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In this paper, a remotely controllable, differentially driven wheeled mobile robot was developed in order to build 2D maps of unknown indoor environments; this system would eliminate the need to pre-explore such environments. Main aim of the study is to develop a system with high accuracy by using minimum number of sensors and a processor with low cost especially for comparatively small indoor areas. The distance traveled was calculated using the wheel odometry method. Obstacles surrounding the robot, the distance traveled, and the robot’s orientation were obtained using an ultrasonic distance sensor, optical encoder, and a 3D orientation sensor (also known as an Attitude and Heading Reference System –AHRS), respectively. In addition, the characteristics of the system hardware components were empirically explored, and the errors resulting from the sensors were evaluated. The non-linearity percentage error arising from the encoder was defined and then compensated for. The hysteresis behavior of the ultrasonic distance sensors was also empirically tested. All of the tasks were conducted by using a low-cost FPGA (Field Programmable Gate Arrays) board. This study used the graphical development platform, National Instruments (NI) LabVIEW, and it’s FPGA Module which is used for programming of embedded systems instead of the text-based HDLs (Hardware Description Languages). This distinguishes the proposed system from similar prior studies.

In this study, the buck converter circuit which is the topology of the power electronic circuit has been investigated to obtain the desired output voltage. The state variable of the circuit that is also used output of the system have been optimally controlled. The PI controller which is the basic structure and widely used in the practical applications has been run in discrete time. The PI controller parameters can be calculated by using a method based on the rootlocus, pole placement or Ziegler–Nichols method. However, these methods can not provide a solution with highe fficiency signal output voltage. In order to obtain the minimal cost value of the control process, Kp and Ki control parameters are optimized by using the Fire Fly (FF) algorithm based on swarm intelligence. The Matlab-Simulink program has been utilized for the simulations. The results show that the FF algorithm may observe the optimal values for the controller parameters.

Atıksularında bulunan farmasötiklersucul canlılar üzerinde oldukça toksik olmaları nedeniyle büyüyen bir endişehaline gelmektedir. Atıksularda ve yüzeysel sularda farmasötiklerinkonsantrasyonları µg/L ve ng/L gibi çok düşük seviyelerde olmasına rağmenbunların kronik etkileri nedeniyle ciddi ve acil bir araştırmaya gerekduyulmaktadır. Bu çevre ve sağlık problemlerinine yol açan farmasötik mikrokirleticileriatıksulardan gidermek için klasik arıtma yöntemleri yetersiz olması sebebiyleileri arıtma yöntemlerine ihtiyac duyulmaktadır. Özellikle elektrokimyasalprosesler bu tür mikrokirleticileri arıtmak için oldukça başarılı yöntemlerolarak dikkat çekmektedir. Bu çalışmada, Imatinib (IMT) adlı etken maddeninelektro-oksidasyon yöntemi ile arıtılması çalışılmıştır. Imatinib etkenmaddesinin arıtılması için kimyasal-elektrokimyasal stabiliteye sahip Ti/RuO2elektrotu kullanılmıştır. Optimum çalışma şartlarının belirlenmesi amacıylayüzey yanıt metodu (YYM) kullanılarak proses optimizasyonu yapılmıştır., The pharmaceuticals which are found in the wastewatertreatment effluents of the companies that produce cancer drug have become aserious fear for biotic living beings as they are toxic. Although theconcentration of pharmaceuticals in surface water and wastewater are in lowlevels like µg/L and ng/L levels, because of their chronical effects they areneeded to be removed from water immediately. They are not amenable toconventional biological treatment due to their toxicity even at lowconcentrations. Therefore, powerful oxidation methods have to be researched toremove them from waters, thus avoiding their potential adverse health effectson humans and animals. Especially electrochemical processes to purify suchmicro pollutants have attracted attention as very successful methods. In thisstudy, electro-oxidation of Imatinib (IMT) has been studied. Ti/RuO2electrode which has chemical and elevtrochenical stability has been used. Inorder to determine their operation conditions, process optimization has beendone by using Response Surface Method (RSM).