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Showing 29 results for Kabir


Volume 0, Issue 0 (Articles accepted at the time of publication 2024)
Abstract

The purpose of this paper is to examine the emotional discourse with semiotic-semantic approach in one of the poems of Mir Razi Danesh Mashhadi. Poetry is the language of the heart that is emerging from the feelings of a poet, and a poet is someone who expresses these feelings and emotions in a rhythmic language in a desired construction. Semiotics and analysis of poetic discourse are novel implementations with various and new functions created for literary studies to evaluate the poet's affection in terms of poetic experience, level and type of affection, imagination, language and audience and demonstrate the poet’s affection in poetry experience dimensions, degree and type of emotion, language, and audience. In this regard, the emotional flow of discourse and the way of creating the meaning in poetry are evaluated in order to study the conditions of formation and production of the emotional system. The main question is how the poet has manipulated discourse elements to create an emotional environment and which pattern of tension in poetry is used and which function of semantic sign emotional process in poetry is based on. The results indicates that the emotional system of discourse in Mirrezi's poetry is a function of the emotional system of sensual- perceptual and tensional-physical discourse and is formed based on the Shushi (Shushi-Eventual) event pattern. In adition, the process of schema emotional tension of poetry is heterogeneous and divergent.
 


Volume 1, Issue 3 (10-2014)
Abstract

Background: Accumulation of triglycerides in the liver i.e. steatosis, is a well-known side-effect of tamoxifen administration to patients suffering from breast cancer. Cichoriumintybus (chicory) is a plant used as traditional medicine for curing liver disorders. In this study, the effects of extract prepared from chicory roots on tamoxifen-induced liver steatosis and related biochemical factors in animal model using rats has been investigated. Methods: Female rats of Wistar strain were divided into four groups and treated as follows; 1-Control: received vehicle; 2- Chicory root-extract treated: rats were given by gavage the aqueous chicory root extract (1 g/kg body weight/day for 14 days).3- Tamoxifen-treated: rats received tamoxifen (1 mg/kg body weight/day, for 7 days). 4- Tamoxifen+chicory-group: animals received tamoxifen (1 mg/kg body weight/day for 7 days) followed by chicory extract given by gavage (1 g/kg body weight/day for 14 days). After treatment, blood was collected by cardiac puncher, plasma was separated and plasma levels of glucose, total protein, triglyceride, cholesterol,LDL-C, HDL-C and activities of ALT, AST and ALP were measured. Liver tissues were homogenized used for measuring tissue triglyceride and histological examinations. Results: The data show that tamoxifen treatment caused a significant decrease in the level of serum cholesterol, HDL-C and total protein. However, serum ALT level was increased in tamoxifen-treated rats compared to controls. Increased serum ALT in tamoxifen-treated rats was recovered in rats treated with plant extract (tamoxifen+chicory-group). HDL-C and total protein levels were unaffected in rats fed chicory extracts. Tamaxifen-treated animals showed signs of liver steatosis as shown by histological examination and accumulation liver triglyceride. The steatosis markers such as accumulated triglyceride in liver was significantly reduced due to the plant extract treatments when compared to tamoxifen-group. Conclusions: Dietary extract prepared from chicory roots is effective in modulation of  tamoxifen-induced liver damage and steatosis.

Volume 2, Issue 4 (10-2016)
Abstract

Most nosocomial infections have been attributed to nonfermenters, particularly Acinetobacter baumannii which causes serious infections like pneumonia, meningitis, and sepsis. The purpose of this study was to report our experience with five cases of A. baumannii-related pneumonia infections, seen in a regional hospital, Karaj, Iran. Five cases were identified as having A. baumannii- related pneumonia infection.  All cases had been treated previously with various antibiotics at time of diagnosis. The treatment of A. baumannii- related pneumonia infection in all the cases varied. But unfortunately, all the five cases died from severe A. baumannii- related pneumonia and severe sepsis. Our cases brought forth the burden of A. baumannii-related pneumonia infections associated with significant mortality. Physicians should be aware of the remarkable virulence and antibiotic resistance.

