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Intelligent Mechatronic Model Reference Theory for Robot End-effector Control
Mohammad sadegh Dahideh,Mohammad Najafi,AliReza Zarei,Yaser Barmayeh,Mehran Afshar 보안공학연구지원센터(IJUNESST) 2015 International Journal of u- and e- Service, Scienc Vol.8 No.1
The control problem for manipulators is to determine the joint inputs required to case the end-effector execute the commanded motion. The nonminimum phase characteristic of a rigid manipulator makes the design of stable controller that ensures stringent tracking requirements a highly nontrivial and challenging problem. A useful controller in the computed torque family is the gravity controller. To compensate the dynamic parameters, fuzzy logic methodology is used and applied parallel to this method. When the arm is at rest, the only nonzero terms in the dynamic is the gravity. Proposed method can cancels the effects of the terms of gravity. In this case inorder to decrease the error and satteling time, higher gain controller is design and applied to nonlinear system.
Mohammad Ali Najafi,Karamatollah Rezaei,Mohammad Safari,Seyyed Hadi Razavi 한국식품과학회 2012 Food Science and Biotechnology Vol.21 No.1
Effects of 8 different sourdoughs and their replacement levels at 10, 20, and 30%(w/w) on the volume (of dough), crust hardness, organoleptic, and anti-mold properties of Iranian sangak bread were investigated. Saccharomyces cerevisiae, Lactobacillus plantarum,Lactobacillus acidophilus, and Leuconostoc mesenteroides were selected for the preparation of sourdough samples. The highest dough volume was achieved when sourdough (those having S. cerevisiae) was used at 30%. The highest taste scores were found with the bread sample using the above-mentioned starters at 30% sourdough replacement level. Considering the chewing, appearance, and overall quality of the new products, most of the samples maintained the favorite sensory aspects of sangak bread. Use of lactic acid bacteria and yeast strains as part of the sourdough formulation (followed by the use of sourdough in the dough formulation) resulted in improved crust properties and greater anti-mold activities.
Mohammad Ali Najafi,Karamatollah Rezaei,Mohammad Safari,Seyyed Hadi Razavi 한국식품과학회 2012 Food Science and Biotechnology Vol.21 No.1
In this study, effects of 8 different sourdough starters prepared with Saccharomyces cerevisiae, Lactobacillus plantarum, L. acidophilus, and Leuconostoc mesenteroides were investigated on the phytic acid level and mole ratio of phytic acid to zinc in a traditional Iranian bread (sangak). Different sourdough preparations were made and incubated at 30oC for 16 h and added to the dough at 10, 20, and 30% replacement levels. Use of sourdough resulted in a decrease in phytic acid level (also in a decrease in the phytic acid to zinc mole ratio) and corresponding increase in zinc bioavailability index when compared to the commercial sangak bread. The lowest phytic acid concentration and highest zinc bioavailability index were achieved when S. cerevisiae, L. plantarum, and Leu. mesenteroides were used at 30.0% dough replacement with sourdough. This study provides awareness about the negative impacts of higher phytic acid level in the breads,which is particularly the case for sangak bread, and also provides a solution for such issue.
Najafi, Meysam,Najafi, Mohammad,Najafi, Houshang Korean Chemical Society 2012 Bulletin of the Korean Chemical Society Vol.33 No.10
The possible ways for increasing the antioxidant properties of vitamin E have been investigated with density function theory. The effect of replacing three methyl groups of vitamin E with various substituents such as electron donating and electron withdrawing groups on the antioxidant properties of vitamin E were investigated. Also the effects of the reducing the number of atoms in the heterocyclic ring and replacing the oxygen heteroatom with other heteroatoms on the antioxidant properties of vitamin E were investigated. The novel structures that obtained from replacing methyl groups with substituents such as $NH_2$, OH, COOH and NHMe have greater antioxidant activity than vitamin E. Obtained results reveal that novel structure that obtained with replacing O with NH hetroatom would be a better antioxidant than vitamin E. The results reveal that reducing the number of atoms in the heterocyclic ring is a better way to synthesize novel antioxidants.
CONFORMABLE FRACTIONAL SENSE OF FOAM DRAINAGE EQUATION AND CONSTRUCTION OF ITS SOLUTIONS
MOHAMMAD T. DARVISHI,MOHAMMAD NAJAFI,BYEONG-CHUN SHIN 한국산업응용수학회 2021 Journal of the Korean Society for Industrial and A Vol.25 No.3
The modified F-expansion method is used to construct analytical solutions of the foam drainage equation with time- and space-fractional derivatives. The conformable derivatives are considered as spacial and temporal ones. As a result, some analytical exact solutions including kink, bright-dark soliton, periodic and rational solutions are obtained.
