Sharif Digital Repository

Synthesis and characterization of a new series of low molecular weight (MW = 500–3000) OH-terminated linear aliphatic unsaturated polyesters based on cis-2-butene-1,4-diol and oxalic to sebacic acid were investigated. Direct polycondensation and transesterification methods were used for the syntheses. The latter was recognized to be the preferable method due to its lower reaction temperature and time, lower diol/diacid ratio, absence of decarboxylation, and formation of a product with low polydispersity (Mw/Mn = 1.3–2.7). Elemental analysis, GPC, FTIR, 1H-NMR, DSC, and WAXD were used for the investigations. A segmented polyurethane based on poly (cis-2-butylene adipate) glycol was also... 

In the present work, adsorption of hydrogen molecules over a metal organic framework (MOF-5) has been investigated by using first principles density functional theory (DFT). Different strategies have been applied for improving hydrogen storage, i.e. metal doping, boron substitution and functionalization. The metal atoms used for enhancing hydrogen adsorption include Li, Ca and Sc. It is found that the binding energy between these metal atoms and MOF is not enough to prevent clustering. Therefore a number of carbon atoms are substituted by boron atoms and it is indicated that boron substitution enhances the binding energies, significantly. Also the results reveal that boron substituted MOF... 

In the present work the interaction of hydrogen molecules with perfect, defective and scandium doped polycyclic aromatic hydrocarbon (PAH) has been evaluated. At first the potential barrier for the penetration of hydrogen molecules through PAH structures has been investigated and then the adsorption of hydrogen molecules over PAH structures has been studied. To model the graphene surface for barrier calculations, it is shown that coronene can successfully estimate the graphene monolayer. The barrier height is calculated for perfect and two different defective PAH structures including Stone-Wales (SW) and 585. It is found that PAH even with small defects is impermeable to hydrogen molecules.... 

In the present work, the interaction of hydrogen molecules with defective graphene structures doped by transition metal (TM) atoms is investigated by using first principles density functional theory (DFT). Defective graphene structures include Stone-Wales (SW), 585 and 555-777 and transition metals include early TMs, i.e. scandium (Sc), titanium (Ti) and vanadium (V). It is found that in comparison with the pristine graphene, presence of defects significantly enhances the metal binding. Among three defects, 585 divacancy leads to the strongest binding between graphene and metal. Hydrogen adsorption is then evaluated by sequential addition of hydrogen molecules to the system. The results... 

Hydrogen appears as one of the most promising energy carriers. Hydrogen has the advantage of being the cleanest fuel and as a result it can efficiently help limiting the greenhouse effect. However one of the major barriers for the large scale use of hydrogen, especially in the transportation sector, is hydrogen storage issue. There are four different technologies for storing hydrogen which are as follows: (1) Cryogenic liquid hydrogen (LH); (2) compressed gas storage; (3) metal hydride storage technology; (4) Physisorption methods. Physisorption of hydrogen in novel carbon nanostructures such as carbon nanotubes and graphene seems to be a safe and promising method for storage of hydrogen.... 

The use of more efficient energy consuming devices, which are closely associated with reduction of environmental pollution, has gained significant interest in the recent decades. The reduction of drag coefficient also improves safety and durability of environmental structures subjected to high-velocity fluid flow, and causes the noise and vibration to decrease as well. This paper describes the efficiency improvement in energy management by means of reducing drag coefficient in a practical divergent tubular- truncated cone. Extensive numerical simulations with emphasis on the shape optimization study were performed in order to find minimum drag coefficient for both laminar and turbulent flows... 

This study presents a method for global estimation of joint velocities in robotic manipulators. The authors consider a non-minimal model of a robotic manipulator and design an adaptive observer capable of handling uncertainties in robot dynamics. Smoothness of the dynamics of the proposed observer allows its easy implementation in comparison with non-smooth observers. Dimension of the proposed observer is shown to be at least 3n where n stands for the manipulator's degrees of freedom. This number is less than the dimension of most existing globally convergent adaptive observers. Global asymptotic convergence of state estimates to their true values is achieved under no persistency of... 

This paper gives the design and analysis approaches for the class-E power amplifier with a shunt inductor under the nominal conditions, i.e., zero-current switching (ZCS) and zero-current derivative switching (ZCDS), with taking into account the MOSFET nonlinear output parasitic capacitance at any duty ratio. Although, the class-E ZCS/ZCDS conditions obtained high-efficiency, but the switch-current waveform affected by the slope of the voltage across the MOSFET nonlinear drain-to-source parasitic capacitance during the switch-off state, which restricted the operating frequency. On the other hand, the duty ratio is an adjustment parameter to obtain high-frequency operation. Therefore, the... 

We present a method for global estimation of joint velocities in robot manipulators. A non-minimal model of a robotic manipulator is used to design an adaptive observer capable of handling uncertainties in robot dynamics. Dimension of the proposed observer is shown to be at least 3n where n stands for the manipulator degrees of freedom. This number is less than the dimension of most of existing globally convergent adaptive observers. Global asymptotic convergence of system state estimates to their true values is achieved under no persistency of excitation condition. Smoothness of the dynamics of the proposed observer allows its easy implementation in comparison with non-smooth observers....