Sharif Digital Repository

Capsule endoscopy is a minimally invasive gastrointestinal diagnostic procedure. The active endoscopic capsule enables the physician to steer the device to any desired position and direction, resulting in a better diagnosis of the disease. Due to the model uncertainties and the existence of disturbances in the gastrointestinal system, traditional control methods cannot achieve robust performance and stability. To overcome this issue, in this paper, a robust sliding mode controller is proposed for 5 Degrees Of Freedom (DOF) control (3-DOF closed-loop control for position and 2-DOF open-loop control for orientation) of the capsule endoscope using an electromagnetic actuation system. The... 

We use the Fokker-Planck equation and model the dispersive dynamics of solid particles in annular protoplanetary disks whose gas component is more massive than the particle phase. We model particle-gas interactions as hard sphere collisions, determine the functional form of diffusion coefficients, and show the existence of two global unstable modes in the particle phase. These modes have spiral patterns with the azimuthal wavenumber m = 1 and rotate slowly. We show that in ring-shaped disks, the phase-space density of solid particles increases linearly in time toward an accumulation point near the location of pressure maximum, while instabilities grow exponentially. Therefore, planetesimals... 

I formulate a general finite element method (FEM) for self-gravitating stellar systems. I split the configuration space to finite elements, and express the potential and density functions over each element in terms of their nodal values and suitable interpolating functions. General expressions are then introduced for the Hamiltonian and phase-space distribution functions of the stars that visit a given element. Using the weighted residual form of Poisson's equation, I derive the Galerkin projection of the perturbed collisionless Boltzmann equation, and assemble the global evolutionary equations of nodal distribution functions. The FEM is highly adaptable to all kinds of potential and density... 

I utilize the Petrov-Galerkin formulation and develop a new method for solving the unsteady collisionless Boltzmann equation in both the linear and nonlinear regimes. In the first-order approximation, the method reduces to a linear eigen-value problem which is solved using standard numerical methods. I apply the method to the dynamics of a model stellar disk which is embedded in the field of a soft-centered logarithmic potential. The outcome is the full spectrum of eigen-frequencies and their conjugate normal modes for prescribed azimuthal wavenumbers. The results show that the fundamental bar mode is isolated in the frequency space, while spiral modes belong to discrete families that... 

This chapter covers a part of the spectrum of neural-network uses in analytical chemistry. Different architectures of neural networks are described briefly. The chapter focuses on the development of three-layer artificial neural network for modeling the anti-HIV activity of the HETP derivatives and activity parameters (pIC 50) of heparanase inhibitors. The use of a genetic algorithm-kernel partial least squares algorithm combined with an artificial neural network (GA-KPLS-ANN) is described for predicting the activities of a series of aromatic sulfonamides. The retention behavior of terpenes and volatile organic compounds and predicting the response surface of different detection systems are... 

I decompose the unstable growing modes of stellar disks to their Fourier components and present the physical mechanism of instabilities in the context of resonances. When the equilibrium distribution function is a nonunifonn function of the orbital angular momentum, the capture of stars into the corotation resonance imbalances the disk angular momentum and triggers growing bar and spiral modes. The stellar disk can then recover its angular momentum balance through the response of nonresonant stars. I carry out a complete analysis of orbital structure corresponding to each Fourier component in the radial angle and present a mathematical condition for the occurrence of van Kampen modes, which... 

In this letter, we study a receiver architecture technique for joint resource allocation in a downlink (DL) multi-user multi-carrier non-orthogonal multiple access (MC-NOMA) network with simultaneous wireless information and power transfer (SWIPT). In this framework, the subcarrier set is partitioned into two groups that are assigned to perform information decoding (ID) and energy harvesting (EH) at the receiver side based on the optimization problem. This letter seeks to maximize energy harvesting while meeting a minimum data-rate requirement for each user. The underlying optimization problem is mixed-integer non-linear programming (MINLP). To that end, we employ the monotonic optimization...