Sharif Digital Repository

The control of a brachiation robot has been the primary objective of this study. A brachiating robot is a type of a mobile arm that is capable of moving from branch to branch similar to a long-armed ape. In this paper, to minimize the actuator work, Pontryagin's minimum principle was used to obtain the optimal trajectories for two different problems. The first problem considers “brachiation between fixed branches with different distance and height,” whereas the second problem deals with the “brachiating and catching of a moving target branch”. Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the “target dynamics” method which was... 

The Kardar-Parisi-Zhang (KPZ) equation with infinitesimal surface tension, dynamically develops sharply connected valley structures within which the height derivative is not continuous. We discuss the intermittency issue in the problem of stationary state forced KPZ equation in [Formula presented] dimensions. It is proved that the moments of height increments [Formula presented] behave as [Formula presented] with [Formula presented] for length scales [Formula presented]. The length scale [Formula presented] is the characteristic length of the forcing term. We have checked the analytical results by direct numerical simulation. © 2004 The American Physical Society  

Multi agent system is a system consist of multiple interacting agents. These systems tend to select the best solution for their problems. They can be used in different tasks which are hard for an individual or even a complex system to do. One of the most common algorithms which are used in multi agent systems is flocking. Here we introduce a theorem that multi agent systems could flock in environments with fixed obstacles without any collision between agents and obstacles. We use lyapunov theory and prior algorithms on flocking to extract a theorem which under those conditions in the theorem, collision never occurs between agents and obstacles. Results show that the theorem insures collision... 

We propose a nonlinear method for the analysis of the time series for the spatial position of a bead trapped in optical tweezers, which enables us to reconstruct its dynamical equation of motion. The main advantage of the method is that all the functions and parameters of the dynamics are determined directly (non-parametrically) from the measured series. It also allows us to determine, for the first time to our knowledge, the spatial-dependence of the diffusion coefficient of a bead in an optical trap, and to demonstrate that it is not in general constant. This is in contrast with the main assumption of the popularly-used power spectrum calibration method. The proposed method is validated... 

Accurate system identification (SI) is essential for flight controller design of unmanned aerial vehicles and microaerial vehicles (MAVs). SI can be performed either in frequency or time domain using flight test data. As flight testing is often costly and may even lead to catastrophic events before some flight stability analysis is at hand, a low-cost 5 degree-of-freedom free motion platform (FMP) is designed and used for initial identification of MAVs via wind tunnel testing. A typical MAV is constructed as a test case and equipped with inertial sensors for testing and validation purposes. The proposed FMP allows for both rotational as well as translational motions that in turn provide for... 

An optical amplifier followed by a bistable element has been statistically analyzed before [1]. In this manuscript, output noise analysis represents, then signal to noise ratios (SNR) are calculated either for input or output. It will be shown that noise reduction, can be achieved by a proper selection of parameters  

The unsaturated small strain shear modulus, Gmax, is a key reference value in predicting relationships between dynamic shear modulus and shear strain amplitude and is thus a key quantity to properly model the behavior of dynamically-loaded geotechnical systems such as pavements, rail beds, and machine foundations. From the interpretation of the experimental Gmax results for unsaturated soils, different definitions of trends between Gmax and the stress state of the unsaturated soils and material properties are proposed. However, in most of trends, the relationship between the stress state and void ratio is considered and the effect of void ratio on the unsaturated small strain shear modulus... 

In this research, cellulose acetate butyrate (CAB) electrospun nanofiber membrane (ENM) was prepared by electrospinning method in order to separate the contaminants of an industrial wastewater. The influence of various electrospinning parameters on morphology and average fiber diameter of the membranes were investigated by scanning electron microscopy and image analysis. The permeability of the membranes was evaluated by measuring pure water flux. In order to investigate the performance of the prepared membranes for tomato wastewater treatment, the rejection of the pollution indices and flux were determined. The results demonstrated the potential of using CAB nanofiber membrane for... 

Background: Numerous studies have described the neuroprotective effect of lithium in spinal cord injury in addition to its ameliorative impact on pain sensation. In the present study, we aim to examine the efficacy of 85 mg/kg as well as 50 mg/kg dosage of the lithium chloride (LiCl) through oral consumption in spinal cord injured rats and their effect on gene expression of three candidate genes, corresponding to the hyper-sensitization. Methods: Adult Wistar (male) rats were divided into four experimental groups: control; oral administration of LiCl with 85 mg/kg and 50 mg/kg dosage; and 10 % sucrose receiver as the vehicle. BBB and heat plantar tests were performed weekly throughout four... 

Adaptation of Penicillium simplicissimum with different heavy metals present in a spent hydrocracking catalyst, as well as one-step, two-step, and spent medium bioleaching of the spent catalyst by the adapted fungus, was examined in batch cultures. Adaptation experiments with the single metal ions Ni, Mo, Fe, and W showed that the fungus could tolerate up to 1500. mg/L Ni, 8000. mg/L Mo, 3000. mg/L Fe, and 8000. mg/L W. In the presence of multi-metals, the fungus was able to tolerate up to 300. mg/L Ni, 200. mg/L Mo, 150. mg/L Fe and 2500. mg/L W. A total of 3% (w/v) spent catalyst generally gave the maximum extraction yields in the two-step bioleaching process (100% of W, 100% of Fe, 92.7%... 

The quantity of spent hydroprocessing catalysts discarded as solid wastes in the petroleum refining industries has increased remarkably due to a steady increase in the processing of heavier feedstock. The adaptation of Penecillum Simplicissimum BBRC1-20019 with different heavy metals present in spent hydrocracking catalysts was studied. Adaptation experiments with single metals showed that the fungus could tolerate ≤ 1500 mg/L Ni, 8000 mg/L Mo, 3000 mg/L Fe, and 8000 mg/L W. In the presence of a mixture of these metals, the fungus tolerated ≤ 300 mg/L Ni, 200 mg/L Mo, 150 mg/L Fe, and 2500 mg/L W. The presence of multi-metals acted cumulatively to enhance the toxic effect in the growth of... 

