In this study, the performance of a particle swarm optimization (PSO)-based meta-heuristic path planning algorithm integrated with different chaotic systems was evaluated. Unlike previous studies in the literature, this research specifically investigated the relationship between the chaoticity of chaotic systems and path planning performance. Lorenz, modified-Chameleon, and scaled-Zhongtang chaotic systems were integrated into the PSO algorithm by replacing the random parameter values required during each iteration with chaotic signals generated from these systems. The chaotic characteristics of the selected systems were analyzed using phase portraits, Lyapunov exponent spectra, and fast Fourier transform (FFT) analysis to determine their chaotic behavior levels. To evaluate the proposed approaches, seven different 20 × 20 m. test environments containing circular obstacles with varying positions and sizes were generated. Each algorithm was independently tested 30 times in every environment, resulting in a total of 840 experiments. The obtained results demonstrated that the scaled-Zhongtang-based PSO algorithm achieved the shortest path lengths and the best overall path planning performance in all environments, whereas the conventional PSO algorithm produced the lowest performance. Considering both the chaoticity analyses and the path planning results, it was observed that systems exhibiting stronger chaotic behavior provided greater improvements in PSO-based path planning performance.

Today, artificial intelligence technologies are advancing day by day, and neurons, which are the building blocks of artificial neural networks, one of the artificial intelligence technologies, are supporting this advancement. By studying the biological structures of neurons found in the human brain, dynamic models are created using mathematical differential equations. These models are implemented using analogue circuit elements or digital controllers such as computers to investigate their dynamic properties. Within the scope of this study, time series, phase portraits, bifurcation diagrams, and Lyapunov exponent spectrum analyses were performed using Google Colab, a new generation numerical analysis development environment, to reveal the dynamic properties of the Hindmarsh-Rose (HR) neuron model, which is effectively used in neuron modelling. In Google Colab, solutions were obtained using the Euler, Heun, RK4, solve_ivp, Adams-Bashforth/Moulton, and Z-transform methods in the numerical analysis solutions of the HR model; it was determined that the RK4 method, which has sufficient speed and high accuracy, is more suitable for microcontroller applications. Subsequently, an HR analogue circuit model was designed using Op-Amp operational elements in the OrCAD PSpice program, and simulations were performed to validate the Colab dynamic numerical analysis results. Finally, simulation results were obtained using a microcontroller with a Cortex-A72 (ARM v8) processor, which confirmed the Colab dynamic RK4 numerical analysis results of the HR neuron model. The applicability of membrane potential, fast recovery, and slow adaptation conditions to mini-systems for data processing was demonstrated.

Chaotic systems play a crucial role in information security, cryptography, and secure communication systems due to their extreme sensitivity to initial conditions and inherent unpredictability. In this study, the dynamic behavior of the Scaled Zhongtang (SZ) chaotic system, which exhibits rich dynamical characteristics, is analyzed, and a low-cost, high-precision embedded system implementation using the STM32F429 microcontroller is presented. Within the scope of the study, the complexity of the SZ chaotic system is first validated through time series analysis, phase portraits, Lyapunov spectrum, and bifurcation analyses. Following the numerical analyses, the chaotic differential equation set is solved on the embedded system using the fourth-order Runge-Kutta (RK4) algorithm. The obtained chaotic data are converted into analog signals via the microcontroller’s internal 12-bit Digital-to-Analog Converter (DAC) without the need for an external hardware interface. The system performance is evaluated by comparing experimental data acquired from an oscilloscope with MATLAB simulation results. The comparison results demonstrate that the STM32-based implementation exhibits high consistency with theoretical models. This study proposes a flexible and cost-effective alternative for industrial applications of chaotic systems, addressing the stability issues of analog circuits and the high costs of FPGA-based systems.

