Sharif Digital Repository

In this paper, a cooperative approach for control heterogeneous connected and autonomous vehicles (CAVs) platoon considering lane-change maneuvers is proposed. In complex dynamic traffic environment, the speed of the surrounding vehicles of CAVs changes dynamically. Thus, the lane changing vehicle requires considering velocity fluctuations to achieve safe driving. The aim of this study is to combine dynamic path planning based on a cubic curve and model predictive control (MPC) with collision avoidance constraint to track an optimally generated path. The proposed control performs as a maneuver switching model including the vehicle's continuous states and discrete maneuver transition rule for... 

NiAl-TiC composites were synthesised by volume combustion (VC) method from elemental powders to improve the mechanical properties and high temperature performance of nickel aluminide. Synthesised specimens with porous nature were characterised by X-ray diffraction (XRD), scanning electron microscopy (SEM) and energy-dispersive X-ray spectroscopy (EDS) analysis. XRD results showed that NiAl was dominant phase and other phases like Al 3 Ni 2 (in NiAl + 5 wt-% TiC, NiAl + 10 wt-% TiC specimens) and AlNi 3 (in equimolar NiAl-TiC) were present in specimens. Synthesised specimens of NiAl, NiAl + 5 wt-% TiC, NiAl + 10 wt-% TiC, NiAl + 15 wt-% TiC and equimolar NiAl-TiC achieved Vickers... 

The necessity of research in food and nutrition and the emergence of diabetes mellitus call for fast and efficient glucose detection. Here, series of highly sensitive non-enzymatic photoelectrochemical glucose sensor based on engineered titanium dioxide nanotube arrays has been synthesized using a simple electrochemical approach to tune nanotubes morphology in a way that the highest sensitivity factor (525.5 µAmM−1cm−2) and saturation concentrations (0.18 mM) achieved in the photoelectrochemical sensor. The formation of oxygen-rich titanium oxide was confirmed by several techniques. Dependent on the growth condition, nanotube length changed from 1.9 to 8.4 µm while their inner diameter... 

The necessity of research in food and nutrition and the emergence of diabetes mellitus call for fast and efficient glucose detection. Here, series of highly sensitive non-enzymatic photoelectrochemical glucose sensor based on engineered titanium dioxide nanotube arrays has been synthesized using a simple electrochemical approach to tune nanotubes morphology in a way that the highest sensitivity factor (525.5 µAmM−1cm−2) and saturation concentrations (0.18 mM) achieved in the photoelectrochemical sensor. The formation of oxygen-rich titanium oxide was confirmed by several techniques. Dependent on the growth condition, nanotube length changed from 1.9 to 8.4 µm while their inner diameter... 

Single-layer MoS2-MoO3-x heterojunction nanosheets with visible-light-sensitive band gap energy and average lateral dimensions of ~70 nm were synthesized by using a two-step combined exfoliation method. The exfoliation was initiated from pristine MoS2, while some sulfur sites in expanded MoS2 sheets during exfoliating were substituted by ambient non-thermal oxygen, resulting in formation of α-MoO3-x crystalline domains. The morphological features, crystalline structure, phase formation, number of layers, and optical properties of the MoS2-MoO3-x nanosheets were determined by atomic force microscopy; X-ray diffraction; field emission electron microscopy; transmission electron microscopy; and... 

Nonlinear numerical modeling of masonry-infilled frames is one of the most complicated problems in structural engineering field. This complexity is attributed to the existence of joints as the major source of weakness and material nonlinearities as well as the infill-frame interaction which cannot be properly modeled using the traditional finite element methods. Although there are many numerical studies available on solid masonry-infilled steel frames' behavior, however, few researches have been conducted on infilled frames with openings. In this paper a two-dimensional numerical model using the specialized discrete element method (DEM) software UDEC (2004) is developed for the nonlinear... 

Position sensorless control of ac machines at zero and low speed is possible using high-frequency carrier injection methods. These methods utilize anisotropic properties of rotor. Therefore, they may lose their efficiency for nonsalient machines or machines with small rotor saliency. In these machines, measurement noise and offset, existing delays, as well as model uncertainties may lead to inaccurate estimation of rotor position. Stator resistance which is usually neglected in these methods may also lead to a considerable error especially in machines with small rotor saliency. In this paper, a new position estimation method is presented, and it is shown that in comparison to conventional... 

Background: In recent years, Advanced Driving Assistance Systems (ADAS) have been significantly progressed, opening novel horizons in reducing traffic accidents. Driver gender can be an affecting factor in the utilization of these systems. The purpose of this study is to review articles examining the effect of gender on the use of ADAS technologies. Methods: This systematic review was conducted in Scopus, Science Direct and PubMed databases using defined key-words in 2018. The retrieved articles were managed and screened through PRISMA-P protocol using EndNote X7 software. The extracted variables were divided into three categories of reaction, behavior, and outcome and also the relevant... 

Given the importance and complexity of the three-dimensional (3D) neutron transport equation solution, in the current research, a new Modular Ray Tracing (MRT) Algorithm and 3D characteristic kernel for heterogeneous structures are presented. Improvement of memory management and cache coherency are achieved to some acceptable level. Also, parallel implementation of transport algorithm utilizing OpenMP, cause significant reduction in runtime. To validate our Algorithm, first, a self-constituted pin cell and a lattice arrangement are modeled and results are compared with Monte-Carlo simulation. Second, the well-known 3D benchmark, Takeda model one and two, are investigated and results compared... 