This study was designed to compare one-step, two-step and spent medium bioleaching of spent catalyst by adapted Penecillum simplicissimum in batch cultures. Penecillum simplicissimum which was adapted to heavy metal ions Ni, Mo, Fe, and W grew in the presence of up to 5 %w/v of spent catalyst in the medium. The main lixiviant in bioleaching was gluconic acid which was produced mainly in present and absence of spent catalyst. A total of 3 %w/v spent catalyst generally gave maximum extraction yields in two-step bioleaching process, which the amounts of leached metals were 100 % of W, 100 % of Fe, 92.7 % of Mo, 66.43 % of Ni, and 25 % of Al. The red pigment produced by fungus could also... 

This research aims to expand the body of information that researchers require before starting electronic waste (E-waste) recovery experiments. With this purpose, the basic metal contents, alkalinity, polymer components, iron magnetic separation, metal recovery priority and economic values of different types of waste printed circuit boards (PCBs) were investigated. The selected wastes were computer PCBs (CPCBs), CPCBs with wires, mobile phone PCBs (MPPCBs), television PCBs (TVPCBs), fax machine PCBs (FPCBs), copy machine PCBs (COPCBs) and central processing units (CPUs). These E-wastes were prepared in the three fraction sizes of F1<1 mm, 1 < F2<3 mm, and 3 < F3<8 mm to evaluate the metal... 

Polystyrene, acrylonitrile butadiene styrene, and polypropylene are the main polymers in E-waste, existing about 31%, 16%, and 13%, respectively. In this research, the effects of the elimination of low-density materials (such as polymers and plastics) were studied using the shaking table method. Bioleaching of Cu and Ni against the original sample (Sample #1) and pre-treated sample without low-density materials (Sample #2) was compared. The amount of bioleached metals and growth characteristics (including pH, Eh, bacterial count) was investigated within 25 days. The analysis of Sample #1 showed that at pulp density of 15 g/l, 94% and 79% of Cu and Ni were recovered maximally, respectively,... 

In this study, the ability of Aspergillus niger and Penicillium simplicissimum to extract heavy metals from a spent refinery catalyst was investigated. For the first step, a spent processing catalyst from one of the oil refineries in Iran was physically and chemically characterized. Aspergillus niger and Penicillium simplicissimum were used to mobilize Al/Co/Mo/Ni from hazardous spent catalysts. The fungi were adapted to the mixture of metals at 100-800 mg L -1 with increments in concentration of 100 mg L -1. Bioleaching experiments were carried out in batch cultures. To investigate the production of organic acids in sucrose medium, analyses of the culture medium by HPLC were performed at... 

A spent processing catalyst from an Iranian oil refinery was initially characterized physically and chemically. Acidithiobacillus ferrooxidans and Acidithiobacillus thiooxidans were used to mobilize Al, Co, Mo and Ni from the spent catalysts under optimized conditions in batch cultures. The characteristics of the bioleach solution (pH, Eh, cell concentration and Fe(II)/Fe(III) concentration) were determined along with the concentration of metal values extracted from the catalyst. The results showed that after bioleaching using A. ferrooxidans in the presence of ferrous sulfate, maximum extractions of 63% Al, 96% Co, 84% Mo and 99% Ni were achieved after 30 days at pH 1.8-2.0. However, the... 

Friction and wear behaviors of artificially aged 2024 Al and 2024 Al/20 vol.% SiC composite prepared by powder metallurgy method were investigated in the temperature range 20250 °C. Dry sliding wear tests were conducted at a constant sliding velocity of 0.5 m/s, an applied load of 20 N, and a sliding distance of 2500m using a pin-on-disc apparatus. Worn surfaces and wear debris were also examined by using SEM and EDS techniques. All specimens showed a transition from mild-to-severe wear above a critical temperature. In the mild wear regime, the wear rate and the friction coefficient of the composite specimen were higher than those of the unreinforced alloy. The SiC particles led to an... 

In this investigation, a spent processing catalyst from one of the oil refineries in Iran was initially characterized physically and chemically. Acidithiobacillus ferrooxidans and Acidithiobacillus thiooxidans were used to mobilize aluminum, cobalt, molybdenum and nickel from hazardous spent catalysts. Bioleaching experiments were performed in batch cultures. The growth characteristics of the bacteria (pH, Eh, cell concentration and ferrous and ferric iron concentration) were determined during bioleaching along with the concentration of metal values extracted from the catalyst. The results obtained from Inductive coupled plasma-optical emission spectrometry (ICP-OES) showed that after the... 

Controllability analysis of a network through its topology has recently been a popular issue in the systems and control community. In this regard, the zero extension rule is introduced in this paper, which provides a sufficient number of control nodes to ensure the controllability of certain families of undirected networks through the notion of their balancing sets. Moreover, some lower bounds on the dimension of the controllable subspace are provided. Finally, based on the generalized zero extension rule, some controllability conditions for such special structure of networks as the path, cycle, and three-branch tree are derived  

The de Broglie-Bohm interpretation of quantum mechanics with and without spin-dependence is used to determine electron trajectories, arrival-time distribution of electrons and the mean arrival time of spin-1/2 particles (including electrons) in the presence of a uniform field and a barrier separately. The difference for the mean arrival times, which are calculated with different guidance equations, is examined versus mass of the arriving particle and versus group velocity of the arriving electron wave packet and also versus the width of the barrier. Numerical calculations show that these differences are of the order of 10-18-10-17 s. Another feature of the modified guidance law is that...