This study comprehensively examines the numerical proximity of the arithmetic mean of the golden ratio (ϕ) and the Feigenbaum constant (δ) to the number π, the theoretical mechanisms underlying this relationship, and its epistemological value. Although these three fundamental constants, situated at the intersection of mathematics and theoretical physics, are generally treated as elements of independent disciplines, this research unearths a unique structural bridge expressed through the formulation π = (ϕ + δ)/2. Numerical analyses prove that the relationship in question can be evaluated within the class of high-precision mathematical approximations, with a notably low relative error margin of approximately %0.064. Within the scope of the study, the fact that the arithmetic balance between the "most irrational number" ϕ, representing maximum dynamic stability, and the universal scaling factor δ, defining the critical threshold at which systems drift into chaos, corresponds to the number π the foundation of periodic cycles is discussed within the framework of the "geometric balance between chaos and order" hypothesis. Whether this numerical pattern is a coincidental numerological coincidence or a yet to be discovered deep topological necessity is analyzed in the context of dynamical systems theory and Euler’s identity. In conclusion, by presenting a simple and elegant equation that has gone unnoticed in the half century since the discovery of the Feigenbaum constant, this article raises new epistemological questions regarding the nature of fundamental constants and offers an interdisciplinary perspective on understanding the hidden geometry of nature.

Chaotic systems, despite their deterministic structure, are structures that are highly sensitive to initial conditions and therefore exhibit long-term unpredictable dynamics. Because of these properties, chaotic systems are widely used in various engineering and scientific fields such as cryptography, radar technologies, signal processing, biomedical modelling and random number generation. In this study, the Sprott 94 F chaotic system model is investigated in detail in both numerical analyses and analog environments. The time series and phase portraits of the system are analysed through numerical simulations performed in MATLAB, and to better understand its dynamic structure, the system's chaotic behaviour is verified by calculating bifurcation diagrams and Lyapunov exponents spectrums. On the analog side, the realizability of the model is first evaluated on an analog circuit designed using op-amp components. Subsequently, an alternative circuit design is implemented using Second Generation Current Conveyor (CCII) structures, which offer the advantages of higher frequency performance and wide bandwidth, and the chaotic structure of the system is also investigated on these structures. Numerical analyses and analog results are evaluated comparatively, the chaotic behaviours observed in both analog approaches were consistent with numerical simulations.

The education sector has increasingly embraced distance education to ensure a safe and uninterrupted learning process, especially in wars or epidemics. This paper focuses on designing and implementing a PID (Proportional-Integral-Derivative) controller experiment in remote laboratories utilizing the Internet of Things (IoT). Also, a laboratory experiment was developed using a naturally unstable system, specifically a cart-inverted pendulum. The experiments aim to enhance students' understanding of PID controller tuning within a real-world context. This system was chosen due to its dual motion characteristics, with a linear motion for the cart and a circular motion for the pendulum. Two controllers were designed and implemented for the system to enable control and feedback. Additionally, the Blynk platform was integrated into the experiment setup, allowing for real-time visualization of the system's response, control of PID parameters, and the ability to view the video stream via platforms like Skype. For remote connectivity, NodeMCU, an IoT development board, controlled the pendulum, collected system parameters, and transmitted them to the cloud through the Internet. Moreover, the sensors and the system were mathematically modeled, and their transfer functions were extracted. That allows the students to do the PID experiment theoretically and practically and compare the results. This complete setup enables local and remote access to the experiment, ensuring students can experiment regardless of their physical location. As a result of the study, designing and implementing a remote laboratory PID controller experiment utilizing IoT technology provides students with an innovative and immersive learning experience.

Covid-19 pandemisi insanların alışveriş alışkanlıklarını değiştirerek, özellikle internet üzerinden online alışveriş sitelerine yönelmelerine yol açmıştır. Artan sipariş oranları karşısında üretici ve tedarikçi firmalar için ise, siparişleri toplama ve zamanında ulaştırma noktasında yenilikçi çözümler üretmek kaçınılmaz olmuştur. Pandemi nedeniyle de kısıtlı sayıda insan gücü kullanmak zorunda kalan firmalar/tedarikçiler bu sorunu makine kullanımı ile çözümleme yoluna gitmişlerdir. Bu çalışmada tedarik zincirinde siparişlerin toplanma ve dağıtılma aşamaları için geliştirilen düşük maliyetli yeni bir Sipariş Toplama ve Dağıtım Sistemi uygulaması anlatılmaktadır. Tedarik zincirinin bu aşaması en sorunlu, zaman alıcı ve fazla maliyet kapsamaktadır. Genel olarak önerilen çözümlerde de daha fazla insan kaynağı kullanılmaktadır. Bu uygulama ile zaman, insan gücü, depo alanı ve maliyet noktalarında daha verimli bir sistem oluşturmak amaçlanmaktadır. Bu amaç doğrultusunda prototip bir Sipariş Toplama ve Dağıtım Sistemi uygulaması tasarımı yapılıp imalatı gerçekleştirilmiş ve gerçek zamanlı uygulaması yapılmıştır.

