Sharif Digital Repository

Fuzzy Control of rowing exercise using Functional Electrical Stimulation (FES) concerns ankle, knee and hip joints. Muscular Modeling for each joint may contain two groups of muscles, namely extension and flexion. In the proposed method, joint controllers provide electrical stimulation pulses to the appropriate muscle group based on the trajectory error and according to a prescribed pattern designed for rowing exercise. Results indicate that the simulated Fuzzy control of desired angles closely match the experimental values for prescribed joints. Moreover, the robustness of the controller in presence of external disturbance is examined and the results show that the tracking of each joint... 

Human bodies use the electrical currents to make the muscles move. Disconnection of the electrical signals between the brain and the muscles as a result of spinal cord injuries, causes paralysis below the level of injury. Functional electrical stimulation (FES) is used to stimulate the peripheral nerves of the disabled limbs. The level of these electrical signals should be selected so that the desired tasks are done successfully. Applying the appropriate controller which can result a human like behaviour and the accomplishment of the desired tasks has become a significant research area. In this paper, the multi-input multi-output (MIMO) musculoskeletal model of human arm with six muscles is... 

In this study two cation coating of calcium and zinc has been developed on stainless steel 316L by electrochemical method. Cathodic current used as an accelerator for phosphating process and the effects of current density on microstructure of the phospahted layer and the time needed for termination of the phosphating process has been evaluated by potential-time, SEM, EDS, etc. Results indicate that higher current densities in electrochemical phosphating will result in heavier phospahted layer with finer crystal size which in turn deteriorates the quality of the layer by its higher porosity. Chemical analysis of the layer reveals that using the electrochemical method for phosphating of... 

A new Zinc phosphating bath, which produces coatings at relatively lower temperatures within a reasonable time by using of chemical accelerators has been devised. Improvement of the bath performance by the addition of divalent cations like calcium, nickel has been studied. Bath formulation and operating conditions have been optimized by coating weight determinations. Stable samples of phosphating formulations with and without calcium and nickel salts were prepared and the structure and morphology of the phosphate coatings were determined by using X-ray diffraction (XRD) techniques, scanning electron microscopy. ASTMB117 salt spray test and electrochemical impedance spectroscopy (EIS) were... 

We derive a new non-linear two dimensional model for melt flows and interface instability in aluminum reduction cells. This model is based on non-linear de St. Venant shallow water equations and contains the main features of an aluminum reduction cell. In this model we consider linear friction terms but in a new way that has not been considered in previous works. Our results are in good agreement with the results of simulation of viscous flow. This model is applicable both in determination of melt flows in molten aluminum and cryolite layers and also in finding the extreme limit for stability of interfacial waves in an aluminum reduction cell  

The design of a novel Continuous Fractional-Order Nonsingular Terminal Sliding Mode controller is the focus of this study. Time Delay Estimation technique is incorporated into the controller. The proposed method is responsible for controlling the human knee joint neuromusculoskeletal model via Functional Electrical Stimulation. A second-order nonlinear model with time-varying coefficients is used for characterizing the FES-stimulated neuromusculoskeletal model. The presence of time-varying coefficients often complicates precise control of knee joint through FES and impairs the performance of conventional methods. To this end, the TDECFONTSM has been proposed consisting of three components, a...