Sharif Digital Repository

In this paper, a hierarchical predictive controller is designed in order to solve the tracking problem of a moving ground target by a quad-rotor in an unknown and uneven environment. This controller has internal and external predictive controller levels. In the lower layer of the controller, a constrained predictive controller is designed that is capable of rejecting perturbations and quickly tracking the reference path, and in the outer loop, a model predictive controller is designed to optimally detect the moving ground target where, the sub-cost functions were defined so that the quad-rotor would be able to track the moving ground target even if it was temporarily out of sight of the... 

In this paper, a hierarchical predictive controller is designed in order to solve the tracking problem of a moving ground target by a quad-rotor in an unknown and uneven environment. This controller has internal and external predictive controller levels. In the lower layer of the controller, a constrained predictive controller is designed that is capable of rejecting perturbations and quickly tracking the reference path, and in the outer loop, a model predictive controller is designed to optimally detect the moving ground target where, the sub-cost functions were defined so that the quad-rotor would be able to track the moving ground target even if it was temporarily out of sight of the... 

In this research "MnO2/MWCNT" nanocomposite was prepared firstly and then it was used as an adsorbent for Cr+3 ions removal from aqueous solutions. Our results showed that the prepared nanocomposite from modified multi-wall carbon nanotube and MnO2 has a good capacity for Cr+3 removal from aqueous solution. Morphology and Crystallinity of the modified MWCNT before and after deposition on MnO2 were examined by SEM and XRD. In turn, the experimental results were examined according to the Langmuir, Freundlich and Temkin Isotherms and Freundlich isotherm represented our experimental results  

In this research "MnO2/MWCNT" nanocomposite was prepared firstly and then it was used as an adsorbent for Cr+3 ions removal from aqueous solutions. Our results showed that the prepared nanocomposite from modified multi-wall carbon nanotube and MnO2 has a good capacity for Cr+3 removal from aqueous solution. Morphology and Crystallinity of the modified MWCNT before and after deposition on MnO2 were examined by SEM and XRD. In turn, the experimental results were examined according to the Langmuir, Freundlich and Temkin Isotherms and Freundlich isotherm represented our experimental results  

In this article, an integrated guidance and control design method for general nonlinear flexible hypersonic flight vehicles in the presence of dynamic uncertainties based on the (Formula presented.) adaptive state feedback control approach is presented. Initially, the 6-degree-of-freedom integrated guidance and autopilot dynamic model is organized using the combination of flexible uncertain hypersonic flight vehicle dynamic model and hypersonic flight vehicle-target relative motion model whereas aerodynamic and model uncertainties, cross-coupling effects, and disturbances are considered. The proposed integrated guidance and control method based on (Formula presented.) adaptive control scheme... 

Deep neural networks are currently the best solution for road and traffic scene interpretation for autonomous and self-driving vehicles. Compared to the autonomous cars, motorcycles have significant flexibility and advantages in crowded traffic situations and especially in non-urban and off-road areas. Many off-road tracks especially for agriculture and environment management tasks are only traversable with motorcycles. In this paper, a deep neural network is used for design and implementation of the vision system for navigation of an autonomous motorcycle. The proposed framework is evaluated using real world scenarios captured by a real motorcycle in various complex situations. The... 

Designing a novel epoxy composite system with dual self-healing/barrier anti-corrosion functions using graphene oxide (GO) nano-platforms decorated by polypyrrole (PPy) nanoparticles doped with zinc metal ions is the major objective of this research attempt. GO-PPy-Zn nanoplatform was fabricated via one-pot polymerization of pyrrole monomers on GO and two direct/indirect methods of zinc doping. In order to verify the PPy nanoparticles synthesis on GO sheets several analyses such as UV–visible, XPS, HR-TEM and FE-SEM were performed. The epoxy nanocomposite coatings containing GO-PPy and GO-PPy-Zn nanoplatforms were fabricated and applied on carbon steel. The nanocomposite coatings... 

A novel high-throughput device based on 96-micro-solid phase extraction (96-μ-SPE) system was constructed for multiresidue determination of nine pesticides in aquatic samples. The extraction procedure was performed on a commercially available 96-well plate system. The extraction module consisted of 96 pieces of 1cm×3cm of cylindrically shaped stainless steel meshes. The prepared meshes were fixed in a home-made polytetrafluoroethylene-based constructed ninety-six holes block for possible simultaneous immersion of meshes into the center of individual wells. Dodecyl methacrylate and ethylene glycol dimethacrylate was copolymerized as a monolithic polymer and placed in the cylindrically shaped... 

In this study, the Peganum harmala seed extract (PHSE) was used as a green reducing agent of graphene oxide with high deoxygenation capability. PHSE not only acts as a reducing agent of GO due to the high amount of nitrogen-rich compounds but also plays an essential role in the particles' active anti-corrosion performance improvement. In order to add more active inhibition property, the zinc cations were doped successfully on the chemical structure of GO nanosheets, and eventually, the RGO-PHSE-Zn nanocomposite was obtained. The FT-IR results and UV–visible achievements declared that the epoxide (-C-O-C-) functional groups attached to the surface of the GO nanosheets had been successfully... 

In this research study, interfacial assembled nanoporous zeolitic imidazolate framework (ZIF-8) multiwalled oxidized carbon nanotubes (MW-OCNTs) were developed and introduced into a silane coating. To analyze the destructive behavior of the nanoparticles exposed to salty solutions with three distinctive pHs of 2, 7.5, and 12, various types of tests such as X-ray diffraction (XRD), field emission scanning electron microscopy (FESEM), and inductively coupled plasma (ICP) were accomplished. The XRD test revealed that the main characteristic peaks of ZIF-8 were eliminated and/or their intensity decreased. In accordance with the obtained data from the XRD test, nanoparticles at pH = 2 had been... 

A thermo-elastic analysis coupled with a phase change model is employed to evaluate thermal stresses as well as progress of austenite decomposition after hot strip rolling operations. The thermo-mechanical finite element analysis is utilized to assess the distributions of temperature and thermal stresses during cooling while at the same time, a model based on the additivity rule is used to determine the rate of austenite to ferrite decomposition. The proposed model is applicable to multi-pass rolling schedules while the effects of different process parameters including the rolling speed and cooling configuration of the run-out table can be taken into account. In order to verify the... 

Biodiesel is an attractive renewable energy in Iran. However, the concerns for food security, emissions, and water requirement move us towards developing the analytical framework to study emission-water nexus of biodiesel via the multi objective sustainable planning of biodiesel supply chain. Here, the literature of biodiesel in Iran is comprehensively reviewed and main issues are discussed. Then, a supply chain planning model is applied to depict the optimal path ways to minimize costs, net emission, and water use in Iran during 25 years. The microalgae via open ponds and jatropha cultivation reduce the total costs and improve negative emissions. The jatropha optimizes the water use and... 

Biofuels are important alternative fuel in recent years. In this work, the bioethanol supply chain planning is performed by BioEnergy Supply Model to optimally find the best pathways using economic and environmental objective functions in Iran. Then, different sustainability criteria focusing on environmental, economic, and social concerns are assessed for possible routes of the bioethanol production from available resources. Although agriculture residues and wastes, decrease the greenhouse gas emissions but municipal solid wastes are more economic and require less water. The agricultural wastes and residues improve the sustainability. Then, criteria focusing on environmental, economic, and...