Sharif Digital Repository

Overwhelming number of control laws has been studied for control of robot manipulators with rigid links and joints. However controllers designed under this assumption may not accurately control the manipulator link due to visco-elastic properties that appear in the link behavior. In this study, a novel approach for robust control of a single-link manipulator is presented to force the link to have rigid motions, while it has visco-elastic behavior. In this regard, initially robot dynamics is extracted, followed by the design of four appropriate controllers through the loop-shaping approach. The obtained model is first represented in state space, however later converted to transfer function... 

Pure polypyrrole (PPy), PPy/Al2O3 and PPy/SiO2 nanocomposites synthesized galvanostatically using different polymerization charges. Electrochemical impedance measurements of pure polypyrrole revealed that the film thickness affected the impedance responses. The characteristic frequencies vs. film thickness that obtained using Cole-Cole plots showed that electrodeposition mechanism changed from 3D to 1D after nuclei overlapping for pure PPy. Analysis of the nanocomposites impedance spectrums revealed no changes during the film growth, i.e. deposition continues 3D even after nuclei overlapping. Scanning electron microscopy (SEM) confirmed the impedance results and showed that the morphology of... 

In this research, a mathematical model to simulate a two-phase fluidized bed reactor for oxidative dehydrogenation of propane to propylene was developed. The developed model was solved numerically using the matlab software. Moreover, effects of the reaction temperature, operating pressure, feed composition, particle's size and gas superficial velocity on the reactant conversion, product selectivity and desired product's yield were understudied. The model was validated using previously published experimental data for simulation of the case at the exit of the circulating fluidized bed reactor. The results revealed that, as the temperature raised from 783 to 823 K, the propane conversion... 

A nonlinear robust adaptive sliding mode admittance controller is proposed for exoskeleton rehabilitation robots. The proposed controller has robustness against uncertainties of dynamic parameters using an adaptation law. Furthermore, an adaptive Sliding Mode Control (SMC) scheme is employed in the control law to provide robustness against disturbances (non-parametric uncertainties) with unknown bounds. For this purpose, another adaptation law is defined for the variation of the SMC gain. The proposed scheme is augmented with an admittance control method to provide the patient with compliance during interaction with the rehabilitation robot. The stability of the proposed controller and the... 

In many medical applications, it is necessary to precisely control a robot to achieve exact positioning. In such cases, some components of robot which had been considered rigid should be modeled with visco-elastic elements to present more exact model of robot, and hence controllers designed under the assumption of rigidity may not accurately control them, especially when time-delay and disturbances have been appeared in the closed-loop system. In this study, we present a new control approach to force such robots to have rigid and exact motions, while they have visco-elastic components. Time-delay in the feedback path defects transient state response, while disturbances change the steady... 

Background: Diabetes is associated with many pathological changes and one of the most important consequences of the diabetes is hepatic injury. The present study was performed to investigate the effect of eight weeks endurance training with consumption of cinnamon supplementation on plasma concentrations of liver enzymes,alanine aminotransferase (ALT) and aspartate aminotransferase (AST) in women with type II diabetes. Methods: In this quasi-experimental study,36 female volunteers with type II diabetes (age 52.72±2.64 years and body mass index 29.28±2.94 Kg/m2) were participated. The subjects were homogenized regarding their body mass index and then were divided randomly into four groups... 

D-glucosamine, as a representative polyfunctional compound, is a bioactive amino sugar. In this study, the gas phase thermochemical properties of D-glucosamine, including its Metal Ion Affinity (MIA), metal binding sites, Anion Affinity (AA), acidity and proton affinity, have been explored, using the Density Functional Theory (DFT) and a 6-311++G**basis set. The summary of the MIA and AA results (in kcal/mol-1) are: Li+ = 67.6, Na+ = 51.1, K+ = 37.3, Mg2+ = 207.9, Ca2+ = 150.4, Zn2+ = 251.2, Cl- = 27.4, CN- = 28.0. The acidity values calculated at different sites, including four -OH groups and one -NH2 group, range from 344.0 to 373.0 kcal/mol-1. These results, surprisingly, indicate how... 

TRISO particles are the specific features of HTTR and generally HTGR reactors. Their heterogeneity and random arrangement in graphite matrix of these reactors create a significant modeling challenge. In this study, an algorithm is proposed for modeling random arrangement of TRISO particles in the fuel compacts of HTTR. The effect of this arrangement on criticality calculations, i.e. effective multiplication factor and critical position of control rods, is then compared with regular arrangement. Regular arrangement was modeled by positioning each TRISO as a fixed sphere in the center of a cubic lattice and subsequently, each fuel compact was filled with around 13,000 (approximate number of... 

In this paper resilience oriented water and energy hub scheduling for a remote area is presented. The optimal operation scheduling considering maintenance programming and reliability indices are presented. Demands which include electricity, heat and drinking waters are supplied by diesel generators, boilers, combined heat and power units, and drinking water sources such as desalination units and transferring water. The considered system contains renewable energy resources such as wind turbine and photovoltaic arrays as well as electrical storage units. In order to enhance resiliency of system against forced outages of components and regular maintenance programs, maintenance constraints and... 

High-temperature insulators protect structures against extreme thermal loads in various industries such as energy and space-related areas. For such insulations, radiation is the dominant mode of heat transfer. The intended multilayer high-temperature insulator utilizes reflection as the controlling mechanism for the radiative heat transfer. In the current study, the axiomatic design methodology is used to map the design process of a reflective multilayer high-temperature insulator. In addition, an analytical model is developed to simulate the combined radiation and conduction heat transfer in the reflective multilayer high-temperature insulator. The model was solved numerically and validated... 

In this paper we will address two major problems in mammogram analysis for breast cancer in MR-images. The first is classification between normal and abnormal cases and then, discrimination between benign and malignant in cancerous cases. Our proposed method extracts textural and statistical descriptive features that are fed to a learning engine based on the use of Support Vector Machine learning framework to categorize them. The obtained results show excellent accuracy in both classification problems, that proves the appropriate combination of our features and selecting powerful classifier i.e. Support Vector Machine leads us to a brilliant outcome  

The properties of Functionally Graded Materials (FGM) are characterized by gradual variation of volume fraction of their constituents or phases over the thickness direction. They are normally ceramic in one side and metal in the other side. This kind of material has been employed as thermal barrier and also as coatings in many applications including turbine blades. Thermal stress behavior of FGMs is normally studied by simulating the material as a composite laminate where the properties ofeach layer are found by averaging the properties and volume fraction of FGM constituents through the thickness of the layer. However, it should be mentioned that the grains of FGM constituents are usually... 

The electrodeposition of nickel was studied using electrochemical techniques in different electrolytes and various agents. The voltammetry analysis clearly showed that the electrodeposition of nickel was a diffusion-controlled process associated with a typical nucleation process. The current transients represented instantaneous nucleation with a typical three-dimensional (3D) growth mechanism. Scharifker's equations were derived for instantaneous and progressive nucleation of the 3D growth of the spherical centers under diffusion-controlled condition. The number of nucleation sites increased with the increment in overpotential and Ni 2+ concentration. Atomic force microscopy was used to...