Sharif Digital Repository

Neglecting actuator dynamics in control of rigid manipulators can degrade performance and stability of the system. However, consideration of actuator dynamics usually requires measurement of joint torque or armature currents. In this paper, we present an adaptive controller for motion tracking of an n-DOF manipulator without using joint torque measurement. Semi-global convergence of motion and torque tracking errors to zero is proven. We show that the use of non-minimal representation of manipulator dynamics significantly simplifies its linear parametrization. Simulation example shows that avoiding joint torque measurement reduces system sensitivity to sensor failure and noise  

Crossflow microfiltration of non-alcoholic beer is investigated numerically and it has been verified by experimental data. Due to the presence of particles with different sizes in feed suspension, a modified combination of three mechanisms of particle back-diffusion is developed to predict particle deposition and cake layer buildup during the process. The simulation results show that smaller particles (about 1μm) are the main contributor to the cake layer due to a minimum in back transport and are the main reason of the flux decline. On the other hand, larger particles (a p>20μm) are swept away along the membrane during the filtration process and move toward the membrane exit due to the... 

The practical application of microfiltration in brewing industry is hindered by severe membrane fouling and subsequent permeate flux decline. A theoretical and experimental study on the effect of operating parameters, which influence the crossflow microfiltration of beer and beer quality was performed. A mathematical model is developed to better understanding of the fouling layer characteristics. The experiments were conducted for different ranges of pressures, temperatures and shear rates. An optimum transmembrane pressure of 1.1 bar is suggested to maximize both the steady state and average permeate fluxes. The results of numerical simulation were in a good accordance with the experimental... 

A damage-plasticity based mixed axial-shear-flexural (PVM) link element for the inelastic analysis of frames is introduced in this paper. The multi-surfaces yield concept is utilized in the definition of the element. The yield surfaces are defined in deformation space and interaction of axial-shear-flexural deformations is considered by defining non-rectangular yield surfaces. The element is capable of considering damage and post-peak softening behavior. The analytical results of introduced element are verified by existing experimental results of steel beam to column connection and it is indicated that the analytical results have reasonable agreement with the test results. Nonlinear dynamic... 

This paper represents new development of a previously introduced mixed shear-flexural (VM) link element, and its application in inelastic analysis of frames with reduced beam sections. The multi-surfaces concept with dissimilar yield surfaces is used in definition of link element. The yield surfaces are defined in deformation space and the element has the capability of modeling interactive axial-flexural-shear yielding. It is able to consider post yield softening behavior as well as flexibility and strength degradations. It is shown that the analysis results of the new mixed axial-shear-flexural (PVM) link have good agreement with the existing experimental and finite element results. Using... 

This paper presents actual cases of steady reactive power oscillation of distributed generations (DGs) during parallel operation with the main grid. The cause of the problem was found to be the adverse effects of excitation system voltage regulation. It is shown, through preliminary investigation and detailed simulation studies, that how the excitation control system can be modified to overcome this problem. On-site test results verify the analysis results and effectiveness of the remedial actions. Finally, general practical recommendations are offered for excitation control of synchronous generator-based DG, such that it performs properly, both in grid connected and in islanding conditions  

The buckling of generally laminated conical shells having thickness variations under axial compression is investigated. This problem usually arises in the filament wound conical shells where the thickness changes through the length of the cone. The thickness may be assumed to change linearly through the length of the cone. The fundamental relations for a conical shell with variable thickness applying thin-walled shallow shell theory of Donnell-type and theorem of minimum potential energy have been derived. Nonlinear terms of Donnell equations are linearized by the use of adjacent-equilibrium criterion. Governing equations are solved using power series method. This procedure enables us to... 

The buckling of generally laminated conical shells having thickness variations under axial compression is investigated. This problem usually arises in the filament wound conical shells where the thickness changes through the length of the cone. The thickness may be assumed to change linearly through the length of the cone. The fundamental relations for a conical shell with variable thickness applying thin-walled shallow shell theory of Donnell-type and theorem of minimum potential energy have been derived. Nonlinear terms of Donnell equations are linearized by the use of adjacent-equilibrium criterion. Governing equations are solved using power series method. This procedure enables us to... 

Design and development of fault diagnosis schemes (FDS) for electric power distribution systems are major steps in realizing the self-healing function of a smart distribution grid. The application of the FDS in the electric power distribution systems is mainly aimed at precise detecting and locating of the deteriorated components, thereby enhancing the quality and reliability of the electric power delivered to the customers. The impacts of two types of the FDS on distribution system reliability are compared and presented in this paper. The first type is a representative of the FDS which diagnoses the deteriorated components after their failing. However, the second type is a representative of... 

Distribution automation (DA) application for fault management in the electricity distribution networks is one of the main potential remedial actions to reduce customers' outage times and hence improve service reliability. As a result, various automation schemes have been developed and introduced in different countries and by different venders. The impacts of implementing a specific automation scheme on reliability indices of a given distribution system can be different from other available automation schemes. For this reason, when comparing the available automation schemes with each other or with the other reliability improvement measures, it is necessary to perform a course of reliability... 