Volume 3, Issue 1 (3-2017)
Abstract

Butterflies of the Inani Reserve Forest were studied between May 2014 and May 2015. One hundred twenty five species of butterflies belonging to 84 genera and six families (Hesperiidae, Papilionidae, Pieridae, Lycaenidae, Riodinidae and Nymphalidae) were recorded during this study. The highest number of species comprised Family Nymphalidae (38 species, 30.4%) followed by Lycaenidae (35 species, 20.8%), Hesperiidae (26 species, 20.16%), Pieridae (16 species, 12.8%), Papilionidae (9 species, 7.2%) and the Family Riodinidae comprised the lowest (one species, 0.8%). The abundance of recorded butterflies was calculated in term of Very Common (20 species), Common (29 species), Uncommon (32 species), Rare (23 species) and Very Rare (21 species). The butterflies preferred different types of habitat (viz., Grass Land, Crop Land, Open Forest, Scrub Forest, Dense Forest and Bamboo Patches). Thirty species of butterflies were regularly observed in all kind of habitats, 69 species preferred multiple habitats (8 in 4 types, 24 in 3 types and 38 in 2 types of habitat) and 25 species were recorded only in a single type of habitats. Mud-puddling of 36 species were also observed. During this study, Zinaspa todara (Family: Lycaenidae) was the first time record in Bangladesh and Euploea doubledayi (Family: Danaidae) was recorded after 150 year later.
Alireza Darvish, Ehsanollah Kabir, Hosein Khosravi,
Volume 5, Issue 0 (0-2005)
Abstract

In this paper, we used a shape matching algorithm to recognize Farsi digits. For each sampled point on the contour of a shape, we obtain a descriptor showing the distribution of the other points of the contour, with respect to this point. Based on these descriptors, we find the corresponding points of the two contours and take the sum of their distances as a dissimilarity measure between two shapes. Then we define a geometric transformation that maps the sampled points of the one shape to the corresponding points of the other shape. The bending energy of this transform is taken as the second dissimilarity measure between two shapes. We optimized the parameters of the matching algorithm for the recognition of Farsi digits and used the method of minimum distance from the class prototypes for the recognition. In a test on a set of 1288 digits, we obtained a recognition rate of 89.9%. This result was obtained without any post processing
Hosein Nezamabadi-Pour, Ehsanollah Kabir,
Volume 5, Issue 0 (0-2005)
Abstract

In this paper, the performance of 11 different distances for image retrieval and classification, based on color, shape and texture, is evaluated. The precision-recall measure and the correct classification rate of the k-NN classifier are used to evaluate retrieval and classification performances, respectively. The experimental results for a database of 1000 images from 10 different semantic groups, based on color histogram, directional edge histogram and Gabor features are presented and discussed.
Abdolreza Sepyani, Ehsanolah Kabir, Farid Behazin,
Volume 6, Issue 1 (12-2006)
Abstract

Many of the video processing algorithms cannot be implemented in real time on general computers, due to their computational complexity. For an efficient implementation, a custom hardware that can be reconfigured for the algorithm, is used. In this paper a new acceleration hardware based on FPGA elements is proposed. This hardware can be adapted with the processing algorithm through FPGA design reconfiguration. Using a PCI slot, this hardware communicates with a Pc. The FPGAs are programmed through the PCI slot. The video frames are supplied to this hardware for processing. The performance of this hardware is evaluated using warping algorithms. The first and second order warping for a 512*512 frame can be done in 7.9 ms.
Ehsan Kabir2, Mojtaba Lotfizad, Hadi Sadoughi Yazdi, Mahmoud Fathi,
Volume 7, Issue 0 (0-2007)
Abstract

