Sharif Digital Repository

Active disturbance rejection control (ADRC) is applied to a one-axis gimbal mechanism. The dynamic model of the system is derived and validated from mathematical modeling and practical experiments. Disturbances acting on the complete model of the gimbal mechanism are introduced via base lateral acceleration and angular motion. The ADRC is designed by utilizing an extended state observer for observing and suppressing the effects of external disturbances and internal parameter uncertainties. A PID controller is used to form a basis of comparison for set-point tracking and disturbance rejection performance. The effects of identification errors and observer bandwidth are experimentally... 

Active disturbance rejection control (ADRC) is applied to a one-axis gimbal mechanism. The dynamic model of the system is derived and validated from mathematical modeling and practical experiments. Disturbances acting on the complete model of the gimbal mechanism are introduced via base lateral acceleration and angular motion. The ADRC is designed by utilizing an extended state observer for observing and suppressing the effects of external disturbances and internal parameter uncertainties. A PID controller is used to form a basis of comparison for set-point tracking and disturbance rejection performance. The effects of identification errors and observer bandwidth are experimentally... 

In this paper, important issues that could come up in practice of Active Disturbance Rejection Control (ADRC) due to a common assumption and some inevitable practical restrictions are investigated. The main idea behind ADRC is modeling effects of both internal uncertainties and external disturbances as an extra state called the total disturbance which is timely estimated. In the majority of recent works, it is assumed that time derivative of total disturbance is bounded. First we prove that, beside the system characteristics, the validity of this assumption strongly depends on the tuning parameters, even in the case of simple classes of linear second order systems. Thus, one should be... 

This paper is concerned with the problem of guidance filter design for a homing air defense missile using measurements of an on-board pitch-yaw gimballed seeker mechanism. This problem possess a highly nonlinear dynamic which is influenced by various error sources such as seeker's stabilization loop torque disturbances originated from pursuer's accelerations and angular velocities, significant channel couplings, time-delayed and noisy measurements of optical sensor besides the unknown target maneuvers. To handle the inherent nonlinearity of problem a wide variety of assumptions are made in literature to derive simplified engagement kinematics. In present work, performance degradations which... 

In this paper, a novel scheme of command to line-of-sight guidance law regarding the outstanding practical limitations is proposed. With the aid of formulating problem in pursuer's line of sight frame, the exact feed-forward acceleration commands are derived for a general target motion in three-dimensional engagement geometry. Then, a nonlinear control scheme constructed from feed-forward terms along with a nested saturated feedback strategy is suggested. Two momentous practical limitations are considered. The first is related to existence of pursuer's acceleration saturation which is ignored in all existing solutions. The required conditions to insure the global stability are derived... 

In this paper, a novel scheme of command to line-of-sight guidance law regarding the outstanding practical limitations is proposed. With the aid of formulating problem in pursuer's line of sight frame, the exact feed-forward acceleration commands are derived for a general target motion in three-dimensional engagement geometry. Then, a nonlinear control scheme constructed from feed-forward terms along with a nested saturated feedback strategy is suggested. Two momentous practical limitations are considered. The first is related to existence of pursuer's acceleration saturation which is ignored in all existing solutions. The required conditions to insure the global stability are derived... 

Registration is the most consequential topic to be dealt with in a multi-sensor tracking system. On the other hand, providing satisfactory target acceleration estimation would enhance the performance of a ground-based air defense system encountering a maneuvering target. The main novelty of the present work is addressing a new scheme to solve the registration problem in a distributed network along with estimating accurate target acceleration, simultaneously. The details of coping with three common kinds of measurement, attitude, and location biases are explored concentrating on the effects of attitude bias as the main error source from the practical viewpoint. A modified iterated extended... 

In this paper, a novel scheme of command to line-of-sight guidance law regarding the outstanding practical limitations is proposed. With the aid of formulating problem in pursuer's line of sight frame, the exact feed-forward acceleration commands are derived for a general target motion in three-dimensional engagement geometry. Then, a nonlinear control scheme constructed from feed-forward terms along with a nested saturated feedback strategy is suggested. Two momentous practical limitations are considered. The first is related to existence of pursuer's acceleration saturation which is ignored in all existing solutions. The required conditions to insure the global stability are derived... 

