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... 

This paper describes a novel Direct Torque Control (DTC) method for adjustable speed Doubly-Fed Induction Machine (DFIM) drives which is supplied by a two-level Space Vector Modulation (SVM) voltage source inverter (DTC-SVM) in the rotor circuit. The inverter reference voltage vector is obtained by using input-output feedback linearization control and a DFIM model in the stator a-b axes reference frame with stator currents and rotor fluxes as state variables. Moreover, to make this nonlinear controller stable and robust to most varying electrical parameter uncertainties, a two layer recurrent Artificial Neural Network (ANN) is used to estimate a certain function which shows the machine... 

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... 

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...