In this study, an interface design was carried out in order to provide convenience to the user in the control and monitoring of the Robot Operating System (ROS) based autonomous mobile robot (AMR). Qt Designer and Python were used in the interface design. Thanks to the designed interface, autonomous and manual control of AMR was provided. Using the gmapping algorithm, the environment in the virtual world was mapped and transformed into a picture in .png format and visualized in the interface. The location information from the ROS was transferred to the said picture and the instant tracking of the AMR was done via the interface. It was shown which algorithm is used locally and globally at that moment. While in autonomous mode, the vehicle was provided to move to the previously recorded point. The total distance and time spent by the AMR while moving between two points were also calculated by the interface. The location (x, y, z) and orientations (x, y, z, w) of the previously recorded station were monitored from the stop list. On the other hand, the position (x, y, z) and orientation (x, y, z, w) information of the AMR could be followed as real time via the interface. In this way, when the AMR reaches the goal station, the time elapsed between two points, the transportation distance, settlement information such as the location and orientation of the vehicle can be tracked and be compared via the interface.

The Covid-19 pandemic has changed people's shopping habits, causing them to turn to online shopping sites, especially on the internet. In the face of increasing order rates, it has become inevitable for manufacturers and suppliers to produce innovative solutions for collecting orders and delivering them on time. Companies/suppliers who had to use a limited number of manpower due to the pandemic have tried to solve this problem with the use of machinery. In this study, a new low-cost Order Picking and Distribution System application developed for the stages of order picking and distribution in the supply chain is described. This stage of the supply chain is the most problematic, time-consuming and costly. In general, more human resources are used in the proposed solutions. With this application, it is aimed to create a more efficient system in terms of time, manpower, warehouse space and cost. For this purpose, a prototype Order Picking and Distribution System application was designed, manufactured and implemented in real time.

New Generation Ball Mills have started to be preferred in milling systems regarding energy efficiency in recent years. In this article, modernization studies have been carried out to ensure that the current new generation ball mill (NGBM) operates on a chaotic basis. In experimental studies, chaotic signals loaded on the PLC device moved the milling chamber chaotically on horizontal or circular axes. While the grinding chamber is moving at constant speeds in both the horizontal and circular axis in the current NGBM, the improved New Generation Ball Mill (INGBM) has gained the ability to move at constant or chaotic speeds in both horizontal and vertical axes. In this study, the milling chamber of INGBM has a constant frequency speed in the horizontal and circular axes in the first scenario, a chaotic system in the horizontal axis, and a constant frequency speed in the circular axis in the second scenario. In the third scenario, it was ensured that it was moved at constant frequency speed in the horizontal axis and with the chaotic system in the circular axis. Experimental studies were carried out on the milling of SiC powder, which was chosen as an example in all scenarios. Sieve Analysis method and Scanning Electron Microscope (SEM) analysis methods were used when examining the ground powders. For both methods, the best results were obtained in the horizontal axis constant frequency speed (35 Hz) and circular axis chaotic (23-27 Hz, Lorenz system) operating scenario. It is seen that INGBM is 42% better in the powder size criterion and 3.44% better in the energy efficiency criterion.

The studies such as navigating the AMR between stations, docking to the station, and assigning autonomous tasks to other stations are costly in terms of time and energy consumption. This situation creates the need for an interface where the entire work area can be observed and AMRs can be controlled from a single center in the installation of the system in the field. In this study, an interface that can be used in AMR control and monitoring was designed. With this interface; It is thought to prevent costly situations such as determining the stations, calculating the time spent in the transportation of products between stations, determining the movement route. The interface developed in this context was used in an application where ROS-based path planning algorithms were compared. A total of six different stations was identified. With three different local planners: DWA, TEB and Trajectory planner, AMR was given the task of acting autonomously to each station. Thanks to the developed interface, the distance and time required to reach each station were calculated by performing autonomous movement to the desired points. In this way, a comparison of ROS-based path planning algorithms was made. It was calculated that the DWA was 10.55% more successful than the TEB and 2.33% more successful than the Trajectory in terms of distance covered. Additionally, when examined in terms of arrival time, it was calculated that the DWA was 24.64% more successful than the TEB and 2.39% more successful than the Trajectory.

