Preparation and characterization of Co3O4 nanoparticles by solid state thermal decomposition of cobalt(II) macrocyclic Schiff base complexes

Aliakbar Dehno Khalaji,Raziyeh Rahdari,Fatemeh Gharib,Jesús Sanmartín Matalobos,Debasis Das 한양대학교 세라믹연구소 2015 Journal of Ceramic Processing Research Vol.16 No.5

Nanoparticles of Co3O4 were successfully synthesized by solid state thermal decomposition of the cobalt(II) macrocyclic Schiff base complexes [CoL1] (1) and [CoL2] (2) as novel precursor at 450 o C for 3 hrs without employing toxic solvent or surfactant and complicated equipment. The products were characterized by Fourier transform infrared spectroscopy (FT-IR), UV-Vis spectroscopy (UV-Vis), X-ray powder diffraction (XRD), scanning electron microscopy (SEM) and transmission electron microscopy (TEM). The results show that the Co3O4 products are pure and single phase and have plate-like. The optical spectra of the Co3O4 products indicated two direct band gaps at about 1.4 and 2.5 eV.

Modified transpose Jacobian control of a tractor-trailer wheeled robot

Ali Keymasi Khalaji,S. Ali A. Moosavian 대한기계학회 2015 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.29 No.9

Tractor-trailer wheeled robot (TTWR) is a modular robotic system that consists of a tractor module towing a trailer. Control of thesesystems started from motion aid facilities in human-driven vehicles, to fully autonomous mobile robots in recent years. The mobility ofsuch highly nonlinear systems is restricted due to the presence of nonholonomic constraints of wheels, also the system severe underactuatednature. Trajectory tracking is one of the challenging problems focused in the context of Wheeled mobile robots (WMRs) that hasbeen discussed in this paper. First, kinematic equations of TTWR are obtained. Then, reference trajectories for tracking problem are produced. Subsequently, a non-model-based controller based on Modified transpose jacobian (MTJ) method is designed to steer the TTWRasymptotically follow reference trajectories. Obtained simulation and experimental comparison results show the effectiveness of the proposedcontroller.

Stabilization of a tractor-trailer wheeled robot

Ali Keymasi Khalaji,S. Ali A. Moosavian 대한기계학회 2016 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.30 No.1

Wheeled mobile robots are a special class of nonholonomic mechanical systems. The mobility of such highly nonlinear systems is restricteddue to the presence of nonholonomic constraints of wheels, also the system severe underactuated nature. These conditions generatemajor difficulties in system stabilization, i.e. to park or reach a given configuration for the overall system. This leads to a challengingcontrol problem for research that is the focus of this paper. In this paper a new method based on time-varying feedbacks has been developedfor a Tractor-trailer wheeled robot (TTWR). First kinematic model of the TTWR is obtained. Next, a novel method using timevaryingfeedbacks is investigated in order to stabilize the TTWR around the origin. The proposed kinematic control algorithm is developedbased on switching between two finite-time controllers. Appropriate control algorithms have been designed for each step based onthe stability of the closed loop system. Obtained simulation and experimental results show the effectiveness of the proposed control law.

Effectiveness of Phytogenic Feed Additive as Alternative to Bacitracin Methylene Disalicylate on Hematological Parameters, Intestinal Histomorphology and Microbial Population and Production Performance of Japanese Quails

Manafi, M.,Hedayati, M.,Khalaji, S. Asian Australasian Association of Animal Productio 2016 Animal Bioscience Vol.29 No.9

