Our project can be divided to two major sections: Hardware and Software. Each part was fully desi... more Our project can be divided to two major sections: Hardware and Software. Each part was fully designed and produced by the members in charge. In turn, the software section, can be divided into the: "Image processing, Network, AI, trajectory, controller, coding and transmission” subsections, each being programmed on Delphi, as separate modules and then implemented in the master project. The processing is distributed on four computers, networked with coaxial cables. Three computers, connected to three cameras on top of the field, are in charge of image processing and a server finishes the remaining processes. The hardware, consisting of the robot itself and the receiver and driver circuit board were both designed and made by the students themselves.
In this work, we obtain a useful property of uniformly Lipschitzian mappings, then we give some s... more In this work, we obtain a useful property of uniformly Lipschitzian mappings, then we give some suitable conditions under which uniformly Lipschitzian mappings have a flxed point without limiting conditions on the Lipschitz constant L in metric spaces. As an application of our main results we investigate the solvability of Fredholm integral equations of second kind. Some illustrative examples are included to show the usefulness and applicability of results.
We derive a priori bounds for positive supersolutions of $ - \Delta_{p} u = \rho(x) f(u) $, where... more We derive a priori bounds for positive supersolutions of $ - \Delta_{p} u = \rho(x) f(u) $, where $p>1$ and $\Delta_{p}$ is the $p$-Laplace operator, in a smooth bounded domain of $R^{N}$ with zero Dirichlet boundary conditions. We apply the results to nonlinear elliptic eigenvalue problem $ - \Delta_{p} u = \lambda f(u) $, with Dirichlet boundary condition, where $ f $ is a nondecreasing continuous differentiable function on $[0,\infty]$ such that $ f(0) > 0 $, $ f(t)^{\frac{1}{p-1}} $ is superlinear at infinity, and give sharp upper and lower bounds for the extremal parameter $ \lambda_{p}^{*} $. In particular, we consider the nonlinearities $ f(u) = e^u $ and $ f(u) = (1+u)^{m} $ ($ m > p-1 $) and give explicit estimates on $ \lambda_{p}^{*} $. As a by-product of our results, we obtain a lower bound for the principal eigenvalue of the $ p $-Laplacian that improves obtained results in the recent literature for some range of $ p $ and $ N $.
This paper will explore the restriction of the coherent information to the positive definite dens... more This paper will explore the restriction of the coherent information to the positive definite density matrices in the special case where the quantum channels are strictly positive linear maps. The space of positive definite density matrices is equipped with an embedded submanifold structure of the real vector space of Hermitian matrices. These ensure that the n-shot coherent information is differentiable and allows for the computation of its gradient and Hessian. We show that any tensor products of critical points preserve being a critical point of the coherent information. Furthermore, we show that for any positive integer n, the maximally mixed state is always a critical point for the class of mixed unitary quantum channels with orthogonal, unitary Kraus operators. We determine when the maximally mixed state is a local maximum/minimum or saddle point, including its eigenvectors, for the class of Pauli-erasure channels when n is equal to 1. This class includes the dephrasure channel and Pauli channel and refines potential regions where super-additivity is thought to occur. These techniques can be used to study other optimization problems over density matrices and allow the use of manifold optimization algorithms and a better understanding of the quantum capacity problem by utilizing the first and second order geometry.
Due to global developments in constitutional law and especially the importance of principles of r... more Due to global developments in constitutional law and especially the importance of principles of republicanism, the sovereignty of the people and the protection of individual rights and public liberties as the foundations of constitutionalism and constitutional government, it seems that a new category of constitution that is consistent with the principles and foundations of constitutionalism and the constitution should be provided. Therefore, the classical categories of constitutions are briefly introduced and then their unlawful aspects will be criticized and then, new categories of constitutions are introduced and described. This classification is based on the assumption that republic governments can be constitutionality and with a focus on the protection of liberty can use its power without being required to comply with liberty in its liberal concept. So as constitutions can be divided into two types of liberalism and republicanism, governments can be classified into two types of ...