Control charts are useful tools of monitoring quality characteristics. One of the problems of employing a control chart is that the time it alarms is not synchronic with the time when assignable cause manifests itself in the process. This makes difficult to search and find assignable causes. Knowing the real time of manifestation of assignable cause (change point) helps to find assignable cause(s) sooner and eases corrective actions to be taken. In this paper, a probabilistic neural network (PNN)-based procedure was developed to estimate the variance change point of a normally distributed quality characteristic. The PNN was selected based on trial and error among different types of... 

A substantial part of this paperwas published in volume 8755 of the series LectureNotes in Computer Science, page 11–22, Title of the book: Social Robotics, 6th International Conference, ICSR 2014, Sydney, NSW, Australia, October 27–29, 2014, ISBN: 978-3-319-11972-4, article title: Impact of a Social Humanoid Robot as a Therapy Assistant in Children Cancer Treatment, by Minoo Alemi, Ali Meghdari, Ashkan Ghanbarzadeh, Leila Jafari Moghadam and Anooshe Ghanbarzadeh. The authors apologize for not having referenced to the previously published article  

In this work a novel unbreakable sol-gel-based in-tube device for on-line solid phase microextraction (SPME) was developed. The inner surface of a copper tube, intended to be used as a high performance liquid chromatography (HPLC) loop, was electrodeposited by metallic Cu followed by the self assembled monolayers (SAM) of 3-(mercaptopropyl) trimethoxysilane (3MPTMOS). Then, poly (ethyleneglycol) (PEG) was chemically bonded to the -OH sites of the SAM already covering the inner surface of the copper loop using sol-gel technology. The homogeneity and the porous surface structure of the SAM and sol-gel coatings were examined using the scanning electron microscopy (SEM) and adsorption/desorption... 

High-performance wearable electronic devices with the capability of converting mechanical force into electrical energy have been gaining increasing attention for biomedical monitoring applications. We present a novel wearable piezoelectric sensor based on a poly(vinylidene fluoride) (PVDF) nanofibrous membrane containing microporous zirconium-based metal-organic frameworks (MOFs) for arterial pulse monitoring. It is shown that the incorporation of 5 wt % of MOF greatly enhances the piezoelectric constant of the polymer fibrous mat by 3.4-fold without significant loss in its flexibility. The nanofibrous composite exhibits a peak-to-peak voltage of 600 mV under an applied force of 5 N, which... 

Fiber/matrix debonding at the free surface of unidirectional composites deteriorates their performance and ultimately reduces the working life of these materials. Identifying the source, controlling the propagation and elimination of the damages has been the subject of many research attempts. The results show that the singular radial thermal residual stress at the fiber/matrix interface on the free surface of composites is the main reason for initiation of the debonding. Also, it has been experimentally and numerically proven that a thin layer of matrix-like cover on the free surface could highly help in elimination and/or reduction of the damage. However, the results were limited to the... 

Treatment of cancer involves many invasive procedures that could be a source of distress in kids suffering from cancer. Distress itself can be an important obstacle in patients' acceptance of treatment and their adaptation to it, consequently reducing its efficiency. Distress symptoms, in a spectrum from mild to critical, are shown to be widespread in children struggling with cancer. In recent years to alleviate this psychological condition, researchers have proposed and examined several methods such as relaxation, hypnosis, desensitization, and distraction. This study presents a new approach to explore the impact of utilizing a humanoid robot as a therapy-assistant in dealing with patients'... 

Treating cancer encompasses many invasive procedures that can be a source of distress in oncology patients. Distress itself can be a major obstruction in the path of acceptance of treatment and the patient's adaptation to it, thereby reducing its efficiency. These distress symptoms have been found to be prevalent in children suffering from cancer, in a spectrum from mild to critical. In the past years in response to this psychological suffering, researchers have proposed and tested several methods such as relaxation, hypnosis, desensitization, and distraction. This paper propounds a new approach by exploring the effect of utilizing a humanoid robot as a therapy-assistive tool in dealing with... 

A novel technique based on image processing inspired by the simple assumption for the first time to assess the roughness of nanofibrous mats based on grayscale variations is proposed. The height of a nanofibrous mat in different regions of the surface is simulated by grayscale variations in the image while the relation between grayscale and height is obtained as a linear function. The roughness is obtained by measuring height variations in the surface profile. Statistical roughness parameters of nanofibrous mats are also obtained from direct measurement with roughness profilometry and atomic force microscopy (AFM) for comparison of the roughness of nanofibrous mats between direct measurement... 

A novel technique based on image processing inspired by the simple assumption for the first time to assess the roughness of nanofibrous mats based on grayscale variations is proposed. The height of a nanofibrous mat in different regions of the surface is simulated by grayscale variations in the image while the relation between grayscale and height is obtained as a linear function. The roughness is obtained by measuring height variations in the surface profile. Statistical roughness parameters of nanofibrous mats are also obtained from direct measurement with roughness profilometry and atomic force microscopy (AFM) for comparison of the roughness of nanofibrous mats between direct measurement...