Sharif Digital Repository

In this paper, a decentralized controller for trajectory tracking of modular and reconfigurable robot manipulators is developed. The proposed control scheme uses joint-torque sensory feedback; also sliding mode control is employed to make both position and velocity tracking errors of robot manipulators globally converging to zero. Proposed scheme also guarantees that all signals in closed-loop systems will be bounded. In contrast to some of prior works in this scheme, each controller uses a smooth law to achieve its purposes. In this method, each controller uses only local information for producing control law hence separated controller can be used to control each module of manipulator and... 

Rolling-element bearing (REB) failure is one of the general damages in rotating machinery. In this manner, the correct prediction of remaining useful life (RUL) of REB is a crucial challenge to move forward the unwavering quality of the machines. One of the main difficulties in implementing data-driven methods for RUL prediction is to choose proper features that represent real damage progression. In this article, by using the outcomes of frequency analysis through the Envelope method, the initiated/existed defects on the ball bearings are identified. Also, new features based on developing faults of ball bearings is recommended to estimate RUL. Early-stage faults in ball bearings usually... 

Heavy damages on structures caused by near field earthquakes in recent years has brought serious attention to this problem. An examination of previous records has shown significant differences for near field earthquakes, including a large energy pulse, unlike far field earthquakes. But as a general rule, the effects of near field earthquakes have been ignored in most building codes. The purpose of this paper is to investigate the effect of near field earthquakes on reinforced concrete (RC) moment frames. To achieve this goal, the Erduran damage index, an efficient way to calculate damage, was employed to analyze two 4- and 8-story RC moment frame buildings. The buildings with moderate and... 

This paper develops a stochastic multi-period mixed-integer model for collection, production, storage, and distribution of platelet in Blood Transfusion Organizations ranging from blood collection centers to clinical points. In this model, the age of platelet and ABO-Rh priority matching rules are incorporated based on the type of patient to raise the quality and safety of platelet transfusion services. At first, a discrete Markov Chain Process is applied to predict the number of donors. Afterwards, the uncertain demand is captured using a two-stage stochastic programming. A challenging aspect of applying stochastic programming in a dynamic setting is to construct an appropriate set of... 

Rolling element bearing (REB) failure is one of the general damages in rotating machinery. In this manner, the correct prediction of remaining useful life (RUL) of REB is a crucial challenge to move forward the unwavering quality of the machines. One of the main difficulties in implementing data-driven methods for RUL prediction is to choose proper features that represent real damage progression. In this article, by using the outcomes of frequency analysis through the envelope method, the initiated/existed defects on the ball bearings are identified. Also, new features based on developing faults of ball bearings are recommended to estimate RUL. Early-stage faults in ball bearings usually... 

In this paper, we investigate optimal coding strategies for a class of linear deterministic relay networks. The network under study is a relay network, with one source, one destination, and two relay nodes. Additionally, there is a disturbing source of signals that causes interference with the information signals received by the relay nodes. Our model captures the effect of the interference of message signals and disturbing signals on a single relay network, or the interference of signals from multiple relay networks with each other in the linear deterministic framework. For several ranges of the network parameters we find upper bounds on the maximum achievable source-destination rate in the... 

Surface registration is a necessary step and widely used in medical image-aided surgery. It's relevance to medical imaging is that there is much useful anatomical information in the form of collected surface points which originate from complimentary modalities. In this study, the kinematic relations between two point clouds with different coordinate definitions have been generated. Using Influence Method of surface modeling for extracting point clouds functions, the transformation matrix would be resulted. The proposed method was applied for an experimental femur data points(651 points) using the MRI images. These data points were transformed in a 30 degrees flexion of knee. This... 

Based on the solution of the Wigner-Boltzmann (WB) equation, quantum correction in the drift-diffusion (DD) model is proposed. The new model, which is a form of the quantum DD model, can show quantum phenomena such as tunneling and quantum repulsion. To evaluate the proposed model, potential barrier and potential wells are simulated. Simulation results show the electron tunneling through and repulsion from the potential barrier. © 2007 The Japan Society of Applied Physics  

The COVID-19 pandemic cast doubts on governments' traditional crisis responses and sparked a surge in citizen-led, participatory, bottom-up responses. Iran's experience is worth investigating because it relied significantly on citizen groups to manage the crisis despite long-term sanctions and extremely restricted resources. The authors undertook an exploratory case study using the grounded theory (GT) method and an online survey to explore Iran's confrontation. The central notion discovered was referred to as 'faith-driven civic engagement.’ The response was characterized by adaptability, promptness, and comprehensiveness. The causes and strategic orientations included intrinsic motives,... 

