Sharif Digital Repository

Herein, a new dopant-free organic material, PV2000, as a stable hole transporting layer (HTL) for the fabrication of stable and efficient perovskite solar cells (PSCs) is introduced. For this purpose, planar PSCs using a triple-A cation perovskite composition are fabricated and the commonly used 2,2′,7,7′-tetrakis[N,N-di(4-methoxyphenyl)amino]-9,9′-spirobifluorene (spiro-OMeTAD) HTL is replaced by dopant-free PV2000 polymer. The characterization results disclose that the PV2000 has a great thermal stability, good hole mobility, and suitable band alignment that matches well with the valence band of triple-A cation perovskite. After proper optimization of PV2000 film thickness, a planar PSC... 

An efficient gradient-based method to solve the volume constrained topology optimization problems is presented. Each iterate of this algorithm is obtained by the projection of a Barzilai-Borwein step onto the feasible set con- sisting of box and one linear constraints (volume constraint). To ensure the global convergence, an adaptive nonmonotone line search is performed along the direction that is given by the current and projection point. The adaptive cyclic reuse of the Barzilai-Borwein step is applied as the initial stepsize. The minimum memory requirement, the guaranteed convergence property, and al- most only one function and gradient evaluations per iteration make this new method very... 

Colloidal quantum dot solar cells have recently attracted significant attention due to their low-processing cost and surging photovoltaic performance. In this paper, a novel, reproducible, and simple solution-based process based on supercritical fluid toluene is presented for in situ growth and deposition PbS nanocrystals with oleic-acid passivation. A lead precursor containing sulfur was mixed with oleic acid in toluene and processed in a supercritical fluid condition at different temperatures of 140, 270 and 330 °C for 20 min. The quantum dots were deposited on a fluorine-doped tin oxide glass substrate inside the supercritical reactor. Transmission electron microscopy, X-ray diffraction,... 

Continuous fixed-bed column studies were carried out by using Amberlite CG-400 anion exchange resin for the recovery of uranium from aqueous solutions (synthetic solutions and uranium conversion facility (UCF) liquid waste). Effects of operating parameters such as flow rate and bed height were studied. The breakthrough capacity decreases with increasing flow rate, but this dependence was not significant with a long column. The maximum breakthrough capacity of uranium ions were achieved by CG-400 resin at a flow rate of 0.2 mL min-1 and bed height 9.1 cm (4 g resin). The elution behavior of uranium from CG-400 resin by various eluents have been investigated and the results show that 0.5 mol... 

A new nonlinear adaptive impedance-based trilateral controller is proposed to ensure the absolute stability of multi-degrees-of-freedom (DOFs) dual-user haptic teleoperation systems subjected to communication delays. Using this strategy, reference impedance models are realized for the trilateral teleoperation system represented by a three-port network to facilitate cooperation of two human operators in order to perform a remote physical task. For this purpose, an impedance model defines the desired haptic interaction between the two human operators, while another impedance model specifies the desired behavior of the slave robot in terms of tracking the mater robots' trajectories during... 

In this paper, an approach to physical collaboration between a patient and a therapist is proposed using a bilateral impedance control strategy developed for delayed tele-robotic systems. The patient performs a tele-rehabilitation task in a resistive virtual environment with the help of online assistive forces from the therapist being provided through teleoperation. Using this strategy, the patient's involuntary hand tremors can be filtered out and the effort of severely impaired patients can be amplified in order to facilitate their early engagement in physical tasks. The response of the first desired impedance model is tracked by the master robot (interacting with the patient), and the... 

A nonlinear model reference adaptive bilateral impedance controller is proposed that can accommodate various cooperative tele-rehabilitation modes for patient–therapist interaction using a multi-DOF tele-robotic system. In this controller, two reference impedance models are implemented for the master and slave robots using new model reference adaptive control laws for the nonlinear bilateral teleoperation system. “Hand-over-hand” and “adjustable-flexibility” are two modes of patient–therapist cooperation that are realized using the proposed strategy. The Lyapunov-based stability proof guarantees the patient's and the therapist's safety during the cooperation and interaction with robots, even... 

A non-linear robust adaptive bilateral impedance controller is proposed to provide the absolute stability of multi-DOF teleoperation systems with communication delays, in addition to the force and position tracking performance. The proposed controller realises two desired (or reference) impedance models for the master and slave robots using a new non-linear robust version of the model reference adaptive control scheme. Using the absolute stability criterion, the robustness condition of the teleoperation system against communication delays is obtained, resulting in suitable adjustments of parameter values in the desired impedance models. In addition, using the Lyapunov stability theorem, the... 

A bilateral impedance controller is presented to enable robot-assisted surgery of a beating heart. For this purpose, two desired impedance models are designed and realized for the master and slave robots interacting with the operator (surgeon) and the environment (heart tissue), respectively. The impedance models are designed such that (a) the slave robot complies with the oscillatory motion of the beating heart and (b) the surgeon perceives the non-oscillatory portion of the slave/heart contact force at the master robot implying arrested-heart surgery. These performance goals are achieved via appropriate adjustment of the impedance model parameters without any measurement or estimation of... 

A novel impedance-controlled teleoperation system is developed for robot-assisted tele-echography of moving organs such as heart, chest and breast during their natural motions (beating and/or breathing). The procedure of devising the two impedance models for the master and slave robots is developed such that (a) the slave robot holding the ultrasound (US) probe follows the master trajectory but complies with the oscillatory interaction force of the moving organ, and (b) the sonographer receives feedback from the non-oscillatory portion of the slave-organ interaction force via the master robot similar to the haptic feedback received in echography of a stationary organ. These goals are... 