This study was conducted to evaluate the effects of phytogenic additive and antibiotic growth promoter in laying Japanese quails. One hundred and sixty five quails were divided into three groups of 5 replicates and 11 quails (8 females and 3 males) in each replicate. Treatment 1 was fed control diet, treatment 2 was fed control diet supplemented with 0.05% bacitracin methylene disalicylate as antibiotic growth promoter and treatment 3 was fed control diet supplemented with 0.1% phytogenic feed additive (PFA) for two periods of 3 weeks each from 37 to 42 weeks of age. Results showed that egg production, eggshell strength, eggshell weight, villus height and villus height to crypt depth ratio were significantly (p${\leq}$0.05) increased and feed consumption, feed conversion ratio, albumen, Haugh unit, cholesterol, low-density lipoprotein, alanine transaminase, gamma glutamyltransferase, alkaline phosphatase, high-density lipoprotein, triglyceride, number of goblet cell, crypt depth and intestinal bacterial population of Coliforms, Salmonella and E. coli were significantly (p${\leq}$0.05) decreased in PFA fed group. It is concluded that addition of PFA containing phytomolecules and organic acids as main ingredients could significantly improve the production parameters and the general health of laying quails as an alternative to antibiotic growth promoters.

Geochemistry and formation of tourmaline nodules in Mashhad leucogranite, Iran

Zahra Tahmasbi,Farhad Zal,Ahmad Ahmadi Khalaji 한국지질과학협의회 2017 Geosciences Journal Vol.21 No.3

Nodular tourmalines composed of dark cores and white haloes occur in the Mashhad leucogranite. The cores are made up of tourmaline and quartz, and the haloes of quartz, muscovite, microcline and orthoclase. The host granite consists of quartz, plagioclase, microcline, muscovite and biotite. Geochemical analyses show that the studied tourmalines are schorl. They are characterized by oscillatory zoning, increasing concentrations of Ca and Mg from core to rim, moderate Fe/Fe + Mg ratios (56–63), and REE distribution patterns similar to those of the host granite. The tourmalines exhibit high Ti content due to breakdown of biotite. Petrographic and geochemical results show that the formation of tourmaline can be attributed to two stages. In the first stage, bubbles containing vapor-rich liquid, Fe, and B were generated by magma differentiation. During rise and cooling of the magma, core tourmaline was produced with Fe rich schorl composition. In the second stage, the tourmaline composition changed to that of Mg rich schorl because of the decomposition of biotite (biotite is considered as a source of Mg), and the mixing with vapor-rich liquid in bubbles.

Effect of extrusion of soybean meal on feed spectroscopic molecular structures and on performance, blood metabolites and nutrient digestibility of Holstein dairy calves

Berenti, Ammar Mollaei,Yari, Mojtaba,Khalaji, Saeed,Hedayati, Mahdi,Akbarian, Amin,Yu, Peiqiang Asian Australasian Association of Animal Productio 2021 Animal Bioscience Vol.34 No.5

Objective: Performance and physiological responses of dairy calves may change by using extruded soybean meal (ESBM) instead of common soybean meal (SBM) in starter feed. The aims of the current study were i) to determine the effect of extrusion processing of SBM on protein electrophoretic size, fourier transform infrared spectroscopy (FTIR) structures and Cornell Net Carbohydrate and Protein System (CNCPS) protein subfractions and ii) to determine the effect of substitution of SBM with ESBM in starter feed of Holstein heifer calves during pre and post-weaning on performance, nutrient digestibility, and blood metabolites. Methods: The SBM was substituted with ESBM at the level of 0%, 25%, 50%, 75%, and 100% (dry matter [DM] basis). Fifty heifer calves (initial body weight 40.3±0.63 kg) were used for the study. After birth, animals were fed colostrum for 3 days and then they were fed whole milk until weaning. Animals had free access to starter feed and water during the study. Results: Extrusion of SBM decreased electrophoretic protein size and increased rapidly degradable true protein fraction, changed FTIR protein and amide II region. With increasing level of ESBM in the diet, starter intake increased quadratically during the pre-weaning period (p<0.05) and body weight, DM intake and average daily gain increased linearly during the post-weaning and the whole study period (p<0.05). Tbe DM and crude protein digestibilities at week 14 and blood glucose and beta hydroxybutyric acid increased linearly in calves as the level of ESBM increased in the diet (p<0.05). Conclusion: Dairy calves performance and physiological responses were sensitive to SBM protein characteristics including electrophoretic size, FTIR structures and CNCPS protein fractions.

