Sharif Digital Repository

The redundancy allocation is one of the most important and useful problems in system optimization, especially in electrical and mechanical systems. The object of this problem is to maximize system reliability or availability within a minimum operation cost. Many works have been proposed in this area so far to draw the problem near to real-world situations. While in classic models the system components are assumed to have two states of working and failed, in this paper, parallel components of serial sub-systems are considered to work in three states, each with a certain performance rate. The component states are classified into two working states of working with full performance and working... 

In multi-state systems (MSS) reliability problems, it is assumed that the components of each subsystem have different performance rates with certain probabilities. This leads into extensive computational efforts involved in using the commonly employed universal generation function (UGF) and the recursive algorithm to obtain reliability of systems consisting of a large number of components. This research deals with evaluating non-repairable three-state systems reliability and proposes a novel method based on a Markov process for which an appropriate state definition is provided. It is shown that solving the derived differential equations significantly reduces the computational time compared... 

In this paper, a nonlinear adaptive impedance controller is proposed for UAVs equipped with a robot manipulator that interacts with environment. In this adaptive controller, by considering the nonlinear dynamics model of the UAV plus the robot manipulator in Cartesian coordinates, all of model parameters are considered to be completely uncertain and their estimation is updated using an adaptation law. The objective of the proposed adaptive controller is the control of manipulator's end-effector impedance in Cartesian coordinates to have a stable physical interaction. The adjustable Cartesian impedance is a desired dynamical relationship between the end-effector motion in Cartesian... 

A new algorithm named random particle optimization algorithm (RPOA) for local path planning problem of mobile robots in dynamic and unknown environments is proposed. The new algorithm inspired from bacterial foraging technique is based on particles which are randomly distributed around a robot. These particles search the optimal path toward the target position while avoiding the moving obstacles by getting help from the robot's sensors. The criterion of optimal path selection relies on the particles distance to target and Gaussian cost function assign to detected obstacles. Then, a high level decision making strategy will decide to select best mobile robot path among the proceeded particles,... 

In this paper, the three-dimensional adaptive finite element modeling is presented for cohesive fracture analysis of non-planer crack growth. The technique is performed based on the Zienkiewicz-Zhu error estimator by employing the modified superconvergent patch recovery procedure for the stress recovery. The Espinosa-Zavattieri bilinear constitutive equation is used to describe the cohesive tractions and displacement jumps. The 3D cohesive fracture element is employed to simulate the crack growth in a non-planar curved pattern. The crack growth criterion is proposed in terms of the principal stress and its direction. Finally, several numerical examples are analyzed to demonstrate the... 

In this paper, a method for fast processing of data stream tuples in parallel execution of continuous queries over a multiprocessing environment is proposed. A copy of the query plan is assigned to each of processing units in the multiprocessing environment. Dynamic and continuous routing of input data stream tuples among the graph constructed by these copies (called the QueryMega Graph) for each input tuple determines that, after getting processed by each processing unit (e.g., processor), to which next processor it should be forwarded. Selection of the proper next processor is performed such that the destination processor imposes the minimum tuple latency to the corresponding tuple, among... 

This paper presents a precise solution to predict the behavior of steel fiber reinforced concrete (SFRC) under the four point bending test (FPBT). All the force components at the beam section (before and after cracking) are formulated by applying these assumptions: a realistic stress-strain model is used for concrete behavior in compression, a linear response is considered for the uncracked tension region in a concrete constitutive model, and an exponential relationship is proposed as a stress-crack opening in the crack region which requires two parameters. Then the moment capacity of the critical cracked section is calculated by using these forces and satisfying equilibrium law at the... 

The performance of perturbation method in nonlinear analyses of plates subjected to mechanical, thermal, and thermo-mechanical loadings is investigated. To this end, cylindrical bending of FG plates with clamped and simply-supported edges is considered. The governing equations of Mindlin's first-order shear deformation theory with von Kármán's geometric nonlinearity are solved using one- and two-parameter perturbation methods and the results are compared with the results of an analytical solution. The material properties are assumed to vary continuously through the thickness of the plate according to a power-law distribution of the volume fraction of the constituents. It is shown that the... 

In naturally fractured reservoirs, modeling of mass transfer between matrix blocks and fractures is an important subject during gas injection or contaminant transport. This study focuses on developing an exact analytical solution to transient tracer transport problem along a discrete fracture in a porous rock matrix. Using Gauss-Legendre quadrature, an expression was obtained in the form of a double integral which is considered as the general transient solution. This solution has the ability to account the following phenomena: advective transport in fractures and molecular diffusion from the fracture to the matrix block. Certain assumptions are made which allow the problem to be formulated... 

The performance of perturbation method in nonlinear analyses of plates subjected to mechanical, thermal, and thermo-mechanical loadings is investigated. To this end, cylindrical bending of FG plates with clamped and simply-supported edges is considered. The governing equations of Mindlin's first-order shear deformation theory with von Kármán's geometric nonlinearity are solved using one- and two-parameter perturbation methods and the results are compared with the results of an analytical solution. The material properties are assumed to vary continuously through the thickness of the plate according to a power-law distribution of the volume fraction of the constituents. It is shown that the... 