In traditional methods, a fixed object is taken as a reference for size determination. The size of the other object is calculated by comparing the dimensions of this reference object. However, when it is desired to measure objects at different heights, the measurement of the reference object must also be changed. In the study carried out, the size and angle of the products flowing through the line were determined by using a depth camera. The data set was created by taking the measurements of an object of known dimensions from 34 different distances. The mentioned data set consists of the ratio of the number of pixels of the edges of the object to the lengths of the edges. By comparing the correlation between the obtained data set and the distance values, a mathematical equation was extracted with the help of the MATLAB program. With the help of this equation, regardless of the height and color of the object, only the distance to the camera and all 3 dimensions can be calculated. In addition, the angle of the object with the software-generated reference line was calculated by taking the long side of the object as a reference. In this way, the size and angle of the products flowing through the line were determined with a single camera without the need for a reference object and without any color and size discrimination.

his work gives a comparison between two approaches used for improving search operation speed by using FPGA-based Binary Content Addressable Memory (BiCAM), which is a parallel type of computer memory that quickly searches for and retrieves specific data stored within the memory by assigning a unique address to each piece of data. This hardware-based technique is more efficient than traditional software-based techniques such as Linear, Binary, and hash-based. The FPGA-based BiCAM is implemented using two different approaches: using Flip-flops and Block Random Access Memory as the memory element. The performance of these implementations is evaluated through Time complexity analysis, resource utilization, and search speed. The results indicate that the Flip-flops approach is worse in terms of search speed and resource utilization compared to the other approach. With the current increasing demand for faster and more efficient search operations, this approach can play an important role in optimizing search operations.

Welding quality is a crucial factor that significantly influences the performance, quality, and strength of products. Therefore, determining weld quality and detecting defects are vital processes in industrial production. Welding various materials such as metal, sheet metal, aluminum, and steel, as well as employing deep learning-based defect detection and classification, are common practices in the industrial field. However, there is a lack of deep learning-based studies analyzing welding faults in the copper-to-copper material welding process. This study focuses on detecting welding faults in resistance spot welding machines using transfer learning networks. The dataset consists of a total of 2531 images, with 582 images labeled as faulty and 1949 images labeled as faultless. The performance results obtained demonstrate classification accuracies ranging between 89% and 100%. Thus, this study presents a solution to an industrial problem faced by the manufacturing company, utilizing a dataset obtained under real production conditions.

Memories play an essential role in computer systems as they store and retrieve data that may include instructions required for system operation. In the case of an assembler, the memory stores instructions such as the Opcode table (OPTAB), which contains the instructions in the form of machine language to implement the desired program. A search operation is required for the Opcode table to obtain the desired instruction. To improve the speed of search operations and overall system efficiency, there are various search operation algorithms and techniques available, including linear, binary, and hashing algorithms. However, they all share one critical aspect which is they rely on software-based techniques that counter difficulties with the von Neumann Model. In this paper, we introduce a hardware-based approach to enhance the search operation for OPTAB in assemblers, which is usually performed using software-based techniques. Our proposed method involves replacing the conventional Random Access Memory (RAM) with Binary Content-Addressable Memory (BiCAM), which enables parallel search operation within a single clock cycle. To demonstrate the effectiveness of our approach, we utilize the BZK.SAU.FPGA assembler as a case study. We provide a comparison of our proposed method with the RAM-based searching algorithm used in BZK.SAU.FPGA assembler. Time complexity analysis and a comparison of resource utilization and power efficiency are provided. Our results showed that the proposed method has a fixed time complexity of O(1) under all conditions, regardless of memory size or input size. An increase in both resource utilization and power efficiency has been observed in the BiCAM due to its hardware structure. However, it could still be considered a reasonable trade-off for time-sensitive applications.