In this paper, an interactive model for individual normal behaviour of drivers is presented in which the mutual effect of vehicles has been incorporated. Temporal features obtained from vehicles tracking and their motion history is utilized for generating a model of normal behaviour. Because of non-stationarity of behaviour, Hidden Markov Model has been used for interactive model. This model has three main parts. The first part is the history of antecedent trajectory which for this purpose has proposed a Centers Transition Matrix (CTM) that is some type of spatio-temporal information-data bank from motions seen in the old frames. The second part is based on the linguistic features or motion recognition of vehicles, these motions contain forward, turn right and left, lane changing to right and left motion. The third part is constituted from low level features which contain Velocity and distance to neighbor object. Also CTM is efficient in search at similar blob in image sequences and it can determine the radius and region of search. This top-down feedback caused an increment of performance of RLS tracker and object searching. In the presented system, we obtained a 81.2% membership rate to normal model. Also types of motion are recognized using HMM with a recognition rate of up to 82.7%. Prediction error is reduced on many vehicles trajectory by at least 80% using a feedback system.

Volume 9, Issue 1 (Winter 2023)
Abstract

Backgrounds: The burden of bacteremia in febrile cases is still poorly understood in Nigeria as in many sub-Saharan African countries due to diagnostic limitations. This study aimed to determine the prevalence of Salmonella bloodstream infections and antimicrobial resistance patterns of bacterial isolates recovered from febrile patients in Lagos, Nigeria.
Materials & Methods: A total of 300 blood samples were collected from febrile patients attending four medical centers in Lagos during August 2020 to July 2021. Clinical isolates were identified using API 20E kit. qPCR was used to detect Salmonella isolates in positive blood culture samples using a specific primer set. All isolates were subjected to antimicrobial susceptibility tests using standard procedures.  
Findings:  Totally, 55 bacterial isolates belonging to six bacterial genera were identified, including Salmonella (n=4, 7.27%), Klebsiella species (n=23, 41.82%), Escherichia coli (n=6, 10.91%), Proteus species (n=13, 23.64%), Serratia species (n=7, 12.73%), and Citrobacter species (n=2, 3.64%). In this study, the detection rate of Salmonella isolates in positive blood culture samples using qPCR and invA gene primer set was 100%. Salmonella isolates were 100% resistant to ceftazidime, cefotaxime, and doripenem. Multidrug resistance (MDR) was observed in Salmonella and other bacterial isolates.
Conclusion:  In this study, qPCR using the invA primer set was found to be highly specific for Salmonella detection. All the bloodstream bacterial pathogens in this study were MDR; thus, there is a need for continuous evaluation of antibiotics in medical settings.  Further molecular studies on these bacterial isolates is essential.


Volume 10, Issue 3 (Summer 2024)
Abstract

Background: Typhoid fever is endemic in Nigeria, and there are no high-quality routine diagnostic tests. Immunodiagnostic assays, blood culture, and quantitative real-time polymerase chain reaction (qPCR) were used to study typhoid fever co-infection with malaria.
Materials & Methods: Blood samples of 125 patients were taken from April to August 2021. The samples were analyzed using standard microbiological methods such as immunodiagnostic assays and qPCR, whereas malaria parasitemia was examined using microscopy.
Findings: In the study, the Widal test (WT) showed that 28.8 and 32.8% of the patients had antibodies against O-antigen and H-antigen at a cut-off titre of 1:160, respectively. The immunochromatographic test (ICT) indicated that 16% had IgM antibodies, and 18.4% had both IgM and IgG antibodies, suggesting a recent typhoid infection. Various bacterial pathogens were identified in patients with positive WT and ICT results, including Salmonella species, Klebsiella pneumoniae, Staphylococcus aureus, Streptococcus species, and Proteus mirabilis. Eight Salmonella strains were confirmed through invA gene detection using qPCR, none of which were S. Typhi and S. Paratyphi A. Both WT and ICT exhibited low sensitivity but high specificity ranging from 73.6 to 81.6% with negative predictive values of 100%. Additionally, the results showed a prevalence rate of 65.5% for malaria parasitemia and 9.8% for non-typhoidal Salmonella-associated bacteraemia co-infection with malaria.
Conclusion: This research once again highlighted the limited diagnostic accuracy of both immunochromatographic and Widal tests. The presence of concurrent infections involving malaria and other bacterial pathogens further exacerbates the inadequacies of these diagnostic methods.


