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RG-Trees: Nonlinear and deterministic extensions to reference governor trees
Gölbol, Ferhat; Schmidt, Klaus Verner; Department of Electrical and Electronics Engineering (2025-2-27)
Obstacle avoidance motion planning is a basic problem in mobile robotics. In some cases, e.g. in a factory, map of the workspace is known a-priori. The planner's main task is to find an appropriate feedback control law that takes the robot to the goal location without colliding the obstacles. Previously, Golbol et al. proposed RG-Trees, an OAMP algorithm that combines random sequential composition and the Reference Governors (RG). They covered the obstacle-free space with overlapping square-shaped safe regi...
Türk Bankacılık Sektörünün Yeniden Yapılandırılması: BDDK ve Yönetişim
Doğangün, Huriye Gökten (Yerel Yönetim Araştırma Yardım ve Eğitim Derneği, 2008-4-30)
2000 ve 2001 yıllarında art arda yaşanan ekonomik krizler Türkiye’de devletin yönetişim etrafında yeniden yapılandırılması sürecini başlatmıştır. Bu sürecin en önemli ayaklarından biri olan bankacılık sektöründe, düzenleme (regulation) ve denetleme faaliyetlerini yürütmek üzere bağımsız bir üst kurul olan BDDK kurulmuştur. Bu çalışmada, BDDK’nın yönetişimin vaat ettiği doğrultularda, Türk bankacılık sektörünün denetimini iyileştirip iyileştirmediği sorunu ele alınacaktır. Ekonominin devlet/siyasetten özerkl...
Merkezi Vezne Yer Seçimi ve ATM Envanter Yönetim Politikaları İle Nakit Yönetim Sistemi Optimizasyonu
Gürel, Sinan; Köksalan, Murat; Özmen, Müberra; Tunç, Sıdıka; Yağız, Gamze; Yıldırım, Selen; Yıldız, Engin (TMMOB Makina Mühendisleri Odası, 2015-6-31)
Bu çalışmada, Türkiye İş Bankası Nakit Yönetim Sistemi’nde merkezi vezne yer seçimi ve ATM nakit yönetimi problemleri ele alınmıştır. Nakit yönetim sistemi, ATM, şube ve merkezi veznelerin kasalarında tutulan nakit miktarlarının yönetimini ve merkezi vezneler ile hizmet verdiği ATM ve şubelerin arasındaki para transferini kapsamaktadır. ATM ve şube kasalarında tutulan nakit miktarı, müşteri memnuniyetini etkilemekte, aynı zamanda nakit ikmal operasyonları ile beraber önemli ölçüde maliyet oluşturmak- tadır....
Utilization Of Robotics For Solar Panel Cleaning and Maintenance
Park, Haon; Öztürk, Abdullah; Park, Hajun; Khan, Muhammed Umer (Konya Technical University, 2019-12-04)
In this study, a portable and low-cost solar panel cleaning robot with a functioning to blow away dust was designed and built to incur labor costs.The robot is service effective, environmentally friendly, energy independent, self-automated, long durable, and cost-effective. After cleaning operation, output voltage and current in solar panel increased by 8.02% and 18.78%, respectively. Moreover, the image processing with the photos taken by a camera fixed on the robot made classification according to color c...
Studies on Synthesis of Boron and Carborane Cage Derivatives
Akdağ, Akın; Doğan, Sevban (TENMAK Bor Araştırma Enstitüsü, 2020-3-29)
Weakly coordinating anions are extremely versatile species for capturing and characterizing cationic intermediates. Among these anions, carboranes and some boranes are known to be the most weakly coordinating anions. In this study, the carboranes and boranes were synthesized in order to use in different fields. B11H14- was synthesized from NaBH4 and used to synthesize CB11H12-. CB11H12- was synthesized by carbene addition to undecaborate. B11H14- was converted to B10H14 by oxidation and extrusion of one bor...
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