Sharif Digital Repository

In this study, an experimental investigation was conducted from a thermal performance standpoint on closed-loop pulsating heat pipes (CLPHPs) with four different fluids and their water-based binary mixtures as working fluids with volume mixing ratios of 3:1, 1:1, and 1:3. Ethanol and acetone as two types of fluids that are soluble in water and, to unprecedentedly compare the behavior of insoluble mixtures with the soluble ones as the working fluids, toluene and hexane as two types that are insoluble in water were used. Additionally, to predict the thermal performance of the pure, soluble binary, and insoluble binary fluids simultaneously for the first time, a correlation was derived. © 2018... 

Reference trajectory management is a method to modify reference trajectories for the faulty system. The modified reference trajectories define new maneuvers for the system to retain its pre-fault dynamic performance. Controller reconfiguration is another method to handle faults in the system, for instance by adjusting the controller parameters (coefficients). Both of these two methods have been considered in the literature and are proven to be capable of handling various faults. However, the comparison of these two methods has not been considered sufficiently. In this paper, a controller reconfiguration mechanism and a reference trajectory management are proposed for the spacecraft attitude... 

In this study, an experimental investigation was conducted from a thermal performance standpoint on closed-loop pulsating heat pipes (CLPHPs) with four different fluids and their water-based binary mixtures as working fluids with volume mixing ratios of 3:1, 1:1, and 1:3. Ethanol and acetone as two types of fluids that are soluble in water and, to unprecedentedly compare the behavior of insoluble mixtures with the soluble ones as the working fluids, toluene and hexane as two types that are insoluble in water were used. Additionally, to predict the thermal performance of the pure, soluble binary, and insoluble binary fluids simultaneously for the first time, a correlation was derived. © 2018,... 

Micro motion stages are one of the essential components in field of micro robotics and ultra fine positioning systems. This research presents the optimum design of a 3-DOF micro motion stage and its position control using FEM simulation. This stage to be studied uses a 3 RRR flexure hinge base compliant mechanism driven by three piezoelectric stack actuators to provide micro scale planar motion. First of all parametric modeling of the stage will be fulfilled in ANSYS environment utilizing a commercial piezostack and different types of flexure hinges. Hence the Jacobian matrix will be achieved for each case. The optimum selection of the hinge form will be achieved upon results of the previous... 

We apply the active sliding mode controller to synchronize two uncertain chaotic systems. Uncertainties are considered both in linear and nonlinear parts of the system dynamics. We have also studied the case that the signals are contaminated by measuring channel noise. It is shown that having some conditions on the uncertainties and noise magnitude, the closed loop stability can be guaranteed. The synchronization errors are shown to be confined into some bounded value. Numerical simulations are presented to evaluate the analysis and effectiveness of the controller. © 2006 Elsevier Ltd. All rights reserved  

It would be promising if one can simulate the closed-loop behavior of a smart system in an available FEM software such as "ANSYS". The ANSYS/Multiphysics software has the ability of coupling different physical domains and also modeling smart materials such as piezoelectric and piezoresistives, i.e. it has the capability of modeling smart structures. The dynamic modeling of the controlled structures is then realized by the ANSYS programming tool. This aspect highly facilitates the overall system behavior analysis and at the same time various control methods can be tested without noticing the time consuming structural analysis involved. In this research work, it is tried the mentioned idea to... 

In this paper, on the basis of a robust algorithm for the analysis of the 6 DOF motion of an underwater vehicle in calm water, after presenting the dynamics model and simulating motion, the model is put in the closed loop control to perform a controlled mission. The mission is defined as to navigate the submarine toward a desired point in the vertical plane. In performing the mission, the least time and of course the least position error with respect to the target point is aimed. The designed controller based on fuzzy logic and thus adapted to the human patterns for navigation, with a simple structure, performs the mission accurately. The intelligent structure of the fuzzy controller,... 

This article addresses an adaptive backstepping control design for uncertain fractional-order nonlinear systems in the strict-feedback form subject to unknown input quantization, unknown state-dependent control directions, and unknown actuator failure. The system order can be commensurate or noncommensurate. The total number of failures is allowed to be infinite. The Nussbaum function is used to deal with the problem of unknown control directions. Compared with the existing results, the control gains can be functions of states and the knowledge of quantization parameters and characteristics of the actuator failure are unknown. By applying the backstepping control approach based on the... 

In this paper a neural network decentralized control for trajectory tracking of robot manipulators is developed. The proposed decentralized control allows the overall closed-loop system to be stabilized while making the tracking error to be uniformly ultimately bounded (UUB), without having any prior knowledge of the robot manipulator dynamics. The interconnections in the dynamic equations of each subsystem are considered with unknown nonlinear bounds. The RBF neural networks (RBFNNs) are proposed to model the unknown nonlinear dynamics of the robots and the interconnection terms. Using Lyapunov method, the stability of the overall system is investigated, © 2005 IEEE  

Effect of random signals with various powers, as current loads, on positioning and disturbance rejection problems on micro-step PID closed loop control system is addressed in this paper. Experimental results due to implementing different white noise power, speed, and a 0.3 N.m disturbance load torque show that, Random noise source changes current profile and affects the accuracy of positioning in tracking and disturbance rejection problems. Performance of the PID proposed controller under the implementation of random noise on phases of the HSM has been proved to be accurate enough even under disturbance torque acting on the system. Copyright © 2005 by ASME  

In this paper, a theoretical investigation of nonlinear vibrations of a 2 degrees of freedom system when subjected to saturation is studied. The method has been especially applied to a system that consists of a DC motor with a nonlinear controller and a harmonic forcing voltage. Approximate solutions are sought using the method of multiple scales. It is shown that the closed-loop system exhibits different response regimes. The nature and stability of these regimes are studied and the stability boundaries are obtained. The effects of the initial conditions on the response of the system have also been investigated. Furthermore, the second-order solution is presented and the corresponding... 