In this paper, we address a basic production planning problem with price dependent demand and stochastic yield of production. We use price and target quantity as decision variables to lower the risk of low yield. The value of risk control becomes more important especially for products with short life cycle. This is because, the profit implications of low yield might be unbearable in the short run. We apply Conditional Value at Risk (CVaR) to model the risk. CVaR measure is a coherent risk measure and thereby having nice conceptual and mathematical underpinnings. It is also widely used in practice. We consider the problem under general demand function and general distribution function of... 

Natural and synthetic anion receptors are extensively employed, but the structures of their bound complexes are difficult to determine in the liquid phase. Infrared spectroscopy is used in this work to characterize the solution structures of bound anion receptors for the first time, and surprisingly only two of three hydroxyl groups of the neutral aliphatic triols are found to directly interact with Cl-. The binding constants of these triols with zero to three CF3 groups were measured in a polar environment, and KCD3CN(Cl-) = 1.1 × 106 M-1 for the tris(trifluoromethyl) derivative. This is a remarkably large value, and high selectivity with respect to interfering anions such as, Br-, NO3 -... 

The strengthening behavior of particle reinforced metal-matrix composites is primarily attributed to the dislocation strengthening effect and the load transfer effect. To account for these two effects in a unified way, a new multi-scale approach is developed in this paper incorporating the aspect ratio effect into the geometrically necessary dislocation strengthening relationships. By making use of this multi-scale approach, the deformation behavior of metal-matrix composites (MMCs) and metal-matrix nanocomposites (MMNCs) as a function of size, volume fraction, aspect ratio, etc. of the particles has been investigated. Comparison with the previously proposed models and the available... 

Background: Newcastle disease virus (NDV) has shown noticeable oncolytic properties, especially against cervical cancer. However, in order to improve the spread rate and oncotoxicity of the virus, employment of other therapeutic reagents would be helpful. It has been shown that some viral fusogenic membrane glycoproteins (FMGs) could facilitate viral propagation and increase the infection rate of tumor cells by oncolytic viruses. Additionally, immune checkpoint blockade has widely been investigated for its anti-tumor effects against several types of cancers. Here, we investigated for the first time whether the incorporation of influenza hemagglutinin-2 (HA2) FMG could improve the oncolytic... 

In this study the extrudate swell of polymer solutions is estimated using the microstructure of polymer molecules. When a flexible polymer chain goes through a narrow die shear stress exerting on the chain will cause the polymer chain to be stretched along the flow direction. After emerging from die all external stresses vanish immediately and the chains tend to recover their previous state due to elastic recovery. This phenomenon will results in a gradual increase in extrudate diameter and this is used as the key idea for estimating swell ratio. A Giesekus based conformational model was used in order to predict polymer chains microstructure everywhere in the domain. The resulting PDE set... 

In this study, the flow of a fiber filled viscoelastic matrix through planar contractions is investigated. It was found that by adding fiber to the matrix vortex, the intensity increases. Fiber orientation along "x" and "y" axes was studied too. It was found that fiber orientation could be used for determining the flow regime through the contraction geometry. The rigidity condition of fibers, which needs the trace of the orientation tensor to be unity everywhere in the domain, is correct except near walls and the reentrant corner, which is slightly less than one. In these regions, the stress magnitude is higher, which results in more numerical errors, and which further leads to some error in... 

Utilizing ground-based measurements to obtain water budget components, especially in large scale basins, is challenging due to the limitation in the spatiotemporal availability of in-situ data. In this paper, we propose a probabilistic framework for estimating water budgets in low runoff regions using remote sensing products. By studying water budgets in the Central Basin of Iran (CBI) over 8 years period (2009–2016), we investigate the locations and time scales at which the water budget calculated from satellite products provides most closure. To this end, we use precipitation from the Tropical Rainfall Measuring Mission (TRMM), evapotranspiration from the Water Productivity Open Access... 

The most important disadvantage of swinging interferometers is that the optical path difference created in them is a nonlinear function of the rotation angle. In this paper, two new swinging interferometers are presented which have good linearity and provide a larger path difference in response to the rotation angle compared to other interferometers. This makes them suitable for applications such as high-resolution spectroscopy, and precision micro and nanopositioning. In one of these two interferometers, the optical path difference is created by rotation of a system composed of four mirrors, and in the other one it is created by rotation of a system consisting of two mirrors. They are not... 

The process of local scour around bridge piers is fundamentally complex due to the three-dimensional flow patterns interacting with bed materials. For geotechnical and economical reasons, multiple pile bridge piers have become more and more popular in bridge design. Although many studies have been carried out to develop relationships for the maximum scour depth at pile groups under clear-water scour condition, existing methods do not always produce reasonable results for scour predictions. It is partly due to the complexity of the phenomenon involved and partly because of limitations of the traditional analytical tool of statistical regression. This paper addresses the latter part and...