In this study, it is aimed to show how important to apply chaotic systems and Fuzzy Logic artificial intelligence technique to increase the production performance of industrial mixers used in agriculture in terms of important criteria such as product quality, homogeneity, time, and energy saving by using. A PLC (Programmable Logic Controller) controlled mixer whose all functions can be controlled by the HMI (Human Machine Interface) operator panel is designed and manufactured for experimental studies. Water, leonardite and potassium hydroxide (KOH) mixture components are mixed in a newly designed mixer in three different ways by using traditional, chaos, and artificial intelligence techniques in order to obtain liquid humic acid which is used as plant nutrition and soil modulator in agriculture. For the chaotic mixing option, chaotic systems with different dynamic features are chosen from the literature. After converting the time series values of chaotic systems to the frequency values with the program written on the PLC device, it is provided to rotate at variable speeds according to different chaotic systems of the mixer motor connected to the frequency inverter. Fuzzy Logic is chosen for the artificial intelligence mixing option. Fuzzy Logic membership functions and rules are established in accordance with the results of the chaotic systems mixing experiments and the data obtained from experts in humic acid production. Mixing experiments are carried out by using an interface program that makes the choice of chaotic systems and motor rotation speed range. By mixing humic acid components with traditional methods, the comparison is done in terms of product quality, solute ratio, pH values and total energy consumption. When the developed mixer is provided to operate with chaos and artificial intelligence methods, it is observed that more efficient results are obtained in terms of criteria such as product quality, homogeneity, time, and energy savings compared to the traditional mixing methods.

In this work, we devise a new 5-D hyperchaotic dynamo system by adding two feedback controllers to the Rikitake 2-disk dynamo system (1958). We show that the new 5-D hyperchaotic system does not possess any equilibrium point and deduce that the new 5-D system has a hidden hyperchaotic attractor. Using Multisim, we develop an electronic circuit design of the new 5-D hyperchaotic dynamo system for practical applications. We also exhibit the implementation of the new 5-D hyperchaotic dynamo system by using a field-programmable gate array (FPGA), which requires adders, subtractors and multipliers. The hardware resources are given for the application of three numerical methods, all of them providing results in good agreement with MATLAB simulations. As an application, we devise a dual core high speed hybrid true random number generator (TRNG) using Ring and Heun algorithm based on the new 5-D hyperchaotic oscillator on FPGA. Based on the hyperchaotic features of the proposed 5-D hyperchaotic dynamo system, we suggest a new encryption approach for colour images. Simulation outcomes of the presented encryption approach confirm that our chaotic system has good cryptographic properties and its usability in different cryptographic purposes.

Devre kesiciler normal işletme şartlarında devreyi açma-kapamaya, normal olmayan (kısa devre yapması ve aşırı akım geçmesi) şartlarda ise devreyi otomatik olarak kesmeye yarayan mekanik açma-kapama düzenekleridir. Devre kesicilerin açma-kapama özelliğinin yanında en önemli fonksiyonu, normal dışı şartlarda devreyi korumasıdır. Alçak gerilimde kullanılan koruma yöntemleri genel olarak termik-manyetik ve elektronik koruma mekanizmaları ile sağlanmaktadır. Termik koruma, uzama katsayısı farklı olan iki metalin birleştirilmesi ile oluşan bimetalin ısı etkisinde şekil değiştirmesiyle sağlanmaktadır. Bimetal ısındığında uzama katsayısı büyük olan metal diğerinin üzerine doğru bükülür ve devre kesici mekanizmasının açılmasına yardımcı olur. Devre kesicilerde manyetik koruma, akımın oluşturduğu manyetik alan etkisindeki metal parçaların mıknatıslanması prensibi ile çalışan mekanik bir sistem ile yapılmaktadır. Kısa devre şartlarında ise manyetik korumanın yanı sıra limitör özelliği (akım sınırlama) en önemli koruma sistemidir. Limitör özelliği sabit kontağa verilen U formu ile hareketli ve sabit kontaklardan zıt yönde akım akmasına neden olmaktadır. Limitörün bu özelliğinden dolayı kısa devre sırasında sabit ve hareketli kontaklarda oluşan manyetik alan etkisiyle zıt bir kuvvet oluşmaktadır. Kısa devre akımında oluşan bu zıt kuvvet sabit kontak ve hareketli kontağın birbirinden hızlı bir şekilde ayrılmasını sağlamaktadır. Limitörsüz olan devre kesicide bu süre daha uzun olmakta ve bu süre içerisinde geçen yüksek akım şalterin koruduğu devreye zarar verebilmektedir. Bu çalışmada, farklı tiplerde limitör özelliğine sahip olan ve limitör özelliğine sahip olmayan devre kesicilere IHP (International High Power Test Laboratory) laboratuvarında kısa devre deneyleri yapılmıştır. Limitörlü ve limitörsüz olarak farklı devre kesicilere yapılan kısa devre deneylerindeki açma süreleri ve ark sırasında açığa çıkan enerji miktarları karşılaştırılmıştır. Sonuç olarak limitör özelliğine sahip devre kesicinin açma süresinin daha kısa ve daha az ark enerjisi ile açtırma yaptığı görülmüştür. Ancak limitör özelliğine sahip olmayan devre kesicinin ise açma süresinin daha uzun ve daha çok ark enerjisi ile açtırma yaptığı görülmüştür.