An Erbium-organic framework was prepared by hydrothermal reaction. The prepared framework was cha... more An Erbium-organic framework was prepared by hydrothermal reaction. The prepared framework was characterized by Fourier transform infrared spectroscopy (FT-IR), Scanning electron microscopy (SEM), and X-ray powder diffraction (XRD). The framework has open metal sites at Er(III) centers, thus providing an accessible Lewis acid center for electrophile activation. Accordingly, the synthesized framework was used as Lewis acid heterogeneous catalyst for Hantzsch coupling reaction and tetrahydro-4H-chromene synthesis. The reaction condition has been optimized by variation of the reaction time, temperature, solvent and catalyst concentration. A variety of tetrahydro-4H-chromenes was synthesized and characterized by FT-IR and 1H NMR spectroscopy. Er-MOF, as a Lewis acid heterogeneous catalyst, showed excellent selectivity and high yield for these transformations.Graphical Abstract
In this paper, the Adaptive Fuzzy Logic (AFL) algorithm proposed previously by us for solving inv... more In this paper, the Adaptive Fuzzy Logic (AFL) algorithm proposed previously by us for solving inverse kinematics of redundant robots, has been improved for trajectory tracking applications. The main objective is to minimize the error of the end-effector at each point along the trajectory so that the end-effector can accurately track the prescribed trajectory. The rate of convergence to desired points has been improved considerably and therefore a simple accurate and fast trajectory tracking solution is obtained. The simulation results verify the efficiency of the proposed method.
Sweden’s health care is continuously subjected to economical cutbacks, which results in enormous ... more Sweden’s health care is continuously subjected to economical cutbacks, which results in enormous workloads. To prevent problems that arise in these situations, it is of great importance to take mea ...
Four microporous lanthanide metal–organic frameworks (MOFs), namely Ln(BTC)(H2O)(DMF)1.1 (Ln = Tb... more Four microporous lanthanide metal–organic frameworks (MOFs), namely Ln(BTC)(H2O)(DMF)1.1 (Ln = Tb, Dy, Er and Yb, DMF = dimethylformamide, H3BTC = benzene-1,3,5-tricarboxylic acid), have been used for selective adsorption of Pb(ii) and Cu(ii).
Advances in Materials and Processing Technologies, 2016
Abstract In this article, an attempt to model and optimise the process parameters in ultrasonic-a... more Abstract In this article, an attempt to model and optimise the process parameters in ultrasonic-assisted wire electrical discharge turning has been proposed. In this process, ultrasonic vibration, which changes the normal machining conditions in conventional wire electrical discharge turning, is introduced. Response surface methodology, employing a face-centred central composite design scheme, was chosen to design and analyse the experiments. The power, time-off, rotational speed and the ultrasonic vibration amplitude of the wire were selected to assess the process performance in terms of material removal rate (MRR), surface roughness (Ra) and roundness. Suitable mathematical models for the response outputs were obtained using the analysis of variance technique, in which significant terms were chosen according to 95% of confidence interval. In order to find a simultaneous set of optimal input parameters yielding the highest achievable MRR along with the lowest possible Ra and roundness within the process input domain, a multi-objective optimisation technique based on the use of desirability function concept was applied to the response regression equations. Finally, the obtained predicted optimal results were verified experimentally. It was shown that the error values are all less than 7%, confirming the feasibility and effectiveness of the adopted approach.
This paper proposes a sub-time-optimum soft- computing based controller to follow a desired path ... more This paper proposes a sub-time-optimum soft- computing based controller to follow a desired path with a desired velocity by mobile robots with identified dynamical behavior. This method consists of a fuzzy controller where a trained Neural Network sets its membership functions values in On-line mode. Training of the Network is done by a Genetic Algorithm for various vehicle initial positions and different path convexities in Off-line. After the training of the network, during vehicle motion, it retrieves sub-optimized fuzziness values and sends them to the fuzzy control algorithm according to the vehicle position. Meanwhile, the influential of the path convexity is considered in fuzziness of membership functions. This method leads us to make almost the best decision for the mobile robot at each moment. This method is applied to an Underwater Remotely Operated Vehicle (ROV) to develop an autopilot for its control system. Simulation results show good performance of the method in this ...
در این پژوهش برای اولین بار بر اساس رویه¬ی پایش بلادرنگ سلامتی سازه¬ها (SHM)، تخمین اندازه و شکل ... more در این پژوهش برای اولین بار بر اساس رویه¬ی پایش بلادرنگ سلامتی سازه¬ها (SHM)، تخمین اندازه و شکل ترک عرضی در یک تیر آلومینیومی با بکارگیری روش اثر انگشت دیجیتالی آسیب (DDF) بر مبنای پردازش هوشمند، صورت پذیرفته است. با بهره¬گیری از انتشار امواج هدایت¬شونده¬ی فراصوت و استفاده از حسگر و عملگر ویفری پیزوالکتریک برای ایجاد و دریافت این امواج و از مقایسه¬ی نتایج شبیه¬سازی عددی در نرم¬افزار اجزا محدود و آزمایش عملی بر روی نمونه مشاهده می¬شود که با انجام این فرآیند می¬توان برآورد بسیار خوبی از اندازه و شکل ترک در یک تیر بدست آورد.
