Sharif Digital Repository

Swarm motion is an amazing collective behavior in nature for energy saving. Inspiring this natural phenomenon in microorganisms’ swimming, we have proposed a motion strategy for a swarm of microrobots to reduce their energy consumption during path tracking. The investigated microrobot is an artificial Self-Propelled Microswimmer (SPM) with high maneuverability at low Reynolds number flow (Re ≪ 1). In this study, we have demonstrated that forming a swarm behavior with minimum energy consumption requires the microswimmers to be close enough to each other, since at small distances the hydrodynamic interactions of microswimmers reduce their energy consumption. Moreover, we also showed that... 

Swarm motion is an amazing collective behavior in nature for energy saving. Inspiring this natural phenomenon in microorganisms’ swimming, we have proposed a motion strategy for a swarm of microrobots to reduce their energy consumption during path tracking. The investigated microrobot is an artificial Self-Propelled Microswimmer (SPM) with high maneuverability at low Reynolds number flow (Re ≪ 1). In this study, we have demonstrated that forming a swarm behavior with minimum energy consumption requires the microswimmers to be close enough to each other, since at small distances the hydrodynamic interactions of microswimmers reduce their energy consumption. Moreover, we also showed that... 

Artificial Intelligence (AI) is a novel and fascinating tool in the control of robots. In this study, using a reinforcement learning approach, we have trained an artificial three-disk microrobot in order to learn how to swim at low Reynolds number flow (Re≪1) like the behavior of young microorganisms. Here, as the first contribution, we introduced a discrete model of a novel microswimmer. As the second contribution, we demonstrated that, using the proposed intelligent method, the microswimmer will be able to not only escape the physical constraints of swimming in a viscous medium, but also find the best sequence of actuation to reach the target point in a stochastic environment. The proposed... 

In this study, a reliable and predictive model namely, least-squares support vector machine (LS-SVM) was developed to predict dye removal efficiency. Four LS-SVM models have been developed and tested using more than 630 series of experimental data which were obtained from our previous paper. These data consist of adsorbate type, adsorbent dosage, initial dye concentration, salt, absorbance time and dye removal efficiency. Direct Red 31 (DR31), Direct Green 6 (DG6) and Acid Blue (AB92) were used as a model dyes. The results show that the developed model is more accurate and reliable with the average absolute relative deviation of 0.678%, 0.877%, 0.581% and 0.978% for single systems and... 

The brushless doubly fed induction generator (BDFIG) has substantial benefits, which make it an attractive alternative as a wind generator. However, it suffers from lower efficiency and larger dimensions in comparison with the doubly fed induction generator. A major part of drawbacks arises from undesirable spatial harmonics of air-gap magnetic field. Calculation of core loss is an important issue in optimal design studies to improve the performance characteristics. The iron loss is higher and has a more complex nature in BDFIGs in contrast with conventional machines. Furthermore, additional losses cannot be ignored due to a high level of spatial harmonics distortion. This paper aims to... 

This research reports the remarkable effects of Zr-based metal–organic framework, i.e. UiO-66, on cross-linked network structure and mechanical behaviors of ethylene-propylene diene monomer (EPDM) rubber under sulfur vulcanization systems. To this end, EPDM rubber was vulcanized with conventional (CV), semi-efficient (SEV) and efficient (EV) vulcanization systems. In addition, EPDM nanocomposites containing 5 phr UiO-66 with all three vulcanization systems were also prepared, for the sake of comparison with their corresponding unfilled samples. While the unfilled EPDM vulcanizates showed expectable behaviors in cross-linking density estimated by swelling experiment and cure-rheometer... 

There are various cases in physics and engineering sciences (especially communications) where one requires the envelope probability density function (pdf) of the sum of several random sinusoidal signals. According to the correspondence between a random sinusoidal signal and a random vector, the sum of random vectors can be considered as an abstract mathematical model for the above sum. Now it is desired to obtain the pdf of the length of the resulting vector. Considering the common and reasonable assumption of uniform distributions for the angles of vectors, many researchers have obtained the pdf of the length of the resulting vector only for special cases. However in this paper, the pdf is... 

From 1970s, studies have been conducted on the hydraulic design of stepped spillways and many empirical formulas were developed. Despite the simple geometry of these spillways, their hydraulic behavior is complicated. As a result, for many cases, the physical models are studied to verify the design. Numerical simulation is considered as a tool to reduce the laboratory tests, in order to save time and money. Furthermore, the parameters which are not investigated or measured in physical models could be evaluated. In this paper, the results of numerical simulations are compared with the results of physical models and empirical formulas for the spillway of Renwick dam studied in a 1/8 scale... 

The brushless doubly-fed induction generator (BDFIG) has substantial benefits, which make it an attractive alternative as a wind turbine generator. The aim of this work is to present a nodal-based magnetic equivalent circuit (MEC) model of the BDFIG which provides performance characteristics and flux density distributions. The model takes into account stator winding distributions, special configuration of rotor bars, slotting effects, teeth saturation, flux fringing and current displacement effects. The real flux tubes are considered for creating an MEC network and calculating its non-linear elements. A method for simplifying the rotor magnetic network has been applied and Gauss elimination... 