Bu çalışmada; ülkemizde ve dünyada en çok kullanılan bitki besleme ve toprak düzenleyici ürünlerden biri olan humik asitin üretiminde, geleneksel karıştırma metodları yerine kaotik sistemler kullanılarak, ürün kalitesi, homojenlik, zaman ve enerji tasarrufu gibi önemli kriterler açısından karıştırıcıların verimlerini arttırmak hedeflenmiştir. Kaotik sistemlerin bu özelliklerinden yola çıkılarak deneysel çalışmalar için; tüm fonksiyonları HMI (Human Machine Interface) operatör panel tarafından kontrol edilebilen, PLC (Programmable Logic Controller) kontrollü bir karıştırıcı tasarlanarak imalatı gerçekleştirilmiştir. Bu karıştırıcıda, su, leonardit ve potasyum hidroksit (KOH) karıştırılarak, sıvı humik asit elde edilmiştir. Karıştırma işlemi için literatürden farklı dinamik özelliklerde kaotik sistemler seçilmiştir. Bu kaotik sistemlerin diferansiyel denklemleri, Labview programında geliştirilen bir ara yüz programında Runge Kutta 45 (RK45) sayısal çözüm algoritmasına göre çözdürülerek her kaotik sistemin kaotik zaman serisi sonuçları elde edilmiştir. Bu sonuçlar, PLC cihazına yazılan program ile frekans verilerine dönüştürülerek frekans invertörüne bağlı karıştırıcı motorun, seçilen kaotik sistemlere göre değişken hızlarda dönmesi sağlanmıştır. Aynı karışım geleneksel yöntemlerle (sabit hız) de elde edilerek, ürün kalitesi, çözünen madde oranı, pH değerleri ve toplam enerji tüketimi açısından karşılaştırmaları yapılmıştır. Elde edilen sonuçlara göre; kaotik sistemler kullanılarak yapılan karıştırmanın, ürün kalitesi, homojenlik, zaman, enerji tasarrufu gibi kriterler açısından geleneksel karıştırma yöntemlerine göre daha verimli olduğu gözlemlenmiştir.

Metaheuristic based artificial intelligence algorithms are commonly used in the solution of optimization problems. Another area -besides engineering systems- where chaos theory is widely employed is optimization problems. Being applied easily and not trapping in local optima, chaos-based search algorithms have attracted great attention. For example, it has been reported that when random number sequences generated from different chaotic systems are replaced with parameter values in bioinspired and swarm intelligence algorithms, an increase in the performance of metaheuristic algorithms is observed. Many scientific studies on developing hybrid algorithms in which metaheuristic algorithms and chaos theory are used together are already in process. In this article, scientific studies that cover the most popular metaheuristic algorithms in the literature in recent years and chaos theory subtopics together are examined. Great number of studies on metaheuristic algorithms and chaos issues exist in scientific literature. This article, hitherto, had to be limited to the most common meta-heuristic algorithms. In chaos-based metaheuristic algorithms, some advantages such as easy implementation, short application time and search acceleration have been addressed. This article is believed to contribute to two groups of researchers: The first group includes researchers already using meta-heuristic algorithms and who will come to understand that they can even improve their current techniques with chaos theory subarguments. The second group includes those who currently utilize chaotic analysis and methods in areas like nonlinear prediction modeling design and who will realize that they can make their existing methods even smarter with metaheuristic methods. Some metaheuristic algorithms use chaotic maps to solve problems such as trapping in local optimal solutions and premature convergence. In this study, such algorithms are examined through the benchmark functions they use. In addition, PSO, FA, ABC, WO algorithms are compared in terms of their common features, and algorithms with the best success rate are presented.