ABSTRACT Oxidation of the rhodium(I) ethylene complex, [(TPA)Rh(η2-CH2CH2)]+ (1, TPA = N,N,N-tris... more ABSTRACT Oxidation of the rhodium(I) ethylene complex, [(TPA)Rh(η2-CH2CH2)]+ (1, TPA = N,N,N-tris(2-pyridylmethyl)amine) with a selection of nitrene precursors led to formation of N-substituted azarhodacyclobutanes. Appropriate choice of oxidant allowed for selective preparation of one isomer. For example, treatment of 1 with tosyl azide provided isomer 3 exclusively for the first time. Variation of the substituent on the ring-nitrogen was possible e.g., by employing nosyl iodinane precursor 8. Substituted carbamates were also screened, providing two rotamers of isomer type 3. In addition, preliminary reactivity studies revealing the increased chemical reactivity of the product complexes 14 and 15 are presented.
ABSTRACT In this paper, the Zn-based analogue of Cu3(btc)2 (HKUST-1), Zn3(btc)2 nanorods (Zn-HKUS... more ABSTRACT In this paper, the Zn-based analogue of Cu3(btc)2 (HKUST-1), Zn3(btc)2 nanorods (Zn-HKUST-1; btc = 1,3,5-benzenetricarboxylate) have been synthesized through direct precipitation in solution phase under ultrasound condition without the assistance of any surfactant, catalyst, or template. Zn-HKUST-1 nanorods werecharacterized by Fourier transform infrared studies, elemental analysis, powder X-ray diffraction and field emission scanning electron microscopy. Concentration of initial reagent effects on size and morphology of the Zn-HKUST-1 has been studied and shows that low concentrations of initial reagents decreased widths, thicknesses, and lengths of nanorods. Subsequently, ligand-free ZnO nanorods and nanoparticles are selectively prepared via a thermal decomposition method using the corresponding nanorods and single crystals as a precursor, respectively. This solid-state transformation route is promising for the preparation of crystalline nanomaterials with desired morphologies because of its simplicity and the low cost of the starting reagents.
Our project can be divided to two major sections: Hardware and Software. Each part was fully desi... more Our project can be divided to two major sections: Hardware and Software. Each part was fully designed and produced by the members in charge. In turn, the software section, can be divided into the: "Image processing, Network, AI, trajectory, controller, coding and transmission” subsections, each being programmed on Delphi, as separate modules and then implemented in the master project. The processing is distributed on four computers, networked with coaxial cables. Three computers, connected to three cameras on top of the field, are in charge of image processing and a server finishes the remaining processes. The hardware, consisting of the robot itself and the receiver and driver circuit board were both designed and made by the students themselves.
In this work, we obtain a useful property of uniformly Lipschitzian mappings, then we give some s... more In this work, we obtain a useful property of uniformly Lipschitzian mappings, then we give some suitable conditions under which uniformly Lipschitzian mappings have a flxed point without limiting conditions on the Lipschitz constant L in metric spaces. As an application of our main results we investigate the solvability of Fredholm integral equations of second kind. Some illustrative examples are included to show the usefulness and applicability of results.
We derive a priori bounds for positive supersolutions of $ - \Delta_{p} u = \rho(x) f(u) $, where... more We derive a priori bounds for positive supersolutions of $ - \Delta_{p} u = \rho(x) f(u) $, where $p>1$ and $\Delta_{p}$ is the $p$-Laplace operator, in a smooth bounded domain of $R^{N}$ with zero Dirichlet boundary conditions. We apply the results to nonlinear elliptic eigenvalue problem $ - \Delta_{p} u = \lambda f(u) $, with Dirichlet boundary condition, where $ f $ is a nondecreasing continuous differentiable function on $[0,\infty]$ such that $ f(0) > 0 $, $ f(t)^{\frac{1}{p-1}} $ is superlinear at infinity, and give sharp upper and lower bounds for the extremal parameter $ \lambda_{p}^{*} $. In particular, we consider the nonlinearities $ f(u) = e^u $ and $ f(u) = (1+u)^{m} $ ($ m > p-1 $) and give explicit estimates on $ \lambda_{p}^{*} $. As a by-product of our results, we obtain a lower bound for the principal eigenvalue of the $ p $-Laplacian that improves obtained results in the recent literature for some range of $ p $ and $ N $.