Partial state estimation of dynamical systems provides significant advantages in practical applications. Likewise, pre-compensator design for multi variable systems invokes considerable increase in the order of the original system. Hence, applying functional observer to pre-compensated systems can result in lower computational costs and more practicability in some applications such as fault diagnosis and output feedback control of these systems. In this note, functional observer design is investigated for pre-compensated systems. A lower order pre-compensator is designed based on a H2 norm optimization that is designed as the solution of a set of linear matrix inequalities (LMIs). Next, a... 

The paper presents a vector model for a Brushless Doubly-Fed Machine (BDFM). The BDFM has 4 and 8 pole stator windings and a nested-loop rotor cage. The rotor cage has six nests equally spaced around the circumference and each nest comprises three loops. All the rotor loops are short circuited via a common end-ring at one end. The vector model is derived based on the electrical equations of the machine and appropriate vector transformations. In contrast to the stator, there is no three phase circuit in the rotor. Therefore, the vector transformations suitable for three phase circuits can not be utilised for the rotor circuit. A new vector transformation is employed for the rotor circuit... 

Harmonic pollution minimisation in voltage-source programmed pulse-width modulation (PPWM) inverters is defined as a time-limited optimisation problem in real-time applications with variable DC sources. In order to obtain minimum total harmonic distortion (THD) as the objective function, shuffled-frog-leaping algorithm (SFLA) is modified and employed to calculate the switching angles and compared with non-linear programming as a traditional optimisation method. In addition, particle swarm optimisation and three of its modified versions as popular evolutionary optimisation algorithms are employed to ensure the capability of the proposed optimisation method. Moreover, modified sinusoidal PWM... 

This paper presents a generalized vector control system for a generic brushless doubly fed (induction) machine (BDFM) with nested-loop type rotor. The generic BDFM consists of p1/p2 pole-pair stator windings and a nested-loop rotor with N number of loops per nest. The vector control system is derived based on the basic BDFM equation in the synchronous mode accompanied with an appropriate synchronization approach to the grid. An analysis is performed for the vector control system using the generic BDFM vector model. The analysis proves the efficacy of the proposed approach in BDFM electromagnetic torque and rotor flux control. In fact, in the proposed vector control system, the BDFM torque... 

This paper presents a generic vector model for the brushless doubly-fed machine (BDFM) with a nested-loop rotor. The vector model is presented for a generic p1/p2 pole-pair BDFM which may have any number of loops per nest. The vector transformations utilized in the derivation of the vector model are provided in general form such that the model can be represented in any appropriate reference frames according to the specific application of the model, such as BDFM analysis, simulations, or control system synthesis. The derived vector model benefits from the feature of reduced order in comparison with the coupled-circuit model, which is the most detailed model for the BDFM, while maintaining the... 

The paper presents a novel vector control structure for the Brushless Doubly-Fed Machine (BDFM) which is derived based on the machine synchronous operation. In fact, the synchronous operation of the BDFM provides an efficient approach for determining the required reference angle in the machine vector control structure. The utilization of such reference angle makes the vector control structure presented in this paper different from and, in fact, more effective than the existing rotor flux and stator flux orientation schemes proposed for the machine. The results of implementing the vector control scheme in simulations confirm the effectiveness of the proposed approach for the BDFM control  

Atomic force microscopy (AFM), as an indispensable tool for nanoscale characterization, presents major drawbacks for operation in a liquid environment arising from the large hydrodynamic drag on the vibrating cantilever. The newly introduced 'Trolling mode' (TR-mode) AFM resolves this complication by using a specialized nanoneedle cantilever that keeps the cantilever outside of the liquid. Herein, a mechanical model with a lumped mass was developed to capture the dynamics of such a cantilever with a nanoneedle tip. This new developed model was applied to investigate the effects of the needle-liquid interface on the performance of the AFM, including the imaging capability in liquid  

The focus of this research is on the fabrication of aluminium-B4C and aluminium-ZrSiO4 composites by vortex method as a liquid phase process of metal matrix composites. SEM observations show that reinforcement particles are dispersed homogeneously throughout the aluminium matrix. Density, mechanical properties such as hardness and tensile strength of Al base MMCs containing different volume fractions (5, 10 and 15 %) of micro-reinforcements are examined separately and compared with those of monolithic aluminium. Results show that mechanical properties of samples are noticeably higher than those of the monolithic aluminium. The optimum amount of reinforcement in this... 

In the current study, two series of antimicrobial dressings conjugated with silver sulfadiazine (SSD) and silver nanoparticles (AgNPs) were developed and evaluated for chronic wound healing. Highly porous polycaprolactone (PCL)/polyvinyl alcohol (PVA) nanofibers were loaded with different concentrations of SSD or AgNPs and compared comprehensively in vitro and in vivo. SSD and AgNPs indicated a strong and equal antimicrobial activity against S. aureus. However, SSD had more toxicity against fibroblast cells over one week in vitro culture. An in vivo model of wound healing on male Wistar rats was developed with a full thickness wound. All the wound dressings indicated enough flexibility and... 

The paper presents the vector model of the Brushless Doubly-Fed Machine (BDFM) in the rotor flux oriented reference frame. The rotor flux oriented reference frame is well known in the standard AC machines analysis and control. Similar benefits can be sought by employing this method for the BDFM The vector model is implemented in MATLAB/SIVIULINK to simulate the BDFM dynamic performance under different operating conditions. The predictions from the vector model are compared to those from the coupled circuit model in simulation. The results are shown for the cascade mode of operation. © 2008 IEEE