate, subsonic flow, wind tunnel.

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Authors: Kemal Çomakli, Uğur Çakir, Ayşegül Çokgez Kuş, Erol Şahin

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A lower consumption of thermal energy will contribute not only to a reduction in the running costs, but also in the reduction of pollutant emissions that contribute to the greenhouse effect. Cogeneration or CHP (Combined Heat and Power) is the system that produces power and usable heat simultaneously by decreasing the pollutant emissions and increasing the efficiency. Combined production of mechanical or electrical and thermal energy using a simple energy source, such as oil, coal, natural or liquefied gas, biomass or the sun; affords remarkable energy savings and frequently makes it possible to operate with greater efficiency when compared to a system producing heat and power separately. This study aims to bring out the contributions of cogeneration systems to the environment and sustainability by saving the energy and reducing the emissions. In this way we made a comprehensive investigation in the literature by focusing on the environmental aspects of the cogeneration systems. In the light of these studies we reached that, cogeneration systems must be consider in sustainability and their benefits on protecting the ecology must be investigated.

Keywords: Sustainability, cogeneration systems, energy economy, energy saving.

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Authors: Kemal Tutuncu, Recai Ozcan

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Having done in this study, air-conditioning automation for patisserie shopwindow was designed. In the cooling sector it is quite important to cooling up the air temperature in the shopwindow within short time interval. Otherwise the patisseries inside of the shopwindow will be spoilt in a few days. Additionally the humidity is other important parameter for the patisseries kept in shopwindow. It must be raised up to desired level in a quite short time. Traditional patisserie shopwindows only allow controlling temperature manually. There is no humidity control and humidity is supplied by fans that are directed to the water at the bottom of the shopwindows. In this study, humidity and temperature sensors (SHT11), PIC, AC motor controller, DC motor controller, ultrasonic nebulizer and other electronic circuit members were used to simulate air conditioning automation for patisserie shopwindow in proteus software package. The simulation results showed that temperature and humidity values are adjusted in desired time duration by openloop control technique. Outer and inner temperature and humidity values were used for control mechanism.

Keywords: Air conditioning automation, temperature and humidity, SHT11, AC motor controller, open-loop control.

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Authors: M. Zamurad Shah, M. Kemal Özgören, Raza Samar

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This paper presents a 3D guidance scheme for Unmanned Aerial Vehicles (UAVs). The proposed guidance scheme is based on the sliding mode approach using nonlinear sliding manifolds. Generalized 3D kinematic equations are considered here during the design process to cater for the coupling between longitudinal and lateral motions. Sliding mode based guidance scheme is then derived for the multiple-input multiple-output (MIMO) system using the proposed nonlinear manifolds. Instead of traditional sliding surfaces, nonlinear sliding surfaces are proposed here for performance and stability in all flight conditions. In the reaching phase control inputs, the bang-bang terms with signum functions are accompanied with proportional terms in order to reduce the chattering amplitudes. The Proposed 3D guidance scheme is implemented on a 6-degrees-of-freedom (6-dof) simulation of a UAV and simulation results are presented here for different 3D trajectories with and without disturbances.

Keywords: Unmanned Aerial Vehicles, Sliding mode control, 3D Guidance, Path following, trajectory tracking, nonlinear sliding manifolds.

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