Sharif Digital Repository

In this paper, an adaptive multi-model CMAC-based controller (AMCBC) in conjunction with a supervisory controller is developed for uncertain nonlinear MIMO systems. AMCBC is a kind of adaptive feedback linearizing controller where nonlinearity terms are approximated with multiple CMAC neural networks With the help of a supervisory controller, the resulting close-loop system is globally stable. The proposed control system is applied to control a robotic manipulators, where some varying tasks are repeated but information on the load is not defined; it is unknown and varying. It is shown how the proposed controller is effective because of its capability to memorize the control skill for each... 

In this paper, an adaptive multi-model controller based on CMAC neural networks (AMNNC) is developed for uncertain nonlinear MIMO systems. AMNNC is a kind of adaptive feedback linearizing controller where nonlinearity terms are approximated with multiple neural networks. The weighted sum of the multiple neural networks is used to approximate the system nonlinearity for a given task. The proposed control scheme is applied to control a robotic manipulator, where some varying tasks are repeated but information on the load is not defined; it is unknown and varying. It is shown how the proposed controller is effective because of its capability to memorize the control skill for each task using... 

This paper presents energy analysis of multiple-cracked beams. The study deals with crack energy reduction functions for consuming strain energy due to crack growth and the degree of conformity between these functions and experimental results. Three different reduction functions are employed in this research work. A comprehensive analysis is performed providing a comparison of the functions for a beam with one and two cracks. In order to elucidate advantages and disadvantages of each function, we employ them in different crack detection problems. For different cases of crack localization and quantification in a crack detection problem, the best function that fits the experimental results... 

In this paper, an algorithm for identifying rectangular notch parameters as damage in a plate using Lamb waves is presented. In this algorithm, a combination of pulse-echo and pitch-catch methods is used. The method is divided into two steps: notch localization and notch geometry detection. The bases for this algorithm are mode conversion and scattering phenomena because of interaction of Lamb wave modes with defects. The method is applied to some numerical examples, and the results show that it can successfully identify all of rectangular notch parameters, i.e., its location, depth, and width  

Damage detection in uniform structures has been studied in numerous previous researches. However, damage detection in non-uniform structures is less studied. In this paper, a damage detection algorithm for identifying rectangular notch parameters in a stepped waveguide using Lamb waves is presented. The proposed algorithm is based on mode conversion and scattering phenomena because of interaction of Lamb wave modes with defects. The analysis is divided into two steps: notch localization and notch geometry detection. The main advantage of this method is its ability to detect all of the notch parameters in a waveguide with arbitrary number of step discontinuities. The method is applied to a... 

In this study, the effect of carboxyl-terminated butadiene-acrylonitrile liquid rubber on fracture toughness of glass-reinforced epoxy composites has been investigated. Fracture toughness tests were conducted in modes I, II and different mixed mode ratios. The data obtained from these tests have been analyzed by using different methods. Results indicated that interlaminar fracture toughness of composite specimens improved considerably through addition of carboxyl-terminated butadiene-acrylonitrile in modes I, II and mixed mode. Interlaminar fracture surfaces of the specimens were also characterized by field emission scanning electron microscope  

Multilateral well is a promising technology in developing oil reservoirs. Because this technology may increase the production rate per well and reduce the costs of field development, it is rapidly replacing the old methods. This study uses a three-dimensional line-source model with direct search methods, including pattern search and genetic algorithms to optimize the well trajectories. This method was applied to several cases, with different forms of wells and reservoirs. In all cases, significant improvement was observed in the production rate. Furthermore, the production enhancement using the optimized well trajectories which have curved-paths is compared to the case with linear well... 

Droplet-based microfluidics offers significant advantages, such as high throughput and scalability, making platforms based on this technology ideal candidates for point-of-care (POC) testing and clinical diagnosis. However, the efficiency of co-encapsulation in droplets is suboptimal, limiting the applicability of such platforms for the biosensing applications. The homogeneity of the bioanalytes in the droplets is an unsolved problem. While there is extensive literature on the experimental setups and active methods used to increase the efficiency of such platforms, passive techniques have received less attention, and their fundamentals have not been fully explored. Here, we develop a novel... 

Particle separation has a variety of applications in biology, chemistry and industry. Among them, circulating tumor cells (CTCs) separation has drawn significant attention to itself due to its high impact on both cancer diagnosis and therapeutics. In recent years, there has been growing interest in using inertial microfluidics to separate micro/nano particles based on their sizes. This technique offers label-free, high-throughput and efficient separation and can be easily fabricated. However, further improvements are needed for potential clinical applications. In this study, a novel inertial separation technique using spiral microchannel having stair-like cross section is introduced. The... 

A gas-turbine cogeneration system with a regenerative air preheater and a single-pressure exhaust gas boiler serves as an example for application of CHP Plant. This CHP plant which can provide 30 MW of electric power and 14kg/s saturated steam at 20 bars. The plant is comprised of a gas turbine, air compressor, combustion chamber, and air pre-heater as well as a heat recovery steam generator (HRSG). The design Parameters of the plant, were chosen as: compressor pressure ratio (rc), compressor isentropic efficiency (ηac), gas turbine isentropic efficiency (ηgt), combustion chamber inlet temperature (T3), and turbine inlet temperature (T4). In order to optimally find the design parameters a... 

Quercetin (QC), a naturally occurring antioxidant, has demonstrated potential in the prophylaxis and therapy of various cancer types. Despite its biocompatibility and minimal side effects, its therapeutic efficacy is limited by its low physicochemical stability, poor solubility, and suboptimal bioavailability. This study proposes a novel approach to address these limitations and augment the pharmacokinetics of QC, specifically its half-life and overall delivery efficacy. The W/O/W was employed to load QC into a chitosan (CS)/Starch/graphene quantum dots (GQDs)/titanium dioxide (TiO2) nanocomposite, serving as a stimuli-responsive nanocarrier. The CS/Starch hydrogel was synthesized via a... 

Local educational institutions produce in-house English for Specific Purpose (ESP) materials according to the curriculum policies designated and developed by the Ministry of Higher Education In Iran. To this end, this book aims to be used in the Iranian setting at the tertiary level for undergraduate students majoring in Mechanical Engineering. Moreover, the style of English usage in this ESP textbook is American.
Regarding the content of the textbook, it has both thematic organizations in which the topics are relevant and includes sufficient treatment of the target language areas necessary for the students. The principle organizing approach of this textbook is theme-based. In addition,... 

The aim of this study is to employ feedback control loops to provide a stable forward dynamics simulation of human movement under repeated position constraint conditions in the environment, particularly during stair climbing. A ten-degrees-of-freedom skeletal model containing 18 Hill-type musculotendon actuators per leg was employed to simulate the model in the sagittal plane. The postural tracking and obstacle avoidance were provided by the proportional—integral—derivative controller according to the modulation of the time rate change of the joint kinematics. The stability of the model was maintained by controlling the velocity of the body's centre of mass according to the desired centre of...