Islamic Azad University at Garmsar

www.iau-garmsar.ac.ir
Tehran, Iran

Islamic Azad University - Garmsar Branch is a branch of Iran's Islamic Azad Universities. It is situated in the city of Garmsar 82 kilometers southeast of Tehran. Wikipedia.

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Izadbakhsh A.,Islamic Azad University at Garmsar
Nonlinear Dynamics | Year: 2017

Recently, regressor-free control approach has been presented in which uncertainties are estimated using function approximation techniques (FAT) such as the Fourier series expansion or Legendre polynomials. However, FAT-based observer design remains as an open problem. With this in mind, this paper presents a robust adaptive controller for electrically driven robots, without any need for velocity measurements. The mixed observer/control design procedure is based on universal approximation theory and using Stone–Weierstrass theorem. To highlight the contribution of the paper, it should be emphasized that in comparison with previous related FAT-based controllers, the proposed controller is simpler and less computational. In addition, the number of required Fourier series expansions, control laws, and also adaptation rules has been reduced. Moreover, the observer design is free of model. Simulation results of the controller on a 6-DOF industrial robot manipulator have been presented which proves robustness of the proposed controller against various uncertainties. The results are also compared to those obtained from Chebyshev neural network. © 2017 Springer Science+Business Media Dordrecht


Mohammadsadegh M.,Islamic Azad University at Garmsar
Journal of Veterinary Pharmacology and Therapeutics | Year: 2017

Three hundred subclinically infected quarters of 259 Holstein cows infected with gram-positive bacteria were selected via quota sampling based on the California Mastitis Test (CMT) result and were divided randomly and equally into treatment and test groups. Quarters of test group (n = 150 in 128 cows) were treated with an intramammary infusion of tilmicosin, and quarters of the control group (n = 150 in 131 cows) were treated with cloxacillin as a traditional intramammary infusion of dry cow (DC) ointment. Cows with more than one infected quarter were randomly assigned to the same group, and adjacent quarters were treated the same. The milk samples of all quarters were obtained, and bacterial cultures and somatic cell count (SCC) were tested before dry cow therapy (DCT) (50 ± 15 days before parturition), and finally on day 2 of the next lactation. Results have shown that total bacteriological cure rates on day 2 of the next lactation were 45% and 78%, (p = .01), new infection rates were 43.3% and 56.6%, and SCC was (6.732 × 105 ± 3.124 × 105) and (5.025 × 105 ± 2.935 × 105), (p > .05) in test and control groups, respectively. Tilmicosin had less effect on reducing IMI due to Corynebacterium bovis, and had no effect on Streptococcus agalactiae, but had a potent effect against Staphylococcus aureus. It was concluded that tilmicosin alone should not be infused as an alternative to conventional dry cow therapy. However, it had a significant effect against S. aureus, and the potential of tilmicosin to treat S. aureus IMI should be confirmed in further studies. 2017 John Wiley & Sons Ltd.


Hassanabadi H.,University of Shahrood | Afshardoost A.,University of Shahrood | Zarrinkamar S.,Islamic Azad University at Garmsar
Annals of Physics | Year: 2015

We analyze the energy spectrum and the wave function of a particle subjected to magnetic field in the spinning cosmic string space-time and investigate the influence of the spinning reference frame and topological defect on the system. To do this we solve Schrödinger equation in the spinning cosmic string background. In our work, instead of using an approximation in the calculations, we use the quasi-exact ansatz approach which gives the exact solutions for some primary levels. © 2015 Elsevier Inc.


Izadbakhsh A.,Islamic Azad University at Garmsar
Nonlinear Dynamics | Year: 2017

Robust tracking control of electrically flexible-joint robots is addressed in this paper. Two important practical situations are considered. The fact that robot actuators have limited voltage and that current measurement is subjected to noise. Let us notice that a few solutions for the voltage-bounded robust tracking control have been proposed. In this paper, we contribute to this subject by presenting a new form of voltage-based control strategy. It proves that the closed loop system is BIBO stable, while actuator/link position errors are uniformly–ultimately bounded stable in agreement with Lyapunov’s direct method in any finite region of the state space. As a second contribution of this paper, we present a robust adaptive control scheme without the need for computation of regressor matrix and current measurement, with the same result on the closed loop system stability. This novelty gives a simple robust tracking control scheme for both structured and unstructured uncertainties based on the function approximation technique. The analytical studies as well as experimental results produced using MATLAB/Simulink external mode control on a flexible-joint electrically driven robot demonstrate high performance of the proposed control scheme. © 2017 Springer Science+Business Media B.V.


