Sharif Digital Repository

Ultrasonic motors (USM's) possess heavy nonlinear and load dependent characteristics such as dead-zone and saturation reverse effects, which vary with driving conditions. In this paper, behavior of an ultrasonic motor is modeled using Hammerstein model structure and experimental measurements. Also, model predictive controllers are designed to obtain precise USM position control. Simulation results indicate improved performance of the motor for both set point tracking and disturbance rejection. © 2005 ISA - The Instrumentation, Systems, and Automation Society  

This paper investigates the control of diesel engines comprising two actuators: exhaust gas recirculation (EGR) valve and variable geometry turbocharger (VGT) to mitigate the exhaust emissions. In contrast to conventional control techniques, multi-model predictive control (MMPC) algorithm is employed for control purposes. With the help of proposed scheme, constraints of the control problem is also considered and nonlinear model to enhance performance is utilized. In doing so, new controller tries to fulfill a compromise between fuel consumption and torque response by regulating air-to-fuel ratio and EGR fraction to decrease pollutants emission especially nitrogen oxides (NOx). The dynamic... 

In this paper, we show that the stability can not be achieved with current stabilizing MPC methods for some unstable processes. Hence we present a new method for stabilizing these processes. The main idea is to use a new time varying weighted cost function for traditional GPC. This stabilizes the closed loop system without adding soft or hard constraint in optimization problem. By studying different examples it is shown that using the proposed method, the closed-loop stability of unstable nonminimum phase process is achieved. COPYRIGHT © ENFORMATIKA  

This paper has described a method to obtain the molecular weight distribution (MWD) of polymeric materials from their rheological data. The method has been developed for linear polymers with log normal molecular weight distribution. The rheological data required to obtain the molecular weight distribution are the shear storage modulus,G' (ω), and shear loss modulus,G' (ω) , extending from the terminal zone to the plateau region. For determining the molecular weight average, the method uses the relationship between stress moduli and relaxation spectrums, with the equation that connects dynamic rheological data with molecular weight distribution, and so it is not necessary to achieve the... 

A new cationic flocculant was synthesized by graft copolymerization of acrylamide (AM) and 3-(methacryloylamino)propyl]trimethylammonium chloride (MAPTAC) onto salep using free radical polymerization initiated by ammonium persulfate (APS) to produce cationic salep [S-g-P(AM-co-MAPTAC)]. Reaction parameters (monomers/salep ratio, concentration of reactants, MAPTAC/AM ratio, and APS) were optimized using a full factorial experimental design to obtain the highest settling rate for cement suspensions. The best performing product was characterized by gel permeation chromatography (GPC), FTIR, 1H NMR spectroscopy, and thermogravimetric analysis (TGA). The resulted cationic flocculant may be... 

Silver nanostructures are very important agents in biomedical research, because of its unique activity against unfavorable processes in bioscience. In the current study, reagent-free facile preparation of silver nanoparticles (average diameter: 72 nm) and silver nanoparticles/ nanorods hybrid was reported via wet chemical synthesis method. Kappa-carrageenan (kC), a hydrophilic biopolymer with sulphate groups on its backbone, as capping agent was used in the reaction medium. Silver nanoparticles and silver nanoparticles/ nanorods formation was confirmed by SEM images. Further investigations were carried out using DLS data and GPC analysis  

Design, implementation and experimental evaluation of a classic PID, and a modern Generalized Predictive Control (GPC) for an off-pump heart tracking system were carried out. Following the design and simulation analysis of the controllers, experimental evaluation was conducted on the slave robot of SINA tele-operational surgical system. Results revealed that considering the volatile high-frequency/speed pattern of heart motion, the agility of the controlled system is the most influential factor on its performance. With this in mind, unlike the Ziegler-Nichols-based tuned PID with emphasis on steady-state condition, the PID control with more transient behavior showed a superior performance.... 

Design, implementation and experimental evaluation of a classic PID, and a modern Generalized Predictive Control (GPC) for an off-pump heart tracking system were carried out. Following the design and simulation analysis of the controllers, experimental evaluation was conducted on the slave robot of SINA tele-operational surgical system. Results revealed that considering the volatile high-frequency/speed pattern of heart motion, the agility of the controlled system is the most influential factor on its performance. With this in mind, unlike the Ziegler-Nichols-based tuned PID with emphasis on steady-state condition, the PID control with more transient behavior showed a superior performance.... 

In this study, water-soluble terpolymers containing highly hydrophilic monomers of acrylamide and maleic anhydride and highly hydrophobic monomers of styrene were synthesized (ASM) through the one-step inverse emulsion polymerization. Proton nuclear magnetic resonance (1H NMR), fourier transform infrared spectroscopy (FT-IR), and X-ray diffraction pattern (XRD) were performed to investigate the chemical structures and structural transformations of ASM. Thermal stability and thermal decomposition steps of ASM were studied by thermogravimetric analysis (TGA). An Ubbelhode capillary viscometer and a rheological mechanical spectrometer (RMS) were employed to obtain the specific, relative, and... 

This study investigates the durability of confined geopolymer concrete with fiber-reinforced polymer and compares the results with ordinary Portland cement concrete (OPCC). Two hundred and seventy geopolymer concrete (GPC) specimens with different mix designs (fly ash- and granulated blast furnace slag(GBFS)-based GPC) were prepared and then wrapped with two different fiber-reinforced polymers (carbon and glass FRPs). For 12,960 hrs (eighteen months), the specimens were exposed to four different pHs (2.5, 7 (water), 7.25 (saltwater), 12.5). The reliability analysis was performed after modeling the compressive strength over time. Based on the results, the ductility of all specimens decreased... 

Fully supramolecular dendrosomes (FSD) as bi-phase drug delivery systems are reported in this work. For preparation of FSD, amphiphilic linear-dendritic supramolecular systems (ALDSS) have been synthesized by host-guest interactions between hyperbranched polyglycerol having β-cyclodextrin core and bi-chain polycaprolactone (BPCL) with a fluorescine focal point. Self-assembly of ALDSS in aqueous solutions led to FSD. They were able to encapsulate paclitaxel with a high loading capacity. The dendrosome-based drug delivery systems were highly sensitive to pH and temperature. They were stable at 20-37. °C and pH7-8, but dissociated and released drug at temperatures lower than 20. °C or higher...