Feeding di-ammonium phosphate as a phosphorous source in finishing lambs reduced excretion of phosphorus in feces without detrimental effects on animal performance

Abolfazl Koolivand,Mojtaba Yari,Saeed Khalaji,Arjan Jonker 아세아·태평양축산학회 2019 Animal Bioscience Vol.32 No.4

Objective: Phosphorous (P) sources with greater bioavailability might increase animal production efficiency and decrease environmental pollution. The objective of current study was to determine animal performance, nutrient digestibility, blood metabolites and fecal P concentration in finishing lambs fed a diet with either di-calcium phosphate (DCP) or di-ammonium phosphate (DAP) as a P source. Methods: Twelve 4-month-old male lambs (initial body weight 24.87±3.4 kg) were randomly allocated to a diet with either DCP or DAP (~261 g/kg of total diet P) fed ad libitum for 93 days. Diets were iso-nitrogenous and iso-energetic and had same calcium (Ca) and P concentrations. Results: The DAP contained 19.7 g/kg of dry matter (DM) Ca, 185.4 g/kg DM P and 14,623 ppm fluorine, while DCP contained 230.3 g/kg DM Ca, 195.2 g/kg DM P and 1,039 ppm fluorine. The diet with DAP contained 60 ppm fluorine while the diet with DCP contained 13 ppm fluorine. Lambs fed the diet with DAP tended to have a greater daily DM intake compared to those fed diet with DCP (p = 0.09). Lambs fed DAP had greater plasma P concentration and alkaline phosphatase activity (p≤0.01) compared with lambs fed DCP. Dry matter and organic matter digestibility of the diets were similar between two treatments at days 60 and 90, while they were greater in lambs fed DCP (p<0.05) at day 30 of the trial. Feeding DAP increased P digestibility (58.7% vs 50.2%; p<0.05) and decreased fecal P concentration in lambs compared with feeding DCP (3.1 vs 3.8 g/kg DM; p<0.05). Conclusion: Providing ~261 g/kg of total diet P as DAP in the diet of finishing lambs improved the bioavailability of P in the body and decreased excretion of P in feces without affecting lamb performance.

Design, Modeling and Control of a Simulator of an Aircraft Maneuver in the Wind Tunnel Using Cable Robot

Hami Tourajizadeh,Mahdi Yousefzadeh,Ali Keymasi Khalaji,Mahdi Bamdad 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.5

In this paper, a new controllable simulator is proposed and modeled by which, experimental tests of the aircraft’s models can be performed in wind tunnels with a high level of accuracy. These tests are unavoidable in order to extract the aerodynamic characteristics of the plant and optimize its related profiles. Drag and lift coefficients of the aircraft have a significant effect on the static and also dynamic maneuver of the airplane and thus evaluating these characteristics before manufacturing the aircraft are highly valuable in order to optimize the profile of their structures. To realize the mentioned target experimental tests can provide more accurate and trustable results rather than computer simulations. In order to conduct the wind tunnel tests with the highest accuracy, it is extremely significant to decrease any source of error such as disturbing drag forces. Thus it is required to control and manipulate the model of the aircraft with the aid of a mechanism that not only has the minimum effect on the drag force but also provides the least amount of deviation corresponding to drag forces. To do so, in this paper, a new cable robot is proposed as a proper candidate mechanism by which the disturbing drag force of the tunnel wind is minimum as a result of exact control of all of six spatial Degrees of Freedom (DOFs). Also, cables have the least cross-section area against the wind force and therefore the error of disturbing drags could be minimized. Moreover, there are other advantages for these kinds of robots such as low weight and cost, high load carrying capacity, and easy assembling capability. By proper design of the cables and actuators, it is possible to control all of the degrees of freedom of the end-effector during the dynamic maneuver of the aircraft and so it possible to perform all of the required static and dynamic tests of the plant. Therefore, in this paper first, the proper mechanism is designed and its related kinematics and kinetics modeling is provided. Besides, a robust controller is designed based on Non-Singular Fast Terminal Sliding Mode (NFTSM) to control the aircraft maneuver in presence of wind disturbance and complete the test process. All of the mentioned claims are verified by MATLAB simulations and the results confirm the mentioned expectancies.