In this paper a decentralized control scheme for multiple cooperative manipulators is developed to achieve the desired performance in motion and force tracking, in the presence of uncertainties in dynamic equations of the robots. To eliminate the effects of uncertainties in the closed-loop performance, a new adaptive control algorithm is proposed. Based on the Lyapunov stability method, it is proved that all the error signals in the closed-loop system which is compose of a robot, an observer and a controller asymptotically converge to zero. Also to avoid the difficulties of using velocity sensors within the cooperative system, an output feedback control scheme with a linear observer is used.... 

The performance of a new robust AQM strategy for dynamically varying TCP/AQM networks is proposed. Network variations include in both network topology and traffic variations. The developed AQM is designed based on Coefficient Diagram Method (CDM), which is a new indirect pole placement method that considers the speed, stability and robustness of the closed loop system in terms of time domain specifications. Simulation results show different features of the proposed method. ©2005 IEEE  

Induction motor parameter estimation is generally needed for such purposes as fault detection and the achievement of high dynamic performance drives. This paper is an attempt to use variable structure control (VSC) methodology for the on-line estimation of several significant mechanical and electrical induction motor parameters. The estimated parameters are rotor resistance, magnetizing inductance, stator resistance and viscous damping coefficient In this combined control/estimation method, we propose to apply field-oriented control to the non-linear model of induction motor, and then transform the model by Input-state linearization into canonical form. Application of variable structure... 

We introduce a novel probabilistic framework to achieve robust non-fragile tuning methods in control of processes with parametric uncertainties. We consider probability distributions to model the process parameters' uncertainties. First, we propose the tuning framework in a general setting. Then, as an illustration, we apply it to PD control of IPD-modeled processes. It is noteworthy that the proposed tuning method is robust against the considered parametric uncertainties. Also, to empower the proposed robust tuning method in the viewpoint of non-fragility, we utilize a centroid approach. Selecting the form of the probabilistic framework, we empirically observe some of the popular tuning... 

In this paper, the effect of different parameters on the thermal operation of a Closed Loop Pulsating Heat Pipe (CLPHP) has been investigated. These parameters include the working fluid, the inclination angle, the filling ratio, and the input heat flux. The effect of nanoparticle mass concentrations has been analyzed as well. It was observed that the CLPHP can decrease thermal resistance up to 11.5 times compared to the same empty copper tube with thermal resistance of 9.4 K/W. Optimum thermal operation for a system with the water-silver nanofluid was achieved at conditions of the 50% filling ratio with thermal resistance of 0.9 K/W, and for the water-titanium oxide system, the optimal... 

In this paper, an adaptive fuzzy controller, based on backstepping technique, has been proposed for temperature control of a general class of continuous stirred tank reactors (CSTRs). Using the observability concept, an adaptive fuzzy controller using temperature measurement has been designed. A fuzzy logic system is used to estimate the concentration dependent terms and other unknown system parameters appearing in the control law. It is shown that the closed loop system is asymptotically stable and influences of minimum approximation error and external disturbance on the L2 norm of the output tracking error can be attenuated arbitrarily. The performance of the proposed controller has been... 

Airships are inherently sensitive to random atmospheric disturbances that could potentially make their data gathering and observation missions a formidable task. In this context robust closed loop feedback controllers are important. The present study is therefore focused on optimal feedback controller design of an indigenous domestically designed airship (DA) for added robustness against atmospheric disturbances. While the general airship six degrees of freedom (6DoF) governing equations of motion are mathematically nonlinear, one often needs to resort to local linearization methods to benefit from proven linear closed loop controller (CLC) design approaches. In this sense an optimal linear... 

In addition to perfectly steering the output concentration of a process network to an exogenous set-point, a desired synthetically implemented biological controller should be able to robustly maintain this regulated output in the face of the extrinsic disturbances and inherent uncertainties due to an evervarying environment besides the imprecise modeling. Such an ability, which is called robust perfect adaptation (RPA), can be achieved by integral feedback control (IFC). Answering how IFC is (biochemically) constructible in generally unknown synthetic networks has been a research focus in the community. One of these answers, which has been well investigated previously, is to utilize a simple... 

This paper presents the design of a new robust model predictive control algorithm for nonlinear systems represented by a linear model with unstructured uncertainty. The linear model is obtained by linearizing the nonlinear system at an operating point and the difference between the nonlinear and linear model is considered as a Lipschitz nonlinear function. The controller is designed for the linear model, which fulfills the stabilization condition for the nonlinear term. Unlike previous studies that have not considered a valid Lipschitz matrix of nonlinear term in the design process, we propose an algorithm in this paper in which it is considered. Therefore, the closed loop stability of the...