Adaptive tracking control of a nonholonomic pendulum-driven spherical robot by using a model-reference adaptive system

M. Roozegar,M. J. Mahjoob,M. Ayati 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.2

An adaptive approach is developed for the tracking control of a pendulum-driven spherical robot. First, the dynamics model of the robot is derived using Newton-Euler methodology for a system of rigid bodies. The simplified model is marginally stable and nonminimum phase. Next, based on the theory of the model-reference adaptive system, a Model-reference adaptive controller (MRAC) is designed to track the desired command signals. The controller parameters are adjusted based on the error between the reference model and the process outputs and the command signals. Simulations illustrate that the convergence rate depends substantially on the adaptation gains of the MRAC. Hence, gains should be tuned properly by using fuzzy logic systems or a genetic algorithm. Results indicate that the proposed control strategy is highly promising for tracking different command signals even if the system is non-minimum phase and marginally stable. Moreover, this controller is more easily implemented in the real world compared with nonlinear controllers.

이란 산업시설에서의 폐기물 최소화 실행

( M. Shafikhani ),( B. Ayati ),( H. Ganjidoust ) 한국폐기물자원순환학회 2002 APLAS Vol.2002 No.2

청정 생산은 원료와 에너지 보전을 가져올뿐만 아니라 또한 제품의 생산과정에서 발생하는 오염물질의 양과 독성을 감소시켜준다. UNEP로 정의 되는 청정생산 프로그램의 목적은 전략적 환경적인 생산의 인식증가는 정부와 산업의 도움으로부터 이루어진다. 청정기술 노후된 시설을 재활용 하여 변경 및 개선한 시설로 대신 작동한다. 청정생산은 재설계, 변형과정 그리고 유해물질 감소에 사용되는 화학적 변경을 이끌어낸다. 이 논문은 전략적 오염예방 예를들면 폐기물의 최소발생 및 청정기술로 환경관리에 유용함을 목적으로 한다. 더좋은 주거시설 및 산업시설의 유지관리는 목재 및 제지 회사의 폐기물 발생의 30% 이상 줄일 수 있다. 모든 그리스 물질(총폐수의 20%는 시설에서 발생된다.)은 재활용에 의해 제거되고 또한 이란의 목재 및 섬유회사의 화학적으로 사용된 폐수를 감소시킨다. 이는 또한 폐수의 COD30%와 폐수발생 20%를 감소시킨다. 몇번의 염색과정에서 사용된 물의 재이용은 Famakh &Mahnakh Textile사의 폐수발생의 감소로 나타났다. 전기도금회사에서 DRCS법에 의한 크롬회수는 총 폐수처리 비용을 절감할수 있었다. 폴리머의 이용은 폐수 30% COD를 줄일수 있었다. 새로운 청정생산은 석유화학사에 40%이상 폐기물을 절감하였다. Cleaner production resulted in the conservation of raw materials and energy. It ensures the elimination of toxic materials, and the reduction of quantity and toxicity of all emissions and wastes from the product materials. The objectives of cleaner production programs which was defined by UNEP, are worldwide awareness of the preventive environmental production strategy should be increased and insuring development of cleaner production programs and activities for the cleaner production expansion by helping government and industry. The clean technologies have been practiced in process plant, recycling, process modification, and improved plant operation and input substitution. The clean products have been obtained by many ways such as redesigning, and modification of the process and changing chemicals used to less hazardous ones. The purpose of this paper is to look at the benefits of environmental management strategies in pollution prevention such as waste minimization and clean technologies. Better house keeping and in plant maintenance resulted in up to 30 percent reduction (both quantitatively and qualitatively) of the waste generation in wood and paper company. All grease materials (20 percent of the total wastewater generated from the plant) were eliminated by recycling which also reduced the water and chemical used in the process of Iran Wood Fiber Company. This also resulted in 20 percent reduction of the wastewater generated and 30 percent COD reduction from the wastewater. Reuse of the colored water for several times in the dying and printing processes resulted in reduction of wastewater generated in Farnakh & Mahnakh Textile Company. Recovery of chromium from electroplating company was treated by DRCS method resulted in reduction of the total wastewater treatment cost. Use of polymers resulted in reduction of the whey wastewater COD by 30 percent. New clean production advice has been given to the Petrochemical Company and over 40 percent waste has been reduced.