Experimental Investigation on Finasteride Microparticles Formation via Gas Antisolvent Process
( Mohammad Najafi ),( Nadia Esfandiari ),( Bizhan Honarvar ),( Zahra Arab Aboosadi ) 한국화학공학회 2021 Korean Chemical Engineering Research(HWAHAK KONGHA Vol.59 No.3
Micro and nanoparticles of Finasteride were prepared by gas-antisolvent method. The influence of process parameters such as pressure (100, 130 and 160 bar), temperature (308, 318 and 328 K) and solute concentrations (10, 25 and 40 mg/ml) on mean particle size was studied by Box-Behnken design. As ANOVA results indicated, the highest influence in production of smaller particles was attributed to the pressure. Optimum condition leading to the smallest particle size was as follows: initial solute concentration, 10 mg/ml; temperature, 308 K and pressure, 160 bar. The particles were evaluated with FTIR, SEM, DLS, XRD as well as DSC. The analyses revealed a size decrease in the precipitated Finasteride particles (232.4 nm, on mean) via gas-antisolvent method, as compared to the original particles (55.6 μm).
Najafi, Meysam,Najafi, Mohammad,Najafi, Houshang Korean Chemical Society 2012 Bulletin of the Korean Chemical Society Vol.33 No.11
In this paper, the study of various ortho- and meta-substituted Magnolol derivatives is presented. The reaction enthalpies related to three antioxidant action mechanisms HAT, SET-PT and SPLET for substituted Magnolols have been calculated using DFT/B3LYP method in gas-phase and water. Calculated results show that electron-withdrawing substituents increase the bond dissociation enthalpy (BDE), ionization potential (IP) and oxidation/reduction enthalpy (O/RE), while electron-donating ones cause a rise in the proton dissociation enthalpy (PDE) and proton affinity (PA). In ortho- position, substituents show larger effect on reaction enthalpies than in meta-position. In comparison to gas-phase, water attenuates the substituent effect on all reaction enthalpies. In gas-phase, BDEs are lower than PAs and IPs, i.e. HAT represents the thermodynamically preferred pathway. On the other hand, SPLET mechanism represents the thermodynamically favored process in water. Results show that calculated enthalpies can be successfully correlated with Hammett constants (${\sigma}_m$) of the substituted Magnolols. Furthermore, calculated IP and PA values for substituted Magnolols show linear dependence on the energy of the highest occupied molecular orbital ($E_{HOMO}$).
Meysam Najafi,Mohammad Najafi,Houshang Najafi 대한화학회 2012 Bulletin of the Korean Chemical Society Vol.33 No.11
In this paper, the study of various ortho- and meta-substituted Magnolol derivatives is presented. The reaction enthalpies related to three antioxidant action mechanisms HAT, SET-PT and SPLET for substituted Magnolols have been calculated using DFT/B3LYP method in gas-phase and water. Calculated results show that electronwithdrawing substituents increase the bond dissociation enthalpy (BDE), ionization potential (IP) and oxidation/ reduction enthalpy (O/RE), while electron-donating ones cause a rise in the proton dissociation enthalpy (PDE) and proton affinity (PA). In ortho- position, substituents show larger effect on reaction enthalpies than in metaposition. In comparison to gas-phase, water attenuates the substituent effect on all reaction enthalpies. In gasphase, BDEs are lower than PAs and IPs, i.e. HAT represents the thermodynamically preferred pathway. On the other hand, SPLET mechanism represents the thermodynamically favored process in water. Results show that calculated enthalpies can be successfully correlated with Hammett constants (σm) of the substituted Magnolols. Furthermore, calculated IP and PA values for substituted Magnolols show linear dependence on the energy of the highest occupied molecular orbital (EHOMO).
Meysam Najafi,Mohammad Najafi,Houshang Najafi 대한화학회 2012 Bulletin of the Korean Chemical Society Vol.33 No.10
The possible ways for increasing the antioxidant properties of vitamin E have been investigated with density function theory. The effect of replacing three methyl groups of vitamin E with various substituents such as electron donating and electron withdrawing groups on the antioxidant properties of vitamin E were investigated. Also the effects of the reducing the number of atoms in the heterocyclic ring and replacing the oxygen heteroatom with other heteroatoms on the antioxidant properties of vitamin E were investigated. The novel structures that obtained from replacing methyl groups with substituents such as NH2, OH, COOH and NHMe have greater antioxidant activity than vitamin E. Obtained results reveal that novel structure that obtained with replacing O with NH hetroatom would be a better antioxidant than vitamin E. The results reveal that reducing the number of atoms in the heterocyclic ring is a better way to synthesize novel antioxidants.
Air Pollution Reduction Based on Intelligent Nonlinear Control Methodology
Yaser Barmayeh,Mehran Afshar,Mohammad Sadegh Dahideh,Mohammad Najafi,Ali Reza Zarei 보안공학연구지원센터 2015 International Journal of Hybrid Information Techno Vol.8 No.1
This paper expands a Multi Input Multi Output (MIMO) fuzzy baseline control (FBC) which controller coefficient is off-line tuned by gradient descent algorithm. The main goal is to adjust the optimal value for fuel ratio (FR) in motor engine. The fuzzy inference system in proposed methodology is works based on Mamdani-Lyapunov fuzzy inference system (FIS). To reduce dependence on the gain updating factor coefficients of the fuzzy methodology, PID baseline method is introduced. This new method provides an optimal setting for other factors which created by PID baseline method. The gradient descent methodology is off-line tune all coefficients of baseline fuzzy based on mathematical optimization methodology. Simulation results signify good performance of fuel ratio in presence of different torque load and external disturbance.