This paper will explore the restriction of the coherent information to the positive definite dens... more This paper will explore the restriction of the coherent information to the positive definite density matrices in the special case where the quantum channels are strictly positive linear maps. The space of positive definite density matrices is equipped with an embedded submanifold structure of the real vector space of Hermitian matrices. These ensure that the n-shot coherent information is differentiable and allows for the computation of its gradient and Hessian. We show that any tensor products of critical points preserve being a critical point of the coherent information. Furthermore, we show that for any positive integer n, the maximally mixed state is always a critical point for the class of mixed unitary quantum channels with orthogonal, unitary Kraus operators. We determine when the maximally mixed state is a local maximum/minimum or saddle point, including its eigenvectors, for the class of Pauli-erasure channels when n is equal to 1. This class includes the dephrasure channel and Pauli channel and refines potential regions where super-additivity is thought to occur. These techniques can be used to study other optimization problems over density matrices and allow the use of manifold optimization algorithms and a better understanding of the quantum capacity problem by utilizing the first and second order geometry.
Due to global developments in constitutional law and especially the importance of principles of r... more Due to global developments in constitutional law and especially the importance of principles of republicanism, the sovereignty of the people and the protection of individual rights and public liberties as the foundations of constitutionalism and constitutional government, it seems that a new category of constitution that is consistent with the principles and foundations of constitutionalism and the constitution should be provided. Therefore, the classical categories of constitutions are briefly introduced and then their unlawful aspects will be criticized and then, new categories of constitutions are introduced and described. This classification is based on the assumption that republic governments can be constitutionality and with a focus on the protection of liberty can use its power without being required to comply with liberty in its liberal concept. So as constitutions can be divided into two types of liberalism and republicanism, governments can be classified into two types of ...
An Erbium-organic framework was prepared by hydrothermal reaction. The prepared framework was cha... more An Erbium-organic framework was prepared by hydrothermal reaction. The prepared framework was characterized by Fourier transform infrared spectroscopy (FT-IR), Scanning electron microscopy (SEM), and X-ray powder diffraction (XRD). The framework has open metal sites at Er(III) centers, thus providing an accessible Lewis acid center for electrophile activation. Accordingly, the synthesized framework was used as Lewis acid heterogeneous catalyst for Hantzsch coupling reaction and tetrahydro-4H-chromene synthesis. The reaction condition has been optimized by variation of the reaction time, temperature, solvent and catalyst concentration. A variety of tetrahydro-4H-chromenes was synthesized and characterized by FT-IR and 1H NMR spectroscopy. Er-MOF, as a Lewis acid heterogeneous catalyst, showed excellent selectivity and high yield for these transformations.Graphical Abstract
In this paper, the Adaptive Fuzzy Logic (AFL) algorithm proposed previously by us for solving inv... more In this paper, the Adaptive Fuzzy Logic (AFL) algorithm proposed previously by us for solving inverse kinematics of redundant robots, has been improved for trajectory tracking applications. The main objective is to minimize the error of the end-effector at each point along the trajectory so that the end-effector can accurately track the prescribed trajectory. The rate of convergence to desired points has been improved considerably and therefore a simple accurate and fast trajectory tracking solution is obtained. The simulation results verify the efficiency of the proposed method.
Sweden’s health care is continuously subjected to economical cutbacks, which results in enormous ... more Sweden’s health care is continuously subjected to economical cutbacks, which results in enormous workloads. To prevent problems that arise in these situations, it is of great importance to take mea ...
Four microporous lanthanide metal–organic frameworks (MOFs), namely Ln(BTC)(H2O)(DMF)1.1 (Ln = Tb... more Four microporous lanthanide metal–organic frameworks (MOFs), namely Ln(BTC)(H2O)(DMF)1.1 (Ln = Tb, Dy, Er and Yb, DMF = dimethylformamide, H3BTC = benzene-1,3,5-tricarboxylic acid), have been used for selective adsorption of Pb(ii) and Cu(ii).
