Sharif Digital Repository

This paper addresses a simple chattering-free and finite-time convergent robust synchronization scheme for a general class of disturbed master and slave chaotic systems. Unlike traditional variable structure control schemes, the proposed controller does not directly include a switching function, and chattering is avoided. The term including switching function is the input of a low-pass filter where the filtered output is used in the controller. Also, numerical differentiation of master and slave state trajectories is not required to implement the controller. Stability of the proposed controller is established using a Lyapunov stability analysis and the finite-time convergence theories.... 

The present work addresses chaos synchronization between two different general chaotic systems with parametric and structural uncertainties, subject to external disturbances and input dead-zone nonlinearities. In this regard, a novel robust controller has been designed that guarantees asymptotic stability of synchronization errors and boundedness of all closed-loop signals. One advantage of the proposed controller over the existing control algorithms is using only one update law for estimating the structural uncertainties, external disturbances, and unknown characteristics of the dead-zone nonlinearities, which reduces the computational burden considerably. The designed controller is... 

In this study, the influence of crack conduction method on behavior of reinforced concrete (RC) frame under iterative high impact loading were experimented. To investigate the structural behavior through large deformations and progressive damage and to identify the failure modes, the falling weight and falling height were set more than the structural strength in elastic state. A comprehensive scheme which indicated influence of location of initial cracks on behavior and failure mode of structure was developed. Falling weight impact test was conducted on twenty-one laboratory scaled RC frames which were categorized in four series regard to considered scheme. Concrete volume and compressive... 

In this paper, a novel robust model reference adaptive impedance control (RMRAIC) scheme is presented for an active transtibial ankle prosthesis. The controller makes the closed loop dynamics of the prosthesis similar to a reference impedance model and provides asymptotic tracking of the response trajectory of this impedance model. The interactions between human and prosthesis are taken into account by designing a second-order reference impedance model. The proposed controller is robust against parametric uncertainties in the nonlinear dynamic model of the prosthesis. Also, the controller has robustness against bounded uncertainties due to unavailable ground reaction forces and unmeasurable... 

A stable robust adaptive impedance control strategy is introduced here as a model-based low-level control scheme for active ankle prostheses. The effects of amputee-prosthesis and prosthesis-environment interactions are included in the controller design. An interesting feature of the proposed controller is that only shank and ankle angles and angular velocities, and ground reaction forces are required to implement the control law. In other words, no feedback from amputee-prosthesis interaction forces and moment, global or local positions, and accelerations of amputated place is required. Using a Lyapunov analysis, exponential convergence characteristics of the proposed controller are proven.... 

Strike of a lightning stroke to the high voltage terminal of a power transformer results in an impulse stress on its windings. The magnitude of the series capacitance of the windings has an important effect on the impulse voltage distribution and the stresses along the windings. Increasing the series capacitances of the windings, the impulse voltage distribution becomes more linear and the stress on the winding is reduced. So interleaved windings rather than disc windings are used in power transformer windings to increase the series capacitances. In this paper, the electrostatic shielding, used in disc windings to increase the windings series capacitance, and for linearization of its impulse... 

In this paper, a hierarchical multi-scale technique is developed to investigate the thermo-mechanical behavior of nano-crystalline structures in the presence of edge dislocations. The primary edge dislocations are generated by proper adjustment of atomic positions to resemble discrete dislocations. The interatomic potential used to perform atomistic simulation is based on the Finnis-Sinclair embedded-atom method as many-body potential and, the Nose-Hoover thermostat is employed to control the effect of temperature. The strain energy density function is obtained for various representative volume elements under biaxial and shear loadings by fitting a fourth order polynomial in the atomistic... 

Strike of a lightning stroke to the high voltage terminal of a power transformer results in an impulse stress on its windings. The magnitude of the series capacitance of the windings has an important effect on the impulse voltage distribution and the stresses along the windings. Increasing the series capacitances of the windings, the impulse voltage distribution becomes more linear and the stress on the winding is reduced. So interleaved windings rather than disk windings are used in power transformer windings to increase the series capacitances. In this paper, the electrostatic shielding, used in disk windings to increase the windings series capacitance, and for linearization of its impulse... 

Stress-relieved Al-Mn-Si specimens were constrained groove pressed (CGPed) and in the following, cold-rolled under different strains of 0.47, 0.8 and 1.27. Dual strained sheets were isothermally heat treated at 150, 250, and 350 °C. Microstructure survey revealed that generated shear-bands by CGP acted as talent sites for further strain-induced grain boundary migration (SIGBM) during annealing. SEM micrographs pointed out that coarse particles (1 μm <) had not preferential positions within the aluminum matrix and often comminuted into fine dispersoids (0.5 μm >) under heavy strains. Assessment of the softening fraction (Rrec) depicted that greater accumulated strains along with higher... 

The conventional quadrotor, characterized by four control inputs to control six degrees of freedom, is inherently under-actuated, resulting in limited independent control over pitch and roll angles. In this study, we present a configuration that incorporates four additional control inputs for manipulating the angles of the propeller axes. This addresses the previously mentioned limitations and offers additional advantages. Also, it can exhibit enhanced stability during altitude reduction by mitigating the vortex ring state. We derive the dynamic model for this system using Newthon-Euler's method. To address unmodeled dynamics, uncertainties, disturbances, and the inherent complexity of these... 

Secure routing is a major key to service maintenance in ad hoc networks. Ad hoc nature exposes the network to several types of node misbehavior or attacks. As a result of the resource limitations in such networks nodes may have a tendency to behave selfishly. Selfish behavior can have drastic impacts on network performance. We have proposed a Misbehavior-Tolerant Multipath Routing protocol (MTMR) which detects and punishes all types of misbehavior such as selfish behavior, wormhole, sinkhole and grey-hole attacks. The protocol utilizes a proactive approach to enforce cooperation. In addition, it uses a novel data redirection method to mitigate the impact of node misbehavior on network...