Volume 13, Issue 3 (1-2023)
Abstract

Occurrence of various types of incidents such as road accidents, damage and injuries during sports activities as well as some diseases can lead to the destruction and resorption of osteochondral tissue and cause many problems in health and quality of life of the patient, therefore control and repairing these defects is one of the major challenges in the field of regenerative medicine. Since osteochondral defects involve damage to both articular cartilage and underlying subchondral bone, the demands of bone, cartilage, and bone cartilage interface should be taken into account for repair. Current clinical therapies are more palliative and less therapeutic. Hence, due to the limitations of existing treatment methods over the past decade, the use of tissue engineering as an effective and low-risk treatment method for the treatment of many diseases, especially bone-cartilage lesions has been introduced. In this approach, some of the limitations of previous methods could be overcome by transplanting osteochondral composite tissues, which have been obtained by combining patient's own cells with three-dimensional porous biomaterials of predetermined shape and size. So far, various strategies for scaffold fabrication have been used to repair osteochondral defects, including single-phase, multilayer, and graded structures. In this study, some common strategies in tissue engineering as well as the challenges ahead are briefly discussed.



Volume 13, Issue 4 (1-2023)
Abstract

Wound healing and skin remodeling occur directly after skin damage, so the use of platelet rich growth factors (PRGF) and probiotics is important to accelerate this process because of their positive effects on wound healing and antibacterial activities. Combination of above biomaterials with tissue engineering techniques led to the production of a new wound dressing. Therefore, in this study, PRGF was obtained from platelet-rich plasma and a multi-layered scaffold was fabricated by electerospining method using polyurethane (PU) fibers, PRGF and gelatin fibers. Scanning electron microscopy (SEM), tensile and water contact angle tests were performed to assess the characteristics of the scaffolds. The human Adipose Mesenchymal Stem Cells (hAMSCs) were extracted and cultured with the fibroblast cells (HU-02) as co-culture cells and Lactobacillus plantarum was cultured on scaffolds with or without PRGF to evaluate cell viability, toxicity and proliferation, then antibacterial activities of L.plantarum were examined. The result of MTT assay after 14 days indicated that PRFG and L.plantarum had significant positive effect on viability and proliferation of co-culture cells. SEM photograph illustrated adhesion and proliferation of cells and bacteria on scaffolds up to 21 days. The Agar-well diffusion test confirmed the antibacterial effect of L.plantarum on Pseudomonas aeruginosa, Salmonella typhimurium, Staphylococcus aureus, and Escherichia coli with strong inhibition zone. The current multi-layered scaffold provides the appropriate wound dressing for cell adhesion, proliferation and prevents wound infection.
 

