Sharif Digital Repository

This paper proposes distributed optimal attitude consensus control for single-integrator multi rigid bodies with undirected network evolving on Special Orthogonal Group SO(3) while simultaneously guarantees the connectivity preservation property for agents using descent gradient algorithm. Since by Use of the Euclidean distance on Lie group as a measure of the energy of the state does not define and preserve the topology of SO(3); besides, solving the Hamilton–Jacobi–Bellman equation in optimal control problems shows difficulty implementing Euclidean distances and limits the results for SO(3) configuration state spaces. As a result, in this paper, the generic distance on SO(3) associated to... 

Rigidity of the interaction graph is a fundamental condition for achieving the desired formation which can be defined in terms of distance or bearing constraints between agents. In this paper, for reaching a unique formation with the same scaling and orientation as the target formation, both distance and bearing constraints are considered for defining the desired formation. Besides, both distance and bearing measurements are also available. Each agent is able to gather the measurements with respect to other agents in its own body frame. So, the agents are coordinated-free concerning a global reference frame. On the other hand, the framework is embedded in SE(3). The control signal is... 

Shape analysis plays an important role in many medical imaging studies. One of the recent shape analysis methods uses the Laplace Beltrami eigenvalues which is also used in this paper for global shape comparison of hippocampus of normal subjects and epileptic patients. Popularity of the Laplace Beltrami operator in this field is due to its isometry-invariance which avoids pre-processing steps like mapping, registration, and alignment. In addition, it is capable of revealing fine details in shapes that makes this method a good choice for deformation detecting purposes like epilepsy diagnosis. To examine capability of the proposed method, statistical analysis and two ways of classification,... 

The Blaschke-Petkantschin formula is a geometric measure decomposition of the q-fold product of Lebesgue measure on ℝ n. Here we discuss another decomposition called polar decomposition by considering ℝ n× ×ℝ n as n×k and using its polar decomposition. This is a generalisation of the Blaschke-Petkantschin formula and may be useful when one needs to integrate a function g:ℝ n××ℝ n→ℝ with rotational symmetry, that is, for each orthogonal transformation O,g(O(x1),O(xk))=g(x1,xk) . As an application we compute the moments of a Gaussian determinant. Copyright  

A pair of bodies rolling on each other is an interesting example of nonholonomic systems in control theory. There is a geometric condition equivalent to the rolling constraint which enables us to generalize the rolling motions for any two-dimensional Riemannian manifolds. This system has a five-dimensional phase space. In order to study the controllability of the rolling surfaces, we lift the system to a six-dimensional space and show that the lifted system is controllable unless the two surfaces have isometric universal covering spaces. In the non-controllable case there are some three-dimensional orbits each of which corresponds to an isometry of the universal covering spaces  

A pair of bodies rolling on each other is an interesting example of nonholonomic systems in control theory. Here the controllability of rolling bodies is investigated with a global approach. By using simple geometric facts, this problem has been completely solved in the special case where one of them is a plane or a sphere  

Oxy-moderate or intense low-oxygen dilution (MILD) combustion, which is a novel combination of oxy-fuel technology and MILD regime, is numerically studied in the present work. The effects of external preheating and CO2 dilution level on the combustion field, emission, and CO formation mechanisms are investigated in a recuperative laboratory-scale furnace with a recirculating cross-flow. Reynolds-averaged Navier-Stokes (RANS) equations with eddy dissipation concept (EDC) model are employed to perform a 3-D simulation of the combustion field and the turbulence-chemistry interactions. In addition, a well-stirred reactor (WSR) analysis is conducted to further examine the chemical kinetics of... 

Shape analysis plays an important role in many medical imaging studies. One of the recent shape analysis methods uses the Laplace Beltrami operator which is also used in this paper for hippocampal shape comparison. We proposed a feature vector which consists of size measures and shape descriptors based on Laplace Beltrami eigenvalues and eigenfunctions. The aforementioned feature space is utilised for automatic differentiating normal subjects from epileptic patients as well as distinguishing epileptic patients with left temporal lobe epilepsy (LTLE) from patients with right temporal lobe epilepsy (RTLE). Achieved results are diagnostic accuracy of 93% with 95% sensitivity and lateralization... 

Gas flooding is a practical secondary scenario for enhanced oil recovery. Channeling and fingering of the injected gas are the major problems facing this technique. These challenges can be mitigated by the injection of gas as foam. However, foam stability influences the overall efficiency of the process, which could be improved by nanoparticles (NPs). This work provides a theoretical and experimental analysis of the NPs wettability effects on foam behavior, in both static and dynamic states. The treated calcite (CaCO3) NPs along with a cationic surfactant (HTAB) were used for this purpose. By comparison of theoretical and experimental data, it was shown that the foam stability in the... 

Foam flooding has been applied as a promising method in enhanced oil recovery to obviate the challenges of gas flooding such as fingering, channeling and overriding. However, long-term foam stability is crucial for mobility control. In this work, the effective mechanisms on foam stability in the presence of CaCO3 nanoparticles were assessed both theoretically and experimentally. The static and dynamic behaviors of cationic surfactant (HTAB) foam in the presence of CaCO3 nanoparticles with different hydrophobicity were evaluated. The CaCO3 nanoparticles were treated with a series of long-chain fatty acids to generate a range of wettability. Afterward, the underlying mechanisms were revealed... 

A combination of topographical cues and controlled release of biochemical factors is a potential platform in controlling stem cells differentiation. In this study the synergistic effect of nanotopography and sustained release of biofunctional transforming growth factor beta 1 (TGF-β1) on differentiation of human Wharton's Jelly-derived mesenchymal stem cell (hWJ-derived UC-MSCs) toward myogenic lineage was investigated. In order to achieve a sustained release of TGF-β1, this factor was encapsulated within chitosan nanoparticles. Afterwards the aligned composite mats were fabricated using poly-E-caprolacton (PCL) containing TGF-β1-loaded chitosan nanoparticles and poly-L-lactic acid (PLLA).... 

The present study aims to analyze a combined heat and power (CHP) system with an approach towards exergy analysis and employing biomass gasification. The cycle modeling was carried out using Cycle-Tempo and the main purpose was to achieve parametric analysis of the model. The systems function was studied by categorizing alternative biomass fuels, also qualitative and quantitative analyses of the biomass fuel samples were presented and considering the trade-off points, most appropriate biomass fuel with respect to exergy efficiency and delivered power were determined. The results indicated that the bagasse and wood chips had the total exergy efficiency of 54.5 and 57.1% in trade-off point,... 

The impact of an interline power-flow controller (IPFC) on composite system delivery point and overall system reliability indices is examined in this paper. In this application, the IPFC with dc transmission lines is employed in a system for coordinated control of line impedances of two, distance away, transmission lines with the objective of managing power flows on the two lines. It is also used to balance the real power being transferred between the compensated lines. For this purpose, the reliability model associated with a converter station has been developed and incorporated in an IPFC reliability model. A number of reliability indices are calculated at both the loadpoint and system... 

Nanofluids viscosity is one of the most important thermophysical properties in nanofluids usage especially in chemical and petroleum engineering applications. So it is highly desirable to predict the viscosity of nanofluids accurately. Experimental measurements are impossible in most situations and present models are not comprehensive and efficient especially for high temperature, high volume concentration and high viscosity values. In this study, a new correlation has been developed based on the comprehensive database of water based Al2O3, TiO2, SiO2 and CuO nanofluids viscosity data found in literature. The proposed correlation uses temperature, nanoparticle size, nanoparticle volumetric...