Sharif Digital Repository

This paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called FLBS applied to the locomotion of five-link biped robot. Due to the underactuated robot's model, the system has a hybrid nature, while the FLBS control can provide a stabilized walking movement even with the existence of large disturbances and uncertainties by implementing smooth chatter-free signals. Stability of the method is proven using the Lyapunov theorem based on the hybrid zero dynamics and Poincaré map. The simulations show the controller performance such as robustness and chatter-free response in the presence of uncertainty and disturbance. Copyright ©... 

Hybrid-reinforced metals are novel composite materials in which nano-phases including nanoparticles and nanotubes/nanosheets are used simultaneously to reinforce metals or alloys to enhance physical, mechanical, wear and other properties. In this research, Cu/(CNT-SiC) hybrid nanocomposite was synthesized using flake powder metallurgy and spark plasma sintering method and the effects of hybrid reinforcements on microstructural, wear and corrosion properties of the developed material were investigated and compared with those of copper. Microstructural characterization showed reduction of average grain size from 419 to 307 nm and increase of low angle grain boundaries with the introduction and... 

In this study, ultra-fine grained Cu and Cu + carbon nanotube (CNT) nanocomposites were prepared through a processes combining flake powder metallurgy, hot pressing, and high-pressure torsion (HPT). The effects of grain refinement and CNT reinforcement on the microstructure, hardness, wear resistance, and corrosion behavior of the newly developed nanocomposites were investigated. The results indicated that the HPT process decreased the grain size of Cu and Cu + CNT by 67.7% and 68.1%, respectively, and increased their microhardness by 151% and 132%. The addition of CNTs substantially improved the tribological behavior of Cu by generating a mechanically mixed carbon- and oxide-rich layer.... 

In this study, ultra-fine grained Cu and Cu + carbon nanotube (CNT) nanocomposites were prepared through a processes combining flake powder metallurgy, hot pressing, and high-pressure torsion (HPT). The effects of grain refinement and CNT reinforcement on the microstructure, hardness, wear resistance, and corrosion behavior of the newly developed nanocomposites were investigated. The results indicated that the HPT process decreased the grain size of Cu and Cu + CNT by 67.7% and 68.1%, respectively, and increased their microhardness by 151% and 132%. The addition of CNTs substantially improved the tribological behavior of Cu by generating a mechanically mixed carbon- and oxide-rich layer.... 

In this study, ultra-fine grained Cu and Cu + carbon nanotube (CNT) nanocomposites were prepared through a processes combining flake powder metallurgy, hot pressing, and high-pressure torsion (HPT). The effects of grain refinement and CNT reinforcement on the microstructure, hardness, wear resistance, and corrosion behavior of the newly developed nanocomposites were investigated. The results indicated that the HPT process decreased the grain size of Cu and Cu + CNT by 67.7% and 68.1%, respectively, and increased their microhardness by 151% and 132%. The addition of CNTs substantially improved the tribological behavior of Cu by generating a mechanically mixed carbon- and oxide-rich layer.... 

This paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called FLBS applied to the locomotion of five-link biped robot. Due to the underactuated robot's model, the system has a hybrid nature, while the FLBS control can provide a stabilized walking movement even with the existence of large disturbances and uncertainties by implementing smooth chatter-free signals. Stability of the method is proven using the Lyapunov theorem based on the hybrid zero dynamics and Poincaré map. The simulations show the controller performance such as robustness and chatter-free response in the presence of uncertainty and disturbance. © 2020... 

This paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called FLBS applied to the locomotion of five-link biped robot. Due to the underactuated robot's model, the system has a hybrid nature, while the FLBS control can provide a stabilized walking movement even with the existence of large disturbances and uncertainties by implementing smooth chatter-free signals. Stability of the method is proven using the Lyapunov theorem based on the hybrid zero dynamics and Poincaré map. The simulations show the controller performance such as robustness and chatter-free response in the presence of uncertainty and disturbance. © 2020... 

Multi-functional F-doped NiTiO3 structures with high stability were prepared by a template-free hydrothermal method. A multi-technique approach including several physicochemical techniques was employed to describe the morphology, electronic properties, and structural characters. The F-doped NiTiO3 catalyst showed a much higher CO2 to CH4 photocatalytic conversion rate (2.6 μmol g−1 h−1) than pristine NiTiO3 (1.6 μmol g−1 h−1), highlighting the key role of F impurities in suppressing the charge carriers recombination. In addition to the higher efficiency and reusability than Pt/C reference electrode toward electrocatalytic water splitting, a lower Tafel slope was recorded for the F-doped... 