Volume 14, Issue 3 (11-2014)
Abstract

In the recent years, attempts have been made to prove effectiveness of FRPs in retrofitting/repairing of the reinforced concrete (RC) components. The use of fiber-reinforced polymers (FRP) to create composite concrete structures has increased in recent years. However, the seismic performance of RC structures retrofitted using FRP composites is yet to be scrutinized in terms of improving strength, ductility. This is of high importance if the retrofitted structures are to withstand higher seismic ground motions. The purpose of this study was to investigate the seismic performance of RC joint in frame structures under cyclic lateral loading. Analytical calculations using a finite element method (FEM) are presented for the strength, crack pattern; behavior of frames strengthened with layers of FRP and an experimental study of firth and third author of this paper is carried out to verify the mechanical properties of the proposed. The specimens were tested in a 3D test frame in structure laboratory of civil and environmental engineering department in AmirKabir University of Technology. Analytical models were investigated in LS-DYNA environment. Three test specimens were constructed and tested under cyclic lateral loading. Three-dimensional nonlinear finite element models for the RC frames were developed and simulated with the LS-DYNA finite element analysis (FEA) software. Three 1/3 scaled one-bay and one-storey. Frame designed was carried out based on ACI318 code. These specimens were typical as-built frames abstracted from the existing middle-rise residential buildings in Iran. Two specimens were reinforced by CFRP at the ends of beams, columns and at the joints; one specimen the other specimen was not reinforced and was used for comparison. The retrofitted specimens were built with different ways of wrapping FRP sheets at the frame’s joints and both ends of beams and columns. The wraps were provided to prevent the peeling of the laminates this was aimed to investigate the effective ways of strengthening and repairing of the frame by applying different directions of CFRP and GFRP fibers. The analytical models are used to assess the efficiency of the FRP composites rehabilitation by comparison between intact and retrofitted specimens. Specimens were reinforced by FRP at the ends of beams, columns and at the joints; one specimen was not reinforced and was used for comparison. Also, the effect of laminate architecture, arrangement and type of material was considered. For achieving this purpose eleven models were analyzed in finite element model. The Finite element analysis results indicated that the choice of the Fiber composite materials, the laminate and wraps arrangement and thickness affected the enhancement of the structural joint performance significantly. The results provide an important insight of the role of FRP sheets in improving the earthquake resistance of frame buildings. . Keywords: reinforced concrete; frame; FRP retrofit; Analytical; cyclic loading.

Volume 14, Issue 3 (2-2024)
Abstract

The activity of Wnt signaling pathway is increased in colorectal cancer. For this reason, finding new positive and negative regulators for this pathway is a treatment and diagnostic strategy of colorectal cancer. Our bioinformatics analysis indicated that hsa-miR-424 (miR-424) could be a possible regulator of the Wnt signaling pathway. Accordingly, the expression level of miR-424 in colorectal cancer tissues was elevated compared with normal pairs and the results of RT-qPCR showed a significant increase in miR-424 expression (p < 0.01). Then, molecular analyzes using Top/Fop Flash and RT-qPCR techniques indicated that miR-424 overexpression leads to increased Wnt pathway activity in the SW480 cell line. In addition, the small molecules IWP-2 and PNU-74654 were used to inhibit the Wnt signaling pathway, and the miR-424 overexpression suggested that exert its effect on the level of β-catenin complex degradation. Then, dual-luciferase assay validated the interaction between miR-424 and APC. Overall, our results suggest miR-424 is a positive regulator of the Wnt signaling pathway, and it could be a possible prognosis for colorectal cancer.
 

Volume 15, Issue 8 (10-2015)
Abstract

Due to the importance of acoustic response control of submerged vibrating structures, in this study,the optimization of acoustic power radiation from a square stiffened plate under harmonic loading was investigated.Since one face of the plate is in contact with water, a fully coupled analysis was used. The effect of fluid in the analysis was considered via added mass matrix. The added mass matrix was obtained based on both Rayleigh integral and the boundary element approaches.The obtained added mass matrix was then added to the mass matrix of the structure calculated from the finite element discretization of plate. Several variables such as acoustic pressure at specific points and also radiated power were calculated. Results show good agreement between obtained results from the Rayleigh integral and the boundary element. To reduce the radiation power, dynamic absorbers in the form of lumped mass and mass-springs in specific locations on the plate surface were considered. Because optimization procedure requires several evaluation of cost function in the design variable space, model reduction can save a great amount of computation efforts. Therefore, the truncated modal matrix was employed and its effectiveness and precision on the obtained results was studied. Finally, Genetic Algorithm (GA) was used for minimizing the appropriate goal function in three case studies: concentrated mass on cross-points, dynamic absorbers on cross-points and combination of two former cases.All the studied cases resulted on significant reduction in the goal function index.