γ-Alumina is used to catalyze the Cannizzaro reaction in the absence of any base under microwave irradiation in high yields. In the case of terephthalaldehyde the reaction is carried out with high selectivity  

Enolizable ketones have been reacted in a one-pot method with aromatic aldehydes, acetyl chloride and acetonitrile at room temperature in the presence of SnCl4/SiO2 to furnish the corresponding β-acetamidoketones in improved yields. Acetylation of an aromatic hydroxyl group was observed while using 4-hydroxybenzaldehyde or vanillin and the corresponding β-acetamidoketones were isolated in an excellent yield  

The boundary layer integral method is used to investigate the development of the turbulent swirling flow at the entrance region of a conical nozzle. The governing equations in the spherical coordinate system are simplified with the boundary layer assumptions and integrated through the boundary layer. The resulting sets of differential equations are then solved by the fourth-order Adams predictor-corrector method. The free vortex and uniform velocity profiles are applied for the tangential and axial velocities at the inlet region, respectively. Due to the lack of experimental data for swirling flows in converging nozzles, the developed model is validated against the numerical simulations. The... 

The governing equations of two-dimensional steady density currents are solved numerically using a finite volume method. The v2̄-f turbulence model, based on standard k - s model, is used for the turbulence closure. In this method, all Reynolds stress equations are replaced with both a transport equation for v2̄ and an elliptic relaxation equation for f, a parameter closely related to the pressure strain redistribution term. The Simple-C procedure is used for pressure-velocity coupling. In addition, Boussinesq's approximation is used to obtain the momentum equation. The computed height of the progressive density current is compared to the measured data in the literature, resulting in good... 

The deposition behavior of fine sediment is an important phenomenon, and yet unclear to engineers concerned about reservoir sedimentation. An elliptic relaxation turbulence model (v2̄ - f model) has been used to simulate the motion of turbid density currents laden whit fine solid particles. During the last few years, the v2̄ - f turbulence model has become increasingly popular due to its ability to account for near-wall damping without use of damping functions. In addition, it has been proved that the v2̄ - f model to be superior to other RANS methods in many fluid flows where complex flow features are present. Due to low Reynolds number turbulence of turbidity current,(its critical Reynolds... 

In this paper, an analytical solution for steady creeping motion of viscoelastic drop falling through a viscous Newtonian fluid is presented. The Oldroyd-B model is used as the constitutive equation. The analytical solutions for both interior and exterior flows are obtained using the perturbation method. Deborah number and capillary numbers are considered as the perturbation parameters. The effect of viscoelastic properties on drop shape and motion are studied in detail. The previous empirical studies indicated that unlike the Newtonian creeping drop in which the drop shape is exactly spherical, a dimpled shape appears in viscoelastic drops. It is shown that the results of the present... 

In this paper, creeping motion of a viscoelastic drop falling through a Newtonian fluid is investigated experimentally and analytically. A polymeric solution of 0.08 % xanthan gum in 80:20 glycerol/water and silicon oil is implemented as the viscoelastic drop and the bulk viscous fluids, respectively. The shape and motion of falling drops are visualized using a high speed camera. The perturbation technique is employed for both interior and exterior flows, and Deborah and capillary numbers are considered as perturbation parameters up to second order. The product of Deborah and capillary numbers is also used as a perturbation parameter to apply the boundary condition on the deformation on the... 

In this paper, we consider the problem of minimizing the uplink delays of users in a 5G cellular network. Such cellular network is based on a Cloud Radio Access Network (CRAN) architecture with limited fronthaul capacity, where our goal is to minimize delays of all users through an optimal resource allocation. Earlier works minimize average delay of each user assuming same transmit power for all users. Combining Pareto optimization and Markov Decision Process (MDP), we show that every desired balance in the trade-off among infinite-horizon average-reward delays, is achievable by minimizing a properly weighted sum delays. In addition, we solve the problem in two realistic scenarios;... 

Microwave induced Cannizzaro reaction, which was performed in presence of neutral γ-alumina as a polymeric catalyst, was discussed. Cannizzaro reaction was carried out on alumina surface and other unknown products were also obtained. Solvent extraction method was utilized to isolate mild and selective benzyl alcohol and carboxylic acids  

A well known method to reduce the intrinsic complexity of Multiple Input Multiple Output (MIMO) systems is to choose a subset of available antennas which have stronger links than the others, in order to perform the specified MIMO algorithm. The data resulted from the antenna selection process (at the receiver side) is sent back to the transmitter side via a feedback channel. There seems to be a need to reduce the number of feedack bits, specially when the number of antennas is not small. In this paper, we investigate the problem of reducing the number of feedback bits in antenna selection techniques. We've proposed two methods using vector quantization techniques to perform feedback bit...