Meta-heuristic algorithms have been successfully applied to solve the redundancy allocation problem in recent years. Among these algorithms, the electromagnetism-like mechanism (EM) is a powerful population-based algorithm designed for continuous decision spaces. This paper presents an efficient memory-based electromagnetism-like mechanism called MBEM to solve the redundancy allocation problem. The proposed algorithm employs a memory matrix in local search to save the features of good solutions and feed it back to the algorithm. This would make the search process more efficient. To verify the good performance of MBEM, various test problems, especially the 33 well-known benchmark instances in... 

This article has been retracted: please see Elsevier Policy on Article Withdrawal (https://www.elsevier.com/about/our-business/policies/article-withdrawal). This article has been retracted at the request of the Editors. Some parts of this paper are similar to the following previously-published paper, but do not include appropriate citation: Amin Sharifi Haddad, Hassan Hassanzadeh, Jalal Abedi; Advective-diffuse mass tranfer in fractured porous media with variable rock matrix block size; Journal of Contaminant Hydrology, Volume 133, 15 May 2012, Pages 94–107. DOI: 10.1016/j.jconhyd.2012.02.008. The Authors apologise unreservedly for this violation of publishing policies, and for any... 

In this paper, a nonlinear adaptive control method is presented for the treatment of the Hepatitis B Virus (HBV) infection. Nonlinear dynamics of the HBV, modeling uncertainties and three state variables (the numbers of uninfected and infected cells and free viruses) are taken into account. The proposed control law is designed for the antiviral drug input such that the number of free viruses and consequently the number of infected cells decrease to the desired values. An adaptation law is also presented to overcome modeling uncertainties by updating estimations of the system parameters during the treatment period. The stability of the process and convergence to desired state values are... 

Diffusivity equation which can provide us with the pressure distribution, is a Partial Differential Equation (PDE) describing fluid flow in porous media. The quadratic pressure gradient term in the diffusivity equation is nearly neglected in hydrology and petroleum engineering problems such as well test analysis. When a compressible liquid is injected into a well at high pressure gradient or when the reservoir possess a small permeability value, the effect of ignoring this term increases. In such cases, neglecting this parameter can result in high errors. Previous models basically focused on numerical and semi-analytical methods for semi-infinite domain. To the best of our knowledge, no... 

Waterflooding has been regarded as an efficient method for pressure maintenance of oil reservoirs. x Improved techniques such as Smart Water flooding as a new EOR/IOR process has gained more momentum based on the recent research activities in this field and the reduction of oil price. Despite many efforts on achieving the governing mechanisms of Smart Water flooding in many individual fields, most of data are sparse and more possible mechanisms which explains all the interactions yet to be introduced. This experimental study used a systematic laboratory framework which is based on seawater treatments at fixed ionic strength to eliminate the ionic strength effects, NaCl considered as the... 

A stable robust adaptive impedance control strategy is introduced here as a model-based low-level control scheme for active ankle prostheses. The effects of amputee-prosthesis and prosthesis-environment interactions are included in the controller design. An interesting feature of the proposed controller is that only shank and ankle angles and angular velocities, and ground reaction forces are required to implement the control law. In other words, no feedback from amputee-prosthesis interaction forces and moment, global or local positions, and accelerations of amputated place is required. Using a Lyapunov analysis, exponential convergence characteristics of the proposed controller are proven.... 

A nonlinear robust adaptive sliding mode admittance controller is proposed for exoskeleton rehabilitation robots. The proposed controller has robustness against uncertainties of dynamic parameters using an adaptation law. Furthermore, an adaptive Sliding Mode Control (SMC) scheme is employed in the control law to provide robustness against disturbances (non-parametric uncertainties) with unknown bounds. For this purpose, another adaptation law is defined for the variation of the SMC gain. The proposed scheme is augmented with an admittance control method to provide the patient with compliance during interaction with the rehabilitation robot. The stability of the proposed controller and the... 

A new robust adaptive controller is developed for the control of the hepatitis B virus (HBV) infection inside the body. The non-linear HBV model has three state variables: uninfected cells, infected cells and free viruses. A control law is designed for the antiviral therapy such that the volume of infected cells and the volume of free viruses are decreased to their desired values which are zero. One control input represents the efficiency of drug therapy in inhibiting viral production and the other control input represents the efficiency of drug therapy in blocking new infection. The proposed controller ensures the stability and robust performance in the presence of parametric and... 

Considering the interaction of flexural moment and shear force in the steel frames with haunch or intermediate beam length and eccentrically braced frames with intermediate link length is a major concern of the structural analysis and design. This article contains two stages. In the first stage, to investigate the moment–shear interaction for the highly ductile steel I-sections, a study is carried out using finite element analysis and a simple and practical relationship is developed. In the second stage, a simple approach based on virtual work method for assemblage of interconnected rigid bodies is employed to consider collapse mechanisms with mixed hinges. Using this approach, the... 

Ground reaction force (GRF) characteristics of amputee walking are important for the analysis of clinical gait data, and also to update model reference adaptive impedance (MRAI) controllers. GRF estimation is a better alternative than direct GRF measurement because of the disadvantages of load cells, such as high cost, integration difficulties due to weight and physical dimensions, the possibility of overload, and measurement noise. This paper presents four robust MRAI observer/controller combinations for GRF estimation-based control of a prosthesis and a legged robot model in the presence of parametric uncertainties and unmodeled dynamics, in which the robot model is employed to mimic...