Design and development of fault diagnosis schemes (FDS) for electric power distribution systems are major steps in realizing the self-healing function of a smart distribution grid. The application of the FDS in the electric power distribution systems is mainly aimed at precise detecting and locating of the deteriorated components, thereby enhancing the quality and reliability of the electric power delivered to the customers. The impacts of two types of the FDS on distribution system reliability are compared and presented in this paper. The first type is a representative of the FDS which diagnoses the deteriorated components after their failing. However, the second type is a representative of... 

Distribution automation (DA) application for fault management in the electricity distribution networks is one of the main potential remedial actions to reduce customers' outage times and hence improve service reliability. As a result, various automation schemes have been developed and introduced in different countries and by different venders. The impacts of implementing a specific automation scheme on reliability indices of a given distribution system can be different from other available automation schemes. For this reason, when comparing the available automation schemes with each other or with the other reliability improvement measures, it is necessary to perform a course of reliability... 

The cooperative relay cognitive interference channel (RCIC) is a four-node network with two source nodes (primary source and cognitive source) and two destination nodes, in which sources try to communicate at certain rates with their corresponding destinations simultaneously through a common medium and each destination can act as a relay to assist the other one. In this paper, we study partially and fully cooperative state-dependent relay cognitive interference channels (RCICs) with perfect causal channel state information (CSI). For each of these channels, we investigate three different cases. For the first case, perfect causal CSI is available at both the source and relay nodes; for the... 

Distribution automation application for fault management in the electricity distribution networks is one of the main potential remedial actions to reduce customers' outage times and hence improve service reliability. For this purpose, various automation schemes have been developed and introduced in different countries and by different venders. However, the challenge for electric utilities, especially in today's competitive electricity market, is to identify and evaluate potential reliability reinforcement schemes. Accordingly, appropriate schemes must be determined and prioritized for implementation. In this context, reliability cost/worth assessment plays an important role. A comprehensive... 

The hydrodistilled oils of the aerial parts of Artemisia armeniaca and Artemisia splendens have been analyzed by a combination of GC and GC/MS. The main components of A. armeniaca were α-pinene (41.9%) and 1,8-cineole (20.6%) followed by spathulenol (6.7%) and limonene (5.6%). l,8-cineole(14.5%), germacrene D (14.3%), α-pinene (11.3%) and bicyclogermacrene (11.3%) were found to be the major constituents of A. splendens  

Considering the interaction of flexural moment and shear force in the steel frames with haunch or intermediate beam length and eccentrically braced frames with intermediate link length is a major concern of the structural analysis and design. This article contains two stages. In the first stage, to investigate the moment–shear interaction for the highly ductile steel I-sections, a study is carried out using finite element analysis and a simple and practical relationship is developed. In the second stage, a simple approach based on virtual work method for assemblage of interconnected rigid bodies is employed to consider collapse mechanisms with mixed hinges. Using this approach, the... 

Considering the interaction of flexural moment and shear force in the steel frames with haunch or intermediate beam length and eccentrically braced frames with intermediate link length is a major concern of the structural analysis and design. This article contains two stages. In the first stage, to investigate the moment–shear interaction for the highly ductile steel I-sections, a study is carried out using finite element analysis and a simple and practical relationship is developed. In the second stage, a simple approach based on virtual work method for assemblage of interconnected rigid bodies is employed to consider collapse mechanisms with mixed hinges. Using this approach, the... 

Feeder Automation (FA) has been recognized by researchers and utilities as one of the attractive remedial measures to enhance service reliability in the electric power distribution systems. Until now, several kinds of FA schemes have been developed for automating of distribution feeders. They can be categorized into three main approaches: semiautomatic, distributed and centralized schemes. The challenge for the utilities, especially in today's competitive electricity market, is to identify and evaluate potential FA schemes and determine that appropriate for implementation. In this context, reliability cost/worth assessment plays an important role. This paper aims to propose a step by step... 

In the special zones of frame elements, which are used for seismic energy dissipation, inelastic interaction among the internal forces needs to be considered more precisely. This paper describes a special element called a VM link element for modeling the shear-flexural interaction in the inelastic zones of beam elements. The element may be used in the any inelastic location of frames subjected to the monotonic or cyclic loadings. The inelastic shear and flexural deformations are considered by using the multi-surfaces plasticity concept with dissimilar yield surfaces. A new kinematic hardening and new non-associated flow rules are introduced for definition of the plastic deformations and... 

The present paper introduces a mixed shear-flexural (VM) link element that is capable of modelling shear yielding, flexural yielding, and their interaction under monotonic and cyclic loadings. The inelastic deformations are modelled using the multisurfaces approach with dissimilar yield surfaces and a stiffness matrix with nonzero off-diagonal components in shear-flexural space. A new kinematic hardening and new non-associated flow rules are employed. A special girder, which has an open web in the middle, is introduced and modelled using the developed VM link element. It is shown that the results of analyses using the VM link element are in good agreement with those from a finite element...