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Diabetes is a widespread and serious disease and noninvasive measurement has been in high demand. To address this problem, a power spectral density-based method was offered for determining glucose sensitive sub-bands in the nearinfrared (NIR) spectrum. The experiments were conducted using phantoms of different optical properties in-vitro conditions. The optical bands 1200–1300[Formula: see text]nm and 2100–2200[Formula: see text]nm were found feasible for measuring blood glucose. After that, a photoplethysmography (PPG)-based low cost and portable optical system was designed. It has six different NIR wavelength LEDs for illumination and an InGaAs photodiode for detection. Optical density values were calculated through the system and used as independent variables for multiple linear regression analysis. The results of blood glucose levels for 24 known healthy subjects showed that the optical system prediction was nearly 80% in the A zone and 20% in the B zone according to the Clarke Error Grid analysis. It was shown that a promising easy-use, continuous, and compact optical system had been designed.

Bipedal robots by their nature show both hybrid and underactuated system features which are not stable and controllable at every point of joint space. They are only controllable on certain fixed equilibrium points and some trajectories that are periodically stable between these points. Therefore, it is crucial to determine the trajectory in the control of walking robots. However, trajectory optimization causes a heavy computational load. Conventional methods to reduce the computational load weaken the optimization accuracy. As a solution, a variable time interval trajectory optimization method is proposed. In this study, optimization accuracy can be increased without additional computational time. Moreover, a five-link planar biped walking robot is designed, produced, and the dynamic walking is controlled with the proposed method. Finally, cost of transport (CoT) values are calculated and compared with other methods in the literature to reveal the contribution of the study. According to comparisons, the proposed method increases the optimization accuracy and decreases the CoT value.

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Quadrocopter is an aerial vehicle platform which has become very popular among researchers in the recent past due to the advantages it offers over conventional helicopters. Quadrocopter is very simple structure, but it is inherently unstable from aerodynamics point of view. The first step before the control stage is presenting the adequate modeling of the system dynamic. This paper presents the dynamic model of quadrocopter as regarding to Newtons Laws with kinematic equations. Presented model is simulated with Matlab-Simulink for testing translational and rotational situations. And it is figured out that; presented model is acting like a real quadrocopter. Finally a PID controller designed for stabilize the altitude of modeled quadrocopter.