Sharif Digital Repository

This paper proposes a method to suboptimally tune the control parameters in a conventional Lyapunov-Based method which shares the same concept of control design with sliding mode approach as applied to the robot manipulators. Optimal tuning of such parameters involves handling of nonlinearities in system dynamics and cost functions, which makes the problem challenging. We propose a step-by-step numerical algorithm that select suboptimal parameters while ensuring system stability. The controller is, suboptimal due to the facts that (1) it is in the form of a Slotine-type sliding mode control, (2) the numerical recursive algorithm might fall into a local minimum, and (3) the controller... 

In this paper, a novel design approach for determination of the optimal Fractional Order PID (FOPID) controllers, using the Particle Swarm Optimization (PSO) method is presented. Fractional calculus can provides good performance and robustness for FOPID controllers in comparison with the conventional PID and even other types of classical controllers, because of the arbitrary order of fractional calculus presented in this scheme. This paper demonstrates in details how to employ the PSO method to search efficiently for the optimal FOPID controller parameters in SISO and MIMO systems. The proposed approach is applied to an electromagnetic suspension system as an example to illustrate the design... 

The harmony search algorithm is one of the latest meta-heuristic algorithms. It benefits from a number of distinguishing features such as a simple concept, few parameters and easy implementation. Combination of web services for inter-enterprise interactions and creation of a composite service which meets users requirements are novel subjects for researches on service oriented systems and process of selecting the best quality based combination is a debatable challenge at this field. In this study an efficient service selection mechanism based on the social harmony search algorithm is proposed to help clients select services with considering the quality attributes. In order to demonstrate the... 

This paper addresses the problem of optimal state-feedback design for a class of non-linear systems. The method is applicable to all non-linear systems which can be linearised using the method of state-feedback linearisation. The alternative is to use linear optimisation techniques for the linearised equations, but then there is no guarantee that the original non-linear system behaves optimally. The authors use feedback linearisation technique to linearise the system and then design a state feedback for the feedback-linearised system in such a way that it ensures optimal performance of the original non-linear system. The method cannot ensure global optimality of the solution but the global... 

The problem of designing UWB pulses which meet specific spectrum requirements is usually treated by filtering common pulses such as Gaussian doublets, modified Hermite polynomials and wavelets. When there is the need to have a number of orthogonal pulses (e.g., in a multiuser scenario), a naive approach is to filter all the members of an orthogonal set, which is likely to destroy their orthogonality property. In this paper, we study the design of a set of pulses that simultaneously satisfy the orthogonality property and spectrum requirements. Our design is based on the eigenfunctions of Sturm–Liouville boundary value problems. Indeed, we introduce Sturm–Liouville differential equations for... 

In this article, we investigate the problem of practical output regulation, i.e., to design a controller that brings the system output in the vicinity of a desired target value while keeping the other variables bounded. We consider uncertain systems that are possibly nonlinear and the uncertainty of their linear parts is modeled element wise through a parametric family of matrix boxes. An optimization-based design procedure is proposed that delivers a continuous-time control and estimates the maximal regulation error. We also analyze an event-triggered emulation of this controller, which can be implemented on a digital platform, along with an explicit estimate of the regulation error. ©... 

Following Gorokhovsky and Lott and using an extension of the b-pseudodifferential calculus of Melrose, we give a formula for the Chern character of the Dirac index class of a longitudinal Dirac type operators on a foliated manifold with boundary. For this purpose we use the Bismut local index formula in the context of noncommutative geometry. This paper uses heavily the methods and technical results developed by E. Leichtnam and P. Piazza  

In this short note we apply methods introduced by B. Hanke and T. Schick to prove the vanishing of (low degree) higher Â-genera for spin manifolds admitting a positive scalar curvature metric. Our aim is to provide a short proof for this beautiful result  

Objective(s): Multiple sclerosis (MS) is considered as a chronic type of an inflammatory disease characterized by loss of myelin of CNS. Recent evidence indicates that Interleukin 17 (IL-17)-producing T helper cells (Th17 cells) population are increased and regulatory T cells (Treg cells) are decreased in MS. Despite extensive research in understanding the mechanism of Th17 and Treg differentiation, the role of microRNAs in MS is not completely understood. Thereby, as a step closer, we analyzed the expression profile of miR-9-5p and miR-106a-5p, and protein level of retinoic acid receptor (RAR)-related orphan receptor C (RORC; Th17 master transcription factor) as direct target of miR-106a-5p... 

