Sharif Digital Repository

Echo and sound resonance in a conference room cause obscure speech and make listeners tired. Thus, the acoustical properties of a conference room are vitally important. The conference room 412 at Sharif University Physics Department failed to meet basic acoustical standards. The aim of this research is to improve reverberation time (RT) of the conference room using Helmholtz resonators with defined dimensions, diffusers, and sound absorbers. Helmholtz resonators are widely used to absorb sound noise especially at low frequencies. They are particularly useful when noise has a narrow-frequency band. One of the advantages of using Helmholtz resonators is their capacity to be tuned on different... 

Discovery of superconductivity in the impurity band formed by heavy doping of boron into diamond (C:B) as well as doping of boron into silicon (Si:B) has provided a rout for the possibility of new families of superconducting materials. Motivated by the special role played by copper atoms in high temperature superconducting materials where essentially Cu d orbitals are responsible for a variety of correlation induced phases, in this paper we investigate the effect of substitutional doping of Cu into diamond. Our extensive first principle calculations based on density functional theory which are averaged over various geometries indicate the formation of a mid-gap band, which mainly arises from... 

In this paper, the performance of a fuzzy position controller for an interior permanent magnet synchronous motor for robotic applications is investigated. A fuzzy logic controller is employed as an outer position loop. Moreover, a PI controller is employed as an inner speed control loop. The control scheme can be used for both position and speed control applications by enabling and disabling the position controller. Simulation results with Matlab Simulink package are presented. They show that the fuzzy controller is robust, that is, it has low sensitivity to parameter variations and high capability of disturbance rejection  

We present a method for global estimation of joint velocities in rigid manipulators. A class of velocity observers with smooth dynamics are introduced whose structure depend on freely selectable functions and gains giving the flexibility of achieving multiple design objectives at the same time. Unlike most methods, no a priori knowledge of an upper bound for velocity magnitude is used. An adaptive version of the observer is also presented to handle a class of structured uncertainties in manipulator model. Simulation example illustrates low noise sensitivity of the globally convergent observer in comparison with semi-globally convergent observers. © 2009 IEEE  

Hydrocracking is one of the most versatile petroleum refining processes for production of valuable products including gasoline, gas oil, and jet fuel. In this paper, a five-parameter continuous lumping model was used for kinetic modeling of hydrocracking of vacuum gas oil (VGO). The model parameters were estimated from industrial data obtained from a fixed bed reactor operating at an average temperature of 400°C and residence time of 0.3 h. Product distributions were obtained in terms of the weight fraction of various boiling point cuts. The model parameters were estimated using the Nelder-Mead optimization procedure and were correlated with temperature. Comparison of experimental and... 

The presence of bias in measurement of rate gyros is a performance limiting factor for satellite attitude determination systems. Gyro bias is usually handled by Kalman filtering methods which are mostly based on linearization approaches and lack global convergence properties. On the other hand, the existing asymptotically convergent nonlinear observers take into account the gyro bias only when multiple vector measurements are available. We present an asymptotically convergent attitude estimator which uses only one vector measurement and a rate gyro whose output is contaminated with an unknown and constant bias. The effect of unknown bias is compensated by means of a parameter adaptation law.... 

Reliability of any model-based failure detection and isolation (FDI) method depends on the amount of uncertainty in a system model. Recently, it has been shown that the use of joint torque sensing results in a simplified manipulator model that excludes hardly identifiable link dynamics and other nonlinearities such as friction, backlash, and flexibilities. In this paper, we show that the application of the simplified model in a fault detection algorithm increases reliability of fault monitoring system against modeling uncertainty. The proposed FDI filter is based on a smooth velocity observer of degree 2n where n stands for the number of manipulator joints. No velocity measurement and...