In this paper, a new impedance-based teleoperation strategy is proposed for assist-as-needed tele-rehabilitation via a multi-DOF telerobotic system having patient–master and therapist–slave interactions. Unlike a regular teleoperation system and as the main contribution of this work to minimize the therapist's movements, the therapist's hand only follows the patient's deviation from the target trajectory. Also it provides a better perception of the patient's problems in motor control to the therapist The admissible deviation of the patient's limb from a reference target trajectory is governed by an impedance model responding to both patient's and therapist's interaction forces. As the other... 

This paper presents a recursive approach for solving kinematic and dynamic problems in snake-like robots using Kane's equations. An n-link model with n-nonholonomic constraints is used as the snake robot model in our analysis. The proposed algorithm which is used to derive kinematic and dynamic equations recursively, enhances the computational efficiency of our analysis. Using this method we can determine the number of additions and multiplications as a function of n. The proposed method is compared with the Lagrange and Newton-Euler's method in three different aspects: Number of operations, CPU time and error in the computational procedures. © 2006 Cambridge University Press  

This paper presents a recursive approach for solving kinematic and dynamic problem in snake-like robots using Kane's equations. An n-link model with n-nonholonomic constraints is used as the snake robot model in our analysis. The proposed algorithm which is used to derive kinematic and dynamic equations recursively enhances the computational efficiency of our analysis. Using this method we can determine the number of additions and multiplications as a function of n. The proposed method is compared with the Lagrange and Newton-Euler's method in three different aspects: Number of operations, CPU time and error in the computational procedures. Copyright © 2005 by ASME  

During the last decade, solution-processed colloidal quantum dots (CQDs) have attracted significant attention for low-cost fabrication of optoelectronic devices. In this study, lead sulfide (PbS) CQDs were synthesized via the hot injection method and the effect of doping elements with low electron affinity, including cadmium, calcium and zinc, on the passivation of trap states was investigated. A red-shift in the luminescence emission was observed by doping through passivation of lead dangling bonds. Time-resolved photoluminescence measurements showed that the lifetime of charged carriers was significantly enhanced by cadmium doping (∼80%) which is quite noticeable compared with calcium- and... 

Recently, hybrid nanocomposites consisting of graphene/nanomaterial heterostructures have emerged as promising candidates for the fabrication of optoelectronic devices. In this work, we have employed a facile and in situ solution-based process to prepare zinc oxide/graphene quantum dots (ZnO/G QDs) in a hybrid structure. The prepared hybrid dots are composed of a ZnO core, with an average size of 5 nm, warped with graphene nanosheets. Spectroscopic studies show that the graphene shell quenches the photoluminescence intensity of the ZnO nanocrystals by about 72%, primarily due to charge transfer reactions and static quenching. A red shift in the absorption peak is also observed. Raman... 

In the current study, hydrogen fluoride (HF) adsorption onto the sodium fluoride pellets is modeled. For this purpose a two-dimensional, non-isothermal model was developed and the governing equations were solved numerically. The contributions of diffusion transport in axial and radial directions also were considered in mathematical formulations. The model results of effluent concentration and breakthrough curves of HF were compared with the experimental data obtained in a lab-scale adsorption unit, reported in our previous work [1]. The results indicate while the feed gas velocity decreases, the HF adsorption capacity on NaF is significantly enhanced and there is a delay in breakthrough... 

In uranium conversion industry, the fluorine is used as chemical raw material gas to produce UF4 and UF6 while its purity is very important. In this study, the adsorption process of hydrogen fluoride, as an impurity in the process of fluorine production, on sodium fluoride pellets is experimentally studied in a lab-scale fixed bed adsorbent. Also, the effects of some operating parameters including inlet concentration and inlet temperature of hydrogen fluoride are precisely investigated on the adsorption process. The data of adsorption are analyzed and correlated by Langmuir, Freundlich and Temkin isotherms. The adsorption capacity is found to be 1.908 and 0.750 g HF/g NaF by the Langmuir... 

User modeling plays an important role in delivering customized web services to the users and improving their engagement. However, most user models in the literature do not explicitly consider the temporal behavior of users. More recently, continuous-time user modeling has gained considerable attention and many user behavior models have been proposed based on temporal point processes. However, typical point process-based models often considered the impact of peer influence and content on the user participation and neglected other factors. Gamification elements are among those factors that are neglected, while they have a strong impact on user participation in online services. In this article,... 

Solidification cracking is one the most common types of cracking in the weld of the aluminum alloys. Although some numerical models have been developed for investigation of the solidification cracking, the effect of the grain misorientation on the solidification cracking susceptibility (SCS) of a weld has rarely been considered. This work studies the effect of the angle between the primary arms of the dendrites on the SCS. Hence, a solidification cracking model was developed given the grain misorientation in the convergence condition. The model was investigated for Al-Cu alloys. When the grain boundary energy was considered in the model, there was an increase in the SCS for misorientation... 

This paper presents solid-state ligand exchange of spin-coated colloidal lead sulfide quantum dot (PbS QD) films by methylammonium iodide (MAI) and integration of them in depleted heterojunction solar (DHS) devices having an antireflecting (AR) nanocone plastic structure. Time-resolved photoluminescence measurements determine a shorter lifetime of the charge carries on a semiconductor (TiO2) electron transfer layer for the MAI-passivated QD films as compared with those with long-chain aliphatic or short thiol ligands. Consequently, the DHS device yields improved power conversion efficiency (>125%) relative to oleic-acid-passivated PbS QD films. Using anodized aluminum oxide templates, an...