Design Active Intelligent Multi Degrees of Freedom Joint Controller for Dental Automation

Maryam Rahmani,Nasim Sobhani,Hamid Cheraghi Farzin Piltan,Farzin Matin 보안공학연구지원센터 2015 International Journal of Hybrid Information Techno Vol.8 No.10

Following the developments in industrial robot technology, robotics has found its way into the medical field and is used in a range of surgical disciplines. The main purpose of the use of robots is to increase the precision, quality and safety of surgical procedures. Robotics is not yet used in dentistry even though all the necessary technologies have already been developed and could easily be adapted. Some of the technologies are already used in dentistry, such as image-based simulation of implant surgery followed by the use of surgical guides, and creating digital impressions of pre parathions using an intra-oral scanner, after which a milling device produces the restoration, but we have not yet seen any robot able to prepare teeth for crowns, inlays or bridges. Such a robot would fundamentally be a dental drilling device coupled with a navigation device to determine the correct position of the device in relation to the patient. However this technique is very essential to have the minimal pain and reduce bleeding but control of these robots/joints are very complicated. This paper proposes new fuzzy type sliding mode controller for multi-DOF joints to control of motor vibration. The fuzzy (PD+I)2 single-input single-output (SISO) fuzzy system is used to control of chattering in sliding mode controller. In most research al researchers wants to eliminate the chattering but, this research focuses on chattering control. Various operation situations such as the set point control and the trajectory control are simulated. The simulation results demonstrate that the chattering and the steady state errors, which usually occur in the classical sliding mode control, are limitation control and satisfactory trajectory tracking is achieved.

Electrodegradation of tetracycline using stainless steel net electrodes: Screening of main effective parameters and interactions by means of a two-level factorial design

Maryam Foroughi,Hamid Reza Soheil Arezoomand,Ali Reza Rahmani,Ghorban Asgari,Davood Nematollahi,Kaan Yetilmezsoy,Mohammad Reza Samarghandi 한국화학공학회 2017 Korean Journal of Chemical Engineering Vol.34 No.11

Performance of electrodegradation process using stainless steel net electrodes was explored for removal of tetracycline (TC) from synthetic wastewater in a laboratory batch study. Main effects of various operating parameters, such as initial TC concentration (20 and 100mg/L), reaction pH (3.0 and 9.0), current density (4.1 and 17.1mA/cm2), agitation speed (250 and 750 rpm), and electrolysis time (20, 50, and 80 min), and their interactions on the TC removal efficiency, were optimized by means of a five-factor and two-level factorial experimental design methodology. The significance of responses obtained from the proposed design (sixteen experimental runs under batch mode conditions) was statistically evaluated by preparing a Pareto chart, half-normal probability plot, and plots of main effects and their interactions (herein referred to as Factions) within the framework of the analysis of variance (ANOVA). The statistical results corroborated with 95% certainty that TC concentration, pH, and current density showed the largest effects (absolute values) on the TC removal efficiency. Besides the most effective Factions, a sodium sulfate (used as supporting electrolyte) dose of 1 g/200 cc was determined as the optimum value for the studied process. Under the conditions of an initial TC concentration=20 mg/L, a reaction pH=3.0, current density=17.1mA/cm2, an agitation speed=250 rpm, and an electrolysis time=20min, about 70% of TC could be successfully removed from the simulated wastewater. Findings of this experimental study clearly confirmed the applicability of the electrodegradation process for the removal of a broad spectrum antibacterial agent like TC, and also demonstrated the effectiveness of the factorial design methodology before transferring the obtained experimental knowledge for a full-scale facility.

A review on olefin/paraffin separation using reversible chemical complexation technology

Maryam Azhin,Mohammad Rahmani,Tahereh Kaghazchi 한국공업화학회 2008 Journal of Industrial and Engineering Chemistry Vol.14 No.5

In the present work, the facilitated transport membrane (FTMS) technology used in separation of olefins from paraffins is reviewed. Primary attentions are given to basic fundamentals, advantages and methods of facilitated transport membrane technology. The general mechanisms by which the facilitated transport proceeds under various conditions are described. The effects of different parameters on the degree of facilitated factor, permeance, and selectivity in the FTMs are thoroughly discussed. The performance of the membranes and its current application related with the polymer, solvent, and carrier structure developing during membrane preparation are also considered. A number of potential applications of the FTMs in a variety of modules can be added and optimized in a process design to achieve the desired separation are highlighted in this review. Finally, some reviews have been conducted for the modeling as well as the numerical solution to the governing system of equations.

Fabrication of alumina/polysulfone nanocomposite membranes with biofouling mitigation approach in membrane bioreactors

Maryam Homayoonfal,Mohammad Reza Mehrnia,Samane Rahmani,Yasaman Mohades Mojtahedi 한국공업화학회 2015 Journal of Industrial and Engineering Chemistry Vol.22 No.-

In this study, polysulfone/alumina nanocomposite membranes were synthesized with the principal aimof reducing biofouling in membrane bioreactors. The filtration experiments indicate that aluminananoparticles can increase water flux by enhancing membrane hydrophilicity while maintaining theseparation efficiency through decreasing porosity. Altogether, as confirmed by AFM images, thedevelopment of roughness results in biofilm formation reduction on the membrane surface layer. Onthe whole, presence of alumina nanoparticles up to the polymer concentration of 0.03 wt.% will result inan augment in separation yield up to 7%, four times higher water flux, and 83% reduction in membranefouling.