Palladium nanoparticles immobilized on a cross-linked imidazolium-containing polymer were evaluated as a catalyst for Suzuki carbon-carbon cross-coupling reactions using water as the solvent. The nanocatalysts show good catalytic activities for aryl iodides and aryl bromides and moderate activity with aryl chloride substrates. Coupling of sterically hindered substrates could also be achieved in reasonable yields. The heterogeneous catalyst is stable, can be stored without precautions to exclude air or moisture, and can be easily recycled and reused  

Three newly synthesized room temperature ionic liquids containing molybdate anion, [DMIm][MoO 2(NCS) 4], [RPy][MoO 2(NCS) 4] (R = butyl or decyl), and previously reported [BMIm][MoO 2(NCS) 4] were used as catalysts for the reduction of sulfoxides. For facilitating the recyclability of the catalysts, the ionic liquids [RMIm][PF 6] and [RPy][PF 6] (RMIm = 1-n-alkyl-3-methylimidazolium, RPy = 1-n-alkylpyridinium) were applied as ionic solvents and toluene is used as solvent for the organic phase. Molybdenum salts immobilized in RTILs constituted a reusable and efficient heterogeneous catalyst system. A maximum conversion (>99%) was achieved for reduction of diphenyl sulfoxide to diphenyl... 

Two room temperature liquid salts containing molybdenum(VI), [BMIM] 2[MoO2(NCS)4] (1) and [DMIM] 2[MoO2(NCS)4] (2), were immobilized on ionic liquid-modified silica leading to materials which showed notable catalytic activity for the reduction of sulfoxides into sulfides with triphenylphosphine (PPh3). The molybdenum liquid salts immobilized on the supported ionic liquid phase could be reused at least for three catalytic cycles without significant loss of activity  

Some cis-dioxomolybdenum (VI) complexes with tridentate Schiff base ligands derived from salicylaldehyde and aminophenols, aminoalcohol or o-aminobenzenethiol were examined as catalysts for epoxidation of different aliphatic and aromatic olefins, with tert-butyl hydroperoxide as oxidant. All complexes exhibited high activity and selectivity for epoxidation of aliphatic substrates during a short time period (95% conversion of cyclooctene after 30 min). The epoxide yield increased with the nucleophilic character of olefin. The catalysts activation strongly depends on the reaction temperature and nature of the solvent. Epoxidation of olefins by these catalysts is inhibited by ligands or... 

The present work studied bioactive coatings on the surface of ceramic biomaterials. Zirconia toughened alumina (ZTA) composites containing 15 mol.-%. Partially stabilised zirconia was prepared after 1 h sintering at 1550°C. Apatite layers were then coated onto the surfaces of composites by the biomimetic method using 1·5-2 multiply concentrations of simulated body fluid (SBF). Before treatment in SBFs, a sodium silicate layer was employed as nucleating agent to induce the formation of a calcium phosphate layer. The effect of immersion time on the morphology of the precipitate was monitored with a scanning electron microscope. X dot maps revealed that there is a relationship between... 

Zirconia Toughened Alumina (ZTA) Nanocomposites were prepared using Nano sized Zirconia (ZrO2) powders doped with 3% mol of yttria (Y 2O3) nanopowders. Diffusion of α-alumina (Al 2O3) nanoparticles as well as yttria into the Zirconia lattice network drives monoclinic - tetragonal martensitic transformation. Zirconia toughened alumina (ZTA) composites containing different amount of partially stabilized Zirconia (PSZ) 5, 10, 15 and 20% mol, were prepared via wet mixing and axial pressing. After sintering at different temperatures,1450, 1550 and 1650 °C, phase change in the samples were monitored. X-ray diffraction patterns showed that at constant composition, tetragonal zirconia was increased...