Sharif Digital Repository

A bilateral impedance controller is presented to enable robot-assisted surgery of a beating heart. For this purpose, two desired impedance models are designed and realized for the master and slave robots interacting with the operator (surgeon) and the environment (heart tissue), respectively. The impedance models are designed such that (a) the slave robot complies with the oscillatory motion of the beating heart and (b) the surgeon perceives the non-oscillatory portion of the slave/heart contact force at the master robot implying arrested-heart surgery. These performance goals are achieved via appropriate adjustment of the impedance model parameters without any measurement or estimation of... 

Assessing environmentally sustainable GW management (ESGM) needs a deep knowledge of the present and the projected status of GW (GW) quantity and quality. Translations of these data into policy relevant information are usually done through quantitative indices. Despite the availability of a dozen GW sustainability indicators, defining an integrated index based on internationally accepted scientific standards indicators is required. To fill this gap, an in-depth review on the developed indicators/index for evaluation of GW sustainable management (GWSM) from an environmental viewpoint at aquifer scales is provided in this study. Thirteen environmentally related quantitative indicators are... 

In this paper, an adaptive critic-based neurofuzzy controller is presented for water level regulation of nuclear steam generators. The problem has been of great concern for many years as the steam generator is a highly nonlinear system showing inverse response dynamics especially at low operating power levels. Fuzzy critic-based learning is a reinforcement learning method based on dynamic programming. The only information available for the critic agent is the system feedback which is interpreted as the last action the controller has performed in the previous state. The signal produced by the critic agent is used alongside the backpropagation of error algorithm to tune online conclusion parts... 

This paper proposes a decentralized market-based model for long-term capacity investment decisions in a liberalized electricity market with significant wind power generation. In such an environment, investment and construction decisions are based on price signal feedbacks and imperfect foresight of future conditions in electricity market. System dynamics concepts are used to model structural characteristics of power market such as, long-term firms' behavior and relationships between variables, feedbacks and time delays. For conventional generation units, short-term price feedback for generation dispatching of forward market is implemented as well as long-term price expectation for...