Volume 15, Issue 84 (2-2019)
Abstract

In this study the herdel effects of heating time, basil seed mucilage and Sodium Nitrite during preservating time on qualitative characteristics of 40% sausage by RSM method were investigated in order to decrease using nitrite at sausage. At first section the effect of different herdels on qualitative characteristics of sausage including residual nitrite, color and the number of Clostridium Perfringens and texure were investigated. In the second part, the optimization and the validity of developed model were performed. The results indicated that by increasing nitrite, the residual nitrite amount increased and by increasing of preservation time the nitrite amount was decreased. Overall changes are influenced by nitrite amount, basil seed mucilage, and heating time. Chlorostidium number was influenced by nitrite square and preservation time, so that the lowest Clostridium Perfringens amount was acquired at the highest nitrite concentration. Also only effective parameter on the sausage texture was basil seed mucilage. By increasing of mucilage content hardness of sausage was decreased by optimization the amounts of 95.38 ppm nitrite, 0.76% basil seed mucilage, the heating time of 112.15 minute at the preservation time of (24 days) were selected- which this formula lead to decrease at about 30ppm of the added nitrite- based on Iran national standard. The theoretical and the experimental results were in great agreement so RSM could be used for modeling and optimization of such processes.

Volume 16, Issue 4 (winter 2016 2016)
Abstract

According to the Holy Islam, there are mutual relationships between citizens and the state in an Islamic society; which imply complement duties for both sides. The Sharia has defined different responsibilities for the citizens, which in accordance with the Islamic state will result in a better society. Among these responsibilities is the reaction of a Muslim when witnessing a crime in the society. By using the game theory approach we have studied the consequences of two Islamic orders, i.e. enjoining right and forbidding wrong. We have modeled the reactions of the people when seeing a crime in the society in the framework of a strategic game with VNM preferences. The results show that not paying enough attention to these two valuable orders would reduce the individual and social utility. In other words, if people follow the enjoining right and forbidding wrong, the economic and social costs of crime for the society will decrease and the social welfare will increase.

Volume 16, Issue 89 (7-2019)
Abstract

In the past decades, Food colorants which are used in food industries are suspected due to the increased world sensitivity against the health of human diet; hence, many of researchers tried to extract the edible colorants from natural resources. One of the natural resources is the root of madder (Rubia tinctorum) which has the most stable natural red pigment, Alizarin. In this research the madder extract as natural colorant at 2, 3 and 4% and pectin as a replacer for gelatin at 3:0, 1.5:1.5 and 0:3% were used in flavoured milk- based dessert and their various qualitative parameters were evaluated during 15 days of storage. The results showed that increasing of madder extract with various ratios of gelatin: pectin, changed the dry matter and pH of the specimens significantly (p<0.05) and after 15 days, the pH raised up clearly. The texture evaluation showed that in the samples containing 3:0 gelatin: pectin, were more rigid than the others and demonstrated the least textural changes during 15 days according to the lower syneresis (p<0.05). The results of sensory evaluation showed that the addition of madder extract at its maximum level (4%), had the best results about the color, in the viewpoint of panelists and had no side effects on other parameters like odor, taste, apparent shape, texture and overall acceptance. Totally and according to the results, it can be concluded that by addition of 3% of gelatin along with 4% of madder extract in flavoured milk- based dessert, the qualitative parameters can be improve along with more shelf life and marketability, too.
 

