Sharif Digital Repository

The practicality of robust model predictive control of systems with model uncertainties depends on the time consumed for solving a defined optimization problem. This paper presents a method for the computational complexity reduction in a robust model predictive control. First a scaled state vector is defined such that the objective function contours in the defined optimization problem become vertical or horizontal ellipses or circles, and then the control input is determined at each sampling time as a state feedback that minimizes the infinite horizon objective function by solving some linear matrix inequalities. The simulation results show that the number of iterations to solve the problem... 

This paper presents a robust model predictive control algorithm with a time-varying terminal constraint set for systems with model uncertainty and input constraints. In this algorithm, the nonlinear system is approximated by a linear model where the approximation error is considered as an unstructured uncertainty that can be represented by a Lipschitz nonlinear function. A continuum of terminal constraint sets is constructed off-line, and robust stability is achieved on-line by using a variable control horizon. This approach significantly reduces the computational complexity. The proposed robust model predictive controller with a terminal constraint set is used in tracking set-points for... 

This paper presents some computationally efficient algorithms for online tracking of set points in robust model predictive control context subject to state and input constraints. The nonlinear systems are represented by a linear model along with an additive nonlinear term which is locally Lipschitz. As an unstructured uncertainty, this term is replaced in the robust stability constraint by its Lipschitz coefficient. A scheduled control technique is employed to transfer the system to desired set points, given online, by designing local robust model predictive controllers. This scheme includes estimating the regions of feasibility and stability of the related equilibriums and online switching... 

Supervisory control and data acquisition (SCADA) infrastructures have so far been brought into the huge amount of focus since the need for a more reliable power system accosting with the catastrophic events of interruptions has been raised. Hence, benefiting from an automation technology which can remotely monitor and coordinate commands to enable immediate response and switching are obviously inevitable. This paper outlines an implementable method in response to the goal of placement of remote terminal units (RTUs) which are in charge for data acquisition and control in a power distribution system. In this light, a new practical methodology based on the robust decision making (DM) method,... 

The laminar natural convection from an isothermal horizontal cylinder confined between vertical walls is investigated by experimental and numerical methods. The experimental and numerical data are well correlated, independently, to equations which give the average Nusselt number in terms of the wail spacing to cylinder diameter ratio, t/D, and the Rayleigh number, Ra, for two different values of the wall height to cylinder diameter ratios, H/D=7 and 15.2. For the low Rayleigh numbers considered (Ra<1000), there are certain conditions for the confining walls under which heat transfer from the cylinder is maximum. Results are compared with the reported numerical and/or experimental results... 

We prepared porous silicon samples coated by continuous palladium layer in electroless process. Scanning electron microscopy (SEM) showed cauliflower-shape Pd clusters on the surface. I-V curves of Schottky like Pd/porous Si samples were measured in air and in hydrogen. These measurements showed a metal-interface-semiconductor configuration rather than an ideal Schottky diode. Variations of the electrical current in the presence of diluted hydrogen at room temperature revealed that the samples can sense hydrogen in a wide range of concentration (100-40,000 ppm) without any saturation behavior. Hydrogen sensing properties of these samples were investigated at room temperature for a duration... 

The use of cell phone is a significant source of driver distraction. Phone use while driving can impair a number of factors critical for safe driving which can cause serious traffic safety problems. The objective of this paper was to investigate the frequency of using cell phones while driving in Iran's roads through an observational survey with a random sample of drivers, to recognize contributing factors to cell phone usage and to understand the magnitude of the problem. A total of 1794 observations were collected from 12 sites at controlled intersections, entrance and exit points of highways. The cell phone use rate among drivers (talking or texting) was estimated at 10% which is... 

Purpose: This work aims to study factors, such as driver characteristics, environmental conditions, and vehicle characteristics, that affect different crash types with a special focus on distraction parameters. For this purpose, distraction factors are divided into five groups: cellphone usage, cognitive distractions, passengers distracting the driver, outside events attracting the driver’s attention, and in-vehicle activities. Methods: Taking the crashes that occurred in the USA into account, the crash types are divided into two main groups, single-vehicle crashes and two-vehicle crashes. Since there were different crash types (alternatives) in the dataset and the probable correlation in... 

The use of cell phone is a significant source of driver distraction. Phone use while driving can impair a number of factors critical for safe driving which can cause serious traffic safety problems. The objective of this paper was to investigate the frequency of using cell phones while driving in Iran's roads through an observational survey with a random sample of drivers, to recognize contributing factors to cell phone usage and to understand the magnitude of the problem. A total of 1794 observations were collected from 12 sites at controlled intersections, entrance and exit points of highways. The cell phone use rate among drivers (talking or texting) was estimated at 10% which is... 

This study provides a comprehensive literature review to summarize all contributing factors and the logit-based models that were used to predict the severity of crashes. Using the General Estimates Systems (GES) dataset, as a subset and a branch of the National Automotive Sampling System in the US, a Generalized Ordered Logit (GLM) model is developed to predict the crash severity. The developed severity model detects the most important parameters based on characteristics of the driver, the environment, the vehicle, the road, and the type of crash. This study aims to take a more in-depth look into the distraction-related factors as one of the most important groups of contributing factors to... 

Pure and Pd-doped WO3 Nanocrystalline tungsten oxide films on alumina substrates were prepared via sol-gel method from peroxopolytungstic acid. AFM, XRD, SEM, XPS methods were used to determine the surface morphology, grain size and layer composition. XRD analysis showed WO3 nanocrystalline particles in monoclinic phase and with average size of about 333nm, which was consistent with SEM analysis results. Sensing properties of samples toward H2 gas was studied. The sensitivity of WO3 nanocrystalline films was about 4 at 2300ppm (0.2%) H2 gas. Introducing Pd to the system led to an increase in the sensitivity about 2 orders of magnitude. The sensitivity of Pd: WO3 was about 400 at 2300ppmH2  

Porous silicon samples are obtained by electrochemical method on n-type wafers in room light. Scanning electron microscopy showed that the porous structure consisted of macropores under a thin microporous layer. Placing the samples in Pd-electroless solution causes the crakes inside the microporous layer and growth of the palladium particles in these crakes. However, removing the microporous layer by KOH solution with an ultrasonically assisted process makes the growth of rather uniform palladium particles on the surface in electroless plating. Variation of the electrical resistance in the presence of diluted hydrogen at room temperature revealed that the best samples have the ability to... 

Porous silicon samples were obtained from p+- and n-type silicon wafers. Gas sensing measurements showed that the electrical conductivity of porous Si on p+- and n-type wafers increases strongly and decreases weakly in the presence of methanol gas, respectively. Scanning tunneling spectroscopy (STS) indicates that the adsorption of methanol on the surface of n-porous silicon decreases the average density of states especially in the band gap. Fourier transform infrared (FTIR) spectroscopy reveals that after methanol exposure partial surface oxidation occurs which produces electron traps as well as methanol adsorption on the porous surfaces. These observations imply that the number of... 

Porous poly-silicon (PPS) samples, obtained by electrochemical anodization of p-type poly-silicon wafers, were doped with Pd by the electroless process. Rutherford backscattering spectroscopy shows that Pd has diffused a few micrometres into the PPS layer. Scanning electron microscopy and energy dispersive x-ray analysis results demonstrate the presence of Pd as dispersed clusters on the surface. The variation of the electrical resistance in the presence of dry air diluted with hydrogen at room temperature shows that Pd/PPS samples have the ability to sense hydrogen at levels down to several thousands of ppm. This value is far below the flammability limit of hydrogen gas. It was found that...