Advances in Materials and Processing Technologies, 2016
Abstract In this article, an attempt to model and optimise the process parameters in ultrasonic-a... more Abstract In this article, an attempt to model and optimise the process parameters in ultrasonic-assisted wire electrical discharge turning has been proposed. In this process, ultrasonic vibration, which changes the normal machining conditions in conventional wire electrical discharge turning, is introduced. Response surface methodology, employing a face-centred central composite design scheme, was chosen to design and analyse the experiments. The power, time-off, rotational speed and the ultrasonic vibration amplitude of the wire were selected to assess the process performance in terms of material removal rate (MRR), surface roughness (Ra) and roundness. Suitable mathematical models for the response outputs were obtained using the analysis of variance technique, in which significant terms were chosen according to 95% of confidence interval. In order to find a simultaneous set of optimal input parameters yielding the highest achievable MRR along with the lowest possible Ra and roundness within the process input domain, a multi-objective optimisation technique based on the use of desirability function concept was applied to the response regression equations. Finally, the obtained predicted optimal results were verified experimentally. It was shown that the error values are all less than 7%, confirming the feasibility and effectiveness of the adopted approach.
This paper proposes a sub-time-optimum soft- computing based controller to follow a desired path ... more This paper proposes a sub-time-optimum soft- computing based controller to follow a desired path with a desired velocity by mobile robots with identified dynamical behavior. This method consists of a fuzzy controller where a trained Neural Network sets its membership functions values in On-line mode. Training of the Network is done by a Genetic Algorithm for various vehicle initial positions and different path convexities in Off-line. After the training of the network, during vehicle motion, it retrieves sub-optimized fuzziness values and sends them to the fuzzy control algorithm according to the vehicle position. Meanwhile, the influential of the path convexity is considered in fuzziness of membership functions. This method leads us to make almost the best decision for the mobile robot at each moment. This method is applied to an Underwater Remotely Operated Vehicle (ROV) to develop an autopilot for its control system. Simulation results show good performance of the method in this ...
در این پژوهش برای اولین بار بر اساس رویه¬ی پایش بلادرنگ سلامتی سازه¬ها (SHM)، تخمین اندازه و شکل ... more در این پژوهش برای اولین بار بر اساس رویه¬ی پایش بلادرنگ سلامتی سازه¬ها (SHM)، تخمین اندازه و شکل ترک عرضی در یک تیر آلومینیومی با بکارگیری روش اثر انگشت دیجیتالی آسیب (DDF) بر مبنای پردازش هوشمند، صورت پذیرفته است. با بهره¬گیری از انتشار امواج هدایت¬شونده¬ی فراصوت و استفاده از حسگر و عملگر ویفری پیزوالکتریک برای ایجاد و دریافت این امواج و از مقایسه¬ی نتایج شبیه¬سازی عددی در نرم¬افزار اجزا محدود و آزمایش عملی بر روی نمونه مشاهده می¬شود که با انجام این فرآیند می¬توان برآورد بسیار خوبی از اندازه و شکل ترک در یک تیر بدست آورد.
ABSTRACT Oxidation of the rhodium(I) ethylene complex, [(TPA)Rh(η2-CH2CH2)]+ (1, TPA = N,N,N-tris... more ABSTRACT Oxidation of the rhodium(I) ethylene complex, [(TPA)Rh(η2-CH2CH2)]+ (1, TPA = N,N,N-tris(2-pyridylmethyl)amine) with a selection of nitrene precursors led to formation of N-substituted azarhodacyclobutanes. Appropriate choice of oxidant allowed for selective preparation of one isomer. For example, treatment of 1 with tosyl azide provided isomer 3 exclusively for the first time. Variation of the substituent on the ring-nitrogen was possible e.g., by employing nosyl iodinane precursor 8. Substituted carbamates were also screened, providing two rotamers of isomer type 3. In addition, preliminary reactivity studies revealing the increased chemical reactivity of the product complexes 14 and 15 are presented.
ABSTRACT In this paper, the Zn-based analogue of Cu3(btc)2 (HKUST-1), Zn3(btc)2 nanorods (Zn-HKUS... more ABSTRACT In this paper, the Zn-based analogue of Cu3(btc)2 (HKUST-1), Zn3(btc)2 nanorods (Zn-HKUST-1; btc = 1,3,5-benzenetricarboxylate) have been synthesized through direct precipitation in solution phase under ultrasound condition without the assistance of any surfactant, catalyst, or template. Zn-HKUST-1 nanorods werecharacterized by Fourier transform infrared studies, elemental analysis, powder X-ray diffraction and field emission scanning electron microscopy. Concentration of initial reagent effects on size and morphology of the Zn-HKUST-1 has been studied and shows that low concentrations of initial reagents decreased widths, thicknesses, and lengths of nanorods. Subsequently, ligand-free ZnO nanorods and nanoparticles are selectively prepared via a thermal decomposition method using the corresponding nanorods and single crystals as a precursor, respectively. This solid-state transformation route is promising for the preparation of crystalline nanomaterials with desired morphologies because of its simplicity and the low cost of the starting reagents.
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