Sharif Digital Repository

In this paper, a new fuzzy coordination method based on Interaction Prediction Principle (IPP) is presented for the optimal control of robot manipulators. For this purpose, the robot manipulator is considered as a two-level large-scale system where in the first level, the overall system is decomposed into several subsystems. Each subsystem can include one or more consecutive links and joints. In the second level, a fuzzy interaction prediction system is introduced for coordination of the overall system where a critic vector is also used for evaluation of its performance. The simulation results of using the proposed novel approach ,for optimal control of robot manipulators, show its... 

New standpoint of turbulent coolant jets into crossflow, which have numerous applications in traditional and modern technology, especially in gas turbine blades, is presented in this work. It is more than half a century that, many researchers have been studying jet into cross flow to understand its behavior and to predict and control it better. Previous studies indicate that, the main attentions had been on: a- geometrical parameters such as: inclined and compound jet angles, hole's shape, jet's array arrangements, jet's spacing, and jet's channel depth, b- flow characteristics like: blowing ratio, density ratio, jet and cross flow Reynolds numbers, and turbulence intensity. Here, we have... 

In this article, behavior of cantilever retaining walls with various flexibilities, which retain saturated cohesive soil behind, is studied using numerical modeling. Generally, pattern of lateral earth pressure behind retaining walls is complex and this complexity becomes greater for clayey soils. In this investigation, effects of different wall bending stiffnesses, and backfill drainage conditions on the failure height and on the lateral earth pressure are investigated using finite elements. Comparison between the obtained results from numerical simulation and those based on empirical or conventional design methods indicate that soil-structure interaction and c drainage conditions play... 

We investigate the effect of particle shape on the transportation mechanism in well-drilling using a three-dimensional model that couples computational fluid dynamics (CFD) with the discrete element method (DEM). This numerical method allows us to incorporate the fluid-particle interactions (drag force, contact force, Saffman lift force, Magnus lift force, buoyancy force) using momentum exchange and the non-Newtonian behavior of the fluid. The interactions of particle-particle, particle-wall, and particle-drill pipe are taken into account with the Hertz-Mindlin model. We compare the transport of spheres with non-spherical particles (non-smooth sphere, disc, and cubic) constructed via the... 

Purpose - A numerical method is developed to capture the interaction of solid object with two-phase flow with high density ratios. The current computational tool would be the first step of accurate modeling of wave energy converters in which the immense energy of the ocean can be extracted at low cost. Design/methodology/approach - The full two-dimensional Navier-Stokes equations are discretized on a regular structured grid, and the two-step projection method along with multi-processing (OpenMP) is used to efficiently solve the flow equations. The level set and the immersed boundary methods are used to capture the free surface of a fluid and a solid object, respectively. The full... 

Fluorescence spectroscopy in combination with circular dichroism (CD) spectroscopy were used to investigate the interaction of water-soluble amino acid Schiff base complexes, [Zn(L1,2)(phen)] where phen is 1,10-phenanthroline and H2L1,2 is amino acid Schiff base ligands, with bovine serum albumin (BSA) under the physiological conditions in phosphate buffer solution adjusted to pH 7.0. The quenching mechanism of fluorescence was suggested as static quenching according to the Stern-Volmer equation. Quenching constants were determined using the Stern-Volmer equation to provide a measure of the binding affinity between amino acid Schiff base complexes and BSA. The thermodynamic parameters ΔG, ΔH... 

There are many sites specially designed for mobile phones. In cases such as the registering in websites, some hackers write programs to make automatic false enrolments which waste the resources of the website. Therefore, it is necessary to distinguish between human users and computer programs. These systems are known as CAPTCHA (Completely Automated Public Turing test to tell Computers and Human Apart). CAPTCHA methods are mainly based on the weak points of OCR (Optical Character Recognition) systems while using them difficult in tools such as PDAs (Personal Digital Assistant) or mobile phones that lack a big keyboard. So the Non-OCR-Based CAPTCHA methods are proposed which are do not need...