Salehipour A.,Islamic Azad University at Garmsar | Modarres M.,Sharif University of Technology | Moslemi Naeni L.,Sharif University of Technology
Computers and Operations Research | Year: 2013

Aircraft landing problem is to assign an airport's runways to the arrival aircrafts as well as to schedule the landing time of these aircrafts. In this paper, first a mixed integer goal programming model is developed. Then, due to the complexity of the problem, which is NP-hard, we design a hybrid meta-heuristic applying simulated annealing framework. The computational results show that the proposed algorithm can obtain the optimal solution for instances up to 100 aircrafts, and also it is capable of finding very high quality and comparable solutions for the problems with up to 500 aircrafts and 5 runways in a short time. © 2012 Elsevier Ltd. All rights reserved.


Khooban M.H.,Islamic Azad University at Garmsar
Journal of Intelligent and Fuzzy Systems | Year: 2014

This paper proposes a novel optimal Proportional-derivative (PD) Feedback linearization controller to achieve the best trajectory tracking for nonholonomic Wheeled Mobile Robots (WMRs). In the core of the proposed method, a novel population-based optimization technique, called Teaching-Learning-Based Optimization (TLBO), is employed for evolving the PD controller. The proposed controller can handle the problem of the integrated kinematic and dynamic tracking difficulty. To show the effectiveness of the proposed method, the performance of the optimal TLBO-PD controller is compared with the optimal PSO-PD controller. Simulation results demonstrate the superiority of the proposed control scheme. © 2014 - IOS Press.


Nasehi M.,Islamic Azad University at Garmsar
Basic and Clinical Neuroscience | Year: 2015

Introduction: The plethora of studies indicated that there is a cross talk relationship between harmaline and serotonergic (5-HT) system on cognitive and non-cognitive behaviors. Thus, the purpose of this study is to assess the effects of hippocampal 5-HT4 receptor on memory acquisition deficit induced by harmaline. Methods: Harmaline was injected peritoneally, while 5-HT4 receptor agonist (RS67333) and antagonist (RS23597-190) were injected intra-hippocampal. A single-trial step-down passive avoidance, open field and tail flick tasks were used for measurement of memory, locomotor activity and pain responses, respectively. Results: The data revealed that pre-training injection of higher dose of harmaline (1 mg/kg), RS67333 (0.5 ng/mouse) and RS23597-190 (0.5 ng/mouse) decreased memory acquisition process in the adult mice. Moreover, concurrent pre-training administration of subthreshold dose of RS67333 (0.005 ng/mouse) or RS23597-190 (0.005 ng/mouse) with subthreshold dose of harmaline (0.5 mg/kg, i.p.) intensify impairment of memory acquisition. All above interventions did not change locomotion and tail flick behaviors. Discussion: The results demonstrated that the synergistic effect between both hippocampal 5-HT4 receptor agonist and antagonist with impairment of memory acquisition induced by harmaline, indicating a modulatory effect for hippocampal 5HT4 receptor on Harmaline induced amnesia.


This paper addresses the design of a robust Lyapunov-based controller for flexible-joint electrically driven robots considering to voltage as control input. The proposed approach is related to the key role of electrical subsystem of the motors, thus is free from mechanical subsystem of the actuator dynamics, considered here as unmodeled dynamics. The main contribution of this paper is to prove that the closed-loop system composed by full nonlinear actuated robot dynamics and the proposed controller is BIBO stable, while actuator/link position errors are uniformly ultimately bounded stable in agreement with Lyapunov’s direct method in any finite region of the state space. It also forms a constructive and conservative algorithm for suitable choice of gains in PID controller. The analytical studies as well as experimental results produced using MATLAB/SIMULINK external mode control on a flexible-joint electrically driven robot demonstrate high performance of the proposed control schemes. © 2016, Springer Science+Business Media Dordrecht.


Hassanabadi H.,Shahrood University of Technology | Zarrinkamar S.,Islamic Azad University at Garmsar | Rajabi A.A.,Shahrood University of Technology
Physics Letters, Section B: Nuclear, Elementary Particle and High-Energy Physics | Year: 2013

We solve the modified Dirac equation by adding a harmonic oscillator potential and implementing the Nikiforov-Uvarov technique. The closed forms of solutions are reported in a quite simple and systematic manner. © 2012 Elsevier B.V.


Hassanabadi H.,Shahrood University of Technology | Zarrinkamar S.,Islamic Azad University at Garmsar | Maghsoodi E.,Shahrood University of Technology
Physics Letters, Section B: Nuclear, Elementary Particle and High-Energy Physics | Year: 2012

We propose a very simple approach to deal with the problems of the modified Schrödinger equation due to minimal length and thereby solve the minimal length Schrödinger equation in the presence of a non-minimal Woods-Saxon interaction. The transmission and reflection coefficients are reported as well. © 2012 Elsevier B.V.

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