Using multiple antennas at the transmit and receive sides of a passive radar brings both the benefits of MIMO radar and passive radar. However one of the obstacles arisen in such configuration is the receive antennas placement in proper positions so that the radar performance is improved. Here we just consider the case of positioning one receiver among multiple illuminators of opportunity. Indeed it is a start for the solution of optimizing the geometry of the multiple receivers in a passive radar  

SbCl3 supported on montmorillonite K-10 is an efficient catalyst for the ring opening of epoxides with aromatic amines under solvent-free conditions and microwave irradiation to give the corresponding b-amino alcohols in high yields with high regioselectivity  

In this paper, we consider an integrated sensing and communication (ISAC) system with wireless power transfer (WPT) where an unmanned aerial vehicle (UAV)-based radar serves a group of energy-limited communication users in addition to its sensing functionality. In this architecture, the radar senses the environment in phase 1 (namely sensing phase) and mean-while, the communications users (nodes) harvest and store the energy from the radar transmit signal. The stored energy is then used for information transmission from the nodes to UAV in phase 2, i.e., uplink phase. Performance of the radar system depends on the transmit signal as well as the receive filter; the energy of the transmit... 

One of the important obstacles in MIMO (Multiple Input Multiple Output) radars is the issue of designing proper transmit signals. Indeed, the capability of signal design is a significant advantage in MIMO radars, through which, the system can achieve much better performance. Many different aspects of this performance improvement have been considered yet, and the transmit signals have been designed to attain such goal, e.g., getting higher SNR or better detector's performance at the receiver. However, an important tool for evaluating the radar's performance is its ambiguity function. In this paper, we consider the problem of transmit signal design, in order to optimize the ambiguity function... 

Two gains play key roles in recently developed MIMO wireless communication systems: "spatial diversity" gain and "spatial multiplexing" gain. The diversity gain refers to the capability to decrease the error rate of the MIMO channel, while the multiplexing gain implicitly refers to the amount of increase in the capacity of the MIMO channel. It has been shown that there is a fundamental tradeoff between these two types of gains, meaning interplay between increasing reliability (via an increase in the diversity gain) and increasing data rate (via an increase in the multiplexing gain). On the other hand, recently, MIMO radars have attracted much attention for their superior ability to enhance... 

It is a well known fact that using multiple antennas at transmit and receive sides improves the detection performance. However, in such multiple-input multiple-output (MIMO) configuration, proper positioning of transmitters and receivers is a big challenge that can have significant influence on the performance of the overall system. In addition, determining the power of each transmitter under a total power constraint is a problem that should be solved in order to enhance the performance and coverage of such a system. In this paper, we design the Neyman-Pearson detector under the Rayleigh scatter model and use it to introduce a criterion for the antenna placement at both transmit and receive... 

There has been much interest, recently, towards exploiting the Multiple-Input Multiple-Output (MIMO) technique in radar. It is shown that using multiple antennas at transmit and receive sides can improve the performance of the system. However, in order to analyze the system's performance, its ambiguity function, i.e. the ambiguity function of a MIMO radar, is needed to be defined. In this paper, beginning from the information theoretic definitions, we derive such function, specifically for a MIMO radar with widely separated antennas  

By combining the two ideas of MIMO (Multiple Input Multiple Output) and PCL (Passive Coherent Location) in radar, one can achieve the advantages of both recently developed techniques simultaneously. While using multiple antennas at the receive side provides a spatial diversity of the object to be detected, using multiple illuminators of opportunity, most importantly, makes the radar covert to the interceptors. One obstacle in such MIMO configuration is choosing the positions of the receive antennas. In this paper, after analyzing the Neyman-Pearson detector for the DVB-T based PCL, we introduce the probability of missed detection as a criterion to place the receive antenna. Here, we only... 

One of the most important obstacles in passive radar applications is removing the direct signal from the target channel. Otherwise, week echoes from the targets in the target channel would be ignored due to the limited dynamic range of the system. One of the most effective techniques in this field is using adaptive filters. In this paper various adaptive filters are introduced and their performances are shown and compared