Volume 17, Issue 6 (12-2017)
Abstract

The present study is subjected to analytical, numerical, and experimental simulation of hydraulic characteristics of flow over the streamlined weirs. Numerical simulations were performed using an open source software namely OpenFoam. According to the objectives of the present study, to evaluate the results of numerical modeling, experimental investigation was conducted, studying different models of streamlined weirs, experimentally. The profiles of the experimental models as well as the simulated numerical models were designed based on the Joukowsky transform function. By analyzing the results of different turbulence models including standard k-ε model, realized k-ε model, RNG k-ε model, k-ω SST model and Reynolds stress LRR model, the k-ω SST model was chosen as the most accurate numerical turbulence model for the simulation of flow over the streamlined weirs. The results of the numerical simulations for different flow discharges and different geometrical characteristics, indicated that, increasing the flow discharge and the relative eccentricity in Joukowsky transform function, tends to increase the velocity and consequently decrease the pressure over the weir crest. Therefore, the lowest pressure and the most probable potential of cavitation belongs to the circular-crested weirs with λ = 1 and high flow discharges. Furthermore, the results show that the greatest bed shear stresses and the compressive forces occur at the downstream end of the circular-crested weirs, thus the downstream zone of the circular-crested weirs is responsible to large values of bed erosion. This is partly due to formation of shock waves, reduction of the flow depth and enhanced velocity of flow downstream of the circular-crested weirs. Furthermore, the lowest bed shear stresses occur at the upstream end of the circular-crested weirs. Therefore, potential of sedimentation upstream of the circular-crested weirs increases. Accordingly, by employing streamlined weirs with λ< 1, and an appropriate curvature, unfavorable flow conditions would be improved, leading to a more safe and economic hydraulic structure. The present study is subjected to analytical, numerical, and experimental simulation of hydraulic characteristics of flow over the streamlined weirs. Numerical simulations were performed using an open source software namely OpenFoam. According to the objectives of the present study, to evaluate the results of numerical modeling, experimental investigation was conducted, studying different models of streamlined weirs, experimentally. The profiles of the experimental models as well as the simulated numerical models were designed based on the Joukowsky transform function. By analyzing the results of different turbulence models including standard k-ε model, realized k-ε model, RNG k-ε model, k-ω SST model and Reynolds stress LRR model, the k-ω SST model was chosen as the most accurate numerical turbulence model for the simulation of flow over the streamlined weirs. The results of the numerical simulations for different flow discharges and different geometrical characteristics, indicated that, increasing the flow discharge and the relative eccentricity in Joukowsky transform function, tends to increase the velocity and consequently decrease the pressure over the weir crest. Therefore, the lowest pressure and the most probable potential of cavitation belongs to the circular-crested weirs with λ = 1 and high flow discharges. Furthermore, the results show that the greatest bed shear stresses and the compressive forces occur at the downstream end of the circular-crested weirs, thus the downstream zone of the circular-crested weirs is responsible to large values of bed erosion. This is partly due to formation of shock waves, reduction of the flow depth and enhanced velocity of flow downstream of the circular-crested weirs. Furthermore, the lowest bed shear stresses occur at the upstream end of the circular-crested weirs. Therefore, potential of sedimentation upstream of the circular-crested weirs increases. Accordingly, by employing streamlined weirs with λ< 1, and an appropriate curvature, unfavorable flow conditions would be improved, leading to a more safe and economic hydraulic structure.

Volume 17, Issue 8 (10-2017)
Abstract

This paper addresses the trajectory tracking of a Vertical Take-Off and Landing (VTOL) aircraft. Our objective is to design a controller for a VTOL aircraft in such a way that the aircraft tracks a predefined 3d spatial path in the presence of constant disturbances and uncertainty in the inertial matrix. Taking advantage of the extraction algorithm, we separate the design for the translational and rotational dynamics. First a virtual controller is designed for the translational dynamics from which the ideal thrust direction is extracted. To deal with the under-actuation of the translational dynamics, we have exploited an auxiliary system while an estimator is also involved in the design of the virtual controller to compensate for the effect of the translational disturbance. In order to keep our estimation bounded, we utilize the projection operator which is also smooth enough. An adaptive sliding mode control is used for rotational dynamics control such that the ideal thrust is accomplished. Since the inertial matrix and the bound on rotational disturbance is unknown, an adaptive structure is used to estimate the unknown bounds. The stability of the control framework is established through Lyapunov analysis. Finally simulation results are given to test the validity of the proposed control scheme.

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