WASTE MINIMIZATION IMPLEMENTATION IN IRANIAN INDUSTRIES

( M. Shafikhani ),( B. Ayati ),( H. Ganjidoust ) 한국폐기물자원순환학회 2002 APLAS Vol.2002 No.1

Cleaner production resulted in the conservation of raw materials and energy. It ensures the elimination of toxic materials, and the reduction of quantity and toxicity of all emissions and wastes from the product materials. The objectives of cleaner production programs which was defined by UNEP, are worldwide awareness of the preventive environmental production strategy should be increased and insuring development of cleaner production programs and activities for the cleaner production expansion by helping government and industry. The clean technologies have been practiced in process plant, recycling, process modification, and improved plant operation and input substitution. The clean products have been obtained by many ways such as redesigning, and modification of the process and changing chemicals used to less hazardous ones. The purpose of this paper is to look at the benefits of environmental management strategies in pollution prevention such as waste minimization and clean technologies. Better house keeping and in plant maintenance resulted in up to 30 percent reduction (both quantitatively and qualitatively) of the waste generation in wood and paper company. All grease materials (20 percent of the total wastewater generated from the plant) were eliminated by recycling which also reduced the water and chemical used in the process of Iran Wood Fiber Company. This also resulted in 20 percent reduction of the wastewater generated and 30 percent COD reduction from the wastewater. Reuse of the colored water for several times in the dying and printing processes resulted in reduction of wastewater generated in Farnakh & Mahnakh Textile Company. Recovery of chromium from electroplating company was treated by DRCS method resulted in reduction of the total wastewater treatment cost. Use of polymers resulted in reduction of the whey wastewater COD by 30 percent. New clean production advice has been given to the Petrochemical Company and over 40 percent waste has been reduced.

OPTIMIZATION OF THE EXPERIMENTAL CONDITIONS IN SYNTHESIS OF Au NPs USING PREYSSLER HETEROPOLYACID BASED ON THE TAGUCHI ROBUST DESIGN

ALI AYATI,ALI AHMADPOUR,FATEMEH F. BAMOHARRAM,MAJID M. HERAVI,HAMED RASHIDI 성균관대학교(자연과학캠퍼스) 성균나노과학기술원 2012 NANO Vol.7 No.1

Preparation of gold nanoparticles by chemical reduction method using Preyssler heteropolyacid was investigated. The experimental conditions have been optimized using Taguchi robust design method with L9 orthogonal array. Particle size of the gold nanoparticles was considered as the property in the optimization. Amounts of Preyssler heteropolyacid, pH and irradiation time were selected as the main parameters. The result of Taguchi analysis has shown that in this process, the preyssler acid amount is the most influencing parameter on the size of gold nanoparticle. Also, the effects of different parameters are in order to: Preyssler acid amount > pH > irradiation time (negligible). This method showed that decreasing Preyssler amount and increasing pH of solution lead to formation of smaller nanoparticles. Finally, the prepared nanoparticles at optimum condition with a size of about 6.42 were characterized by using Dynamic Light Scattering (DLS) method, transmission electron microscopy (TEM), and UV-Vis spectroscopy.

Meridian Studies in China: A Systematic Review

Guang-Jun Wang,M. Hossein Ayati,Guang-Jun Wang 사단법인약침학회 2010 Journal of Acupuncture & Meridian Studies Vol.3 No.1

Meridian theory is a major part of Chinese medicine and has guided acupuncture and clinical practice for thousands of years. Meridian theory describes many important concepts about the rules of human body function and regulation, but has comparatively huge differences with the basic concepts of modern medicine. These differences have caused deep concern and attracted attention from scholars, both inside and outside of China. The interest in meridian theory lies in determining the structural nature of meridians. Not only is this information still unclear, it is very difficult to achieve clear results in a short period of time. Despite this, the phenomena of meridians can be used as the entry point for meridian studies. After many years of effort, although the physical structure of meridians has not been found, the existence of the meridian phenomena has been fully confirmed. Although there is a lack of morphological evidence for the existence of the meridian,concluding non-existence may be incorrect as morphology techniques develop and structures previously not determined are being found. Since the phenomenon of meridians exists, some biological basis behind its occurrence must be present. This implies that research on meridians needs to continue as research techniques advance and may eventually reveal the biological basis of the meridian phenomenon. In the present review, we analyze the history of meridian studies in China.