Radiolucent rim as a possible diagnostic aid for differentiating jaw lesions

Hamed Mortazavi,Maryam Baharvand,Somayeh Rahmani,Soudeh Jafari,Parvin Parvaei 대한영상치의학회 2015 Imaging Science in Dentistry Vol.45 No.4

In this study, we formulate a new proposal that complements previous classifications in order to assist dental practitioners in performing a differential diagnosis based on patients’ radiographs. We used general search engines and specialized databases such as Google Scholar, PubMed, PubMed Central, MedLine Plus, Science Direct, Scopus, and well-recognized textbooks to find relevant studies by using keywords such as “jaw disease,” “jaw lesions,” “radiolucent rim,” “radiolucent border,” and “radiolucent halo.” More than 200 articles were found, of which 70 were broadly relevant to the topic. We ultimately included 50 articles that were closely related to the topic of interest. When the relevant data were compiled, the following eight lesions were identified as having a radiolucent rim: periapical cemento-osseous dysplasia, focal cemento-osseous dysplasia, florid cemento-osseous dysplasia, cemento-ossifying fibroma, osteoid osteoma, osteoblastoma, odontoma, and cementoblastoma. We propose a novel subcategory, jaw lesions with a radiolucent rim, which includes eight entities. The implementation of this new category can help improve the diagnoses that dental practitioners make based on patients’ radiographs.

Research on FPGA-Based Controller for Nonlinear System

Farzin Piltan,Maryam Rahmani,Meysam Esmaeili,Mohammad Ali Tayebi,Mahsa Piltan Hamid Cheraghi,Mohammad R. Rashidian,Arzhang Khajeh 보안공학연구지원센터 2015 International Journal of u- and e- Service, Scienc Vol.8 No.3

Many of linear control applications require real-time operation; higher density programmable logic devices such as field programmable gate array (FPGA) can be used to integrate large amounts of logic in a single IC. This work, proposes a developed method to design PD controller (PDC) with optimal- gains using FPGA. The method used to design PD controller is to design it as digital design Proportional and Derivative controller in parallel through the summer. The proposed design is 32-bits FPGA-based controller (32PDC), which uses 32-bits for each input/output variable. The single joint of robot is used to test the controller in simulation environments, using VHDL code for the purpose of simulation in Xilinx. The same design is coded in MATLAB environment (MPDC) in order to make a comparison with the proposed FPGA-based design. PDC needs 16 clock cycles to complete one action with maximum frequency of 108.5 MHz. 32PDC is able to produce an output in 13.24 MHz with the robot system. Therefore, the proposed controller will be able to control a wide range of the systems with high sampling rate and 75.545 ns delays.

Design FPGA-Based Fuzzification Algorithm for Model-free Control Techniques

Farzin Piltan,Maryam Rahmani,Omid Mahmoudi,Meysam Esmaeili,Mohammad Ali Tayebi,Mahsa Piltan,Hamid Cheraghi 보안공학연구지원센터 2016 International Journal of Hybrid Information Techno Vol.9 No.8

Many of fuzzy control applications require real-time operation; higher density programmable logic devices such as field programmable gate array (FPGA) can be used to integrate large amounts of logic in a single IC. This work, proposes a developed method to fuzzifier algorithm with optimal-tunable gains method-using FPGA. The maximum frequency in FPGA-based design is about 72.4 MHz and the delay time in this design is about 13.78 ns. It is observed that this algorithm is able to make as a fast response at 13.78 clock period with 72.4 of a maximum frequency and 2.1 ns for minimum input arrival time after clock. From investigation and synthesis summary, 24.3 for maximum input arrival time after clock with 13.9 MHZ frequencies, this design has 13.78 ns delays for each controller to 46 logic elements and the offset before CLOCK is 82.1 ns.

Differentiation of Benign from Malignant Adnexal Masses by Functional 3 Tesla MRI Techniques: Diffusion-Weighted Imaging and Time-Intensity Curves of Dynamic Contrast-Enhanced MRI

Malek, Mahrooz,Pourashraf, Maryam,Mousavi, Azam Sadat,Rahmani, Maryam,Ahmadinejad, Nasrin,Alipour, Azam,Hashemi, Firoozeh Sadat,Shakiba, Madjid Asian Pacific Journal of Cancer Prevention 2015 Asian Pacific journal of cancer prevention Vol.16 No.8

Background: The aim of this study was to evaluate and compare the accuracy of diffusion-weighted imaging (DWI), apparent diffusion coefficient (ADC) value, and time-intensity curve (TIC) type analysis derived from dynamic contrast-enhanced MR imaging (DCE-MRI) in differentiating benign from malignant adnexal masses. Materials and Methods: 47 patients with 56 adnexal masses (27 malignant and 29 benign) underwent DWI and DCE-MRI examinations, prior to surgery. DWI signal intensity, mean ADC value, and TIC type were determined for all the masses. Results: High signal intensity on DWI and type 3 TIC were helpful in differentiating benign from malignant adnexal masses (p<0.001). The mean ADC value was significantly lower in malignant adnexal masses (p<0.001). An ADC value< $1.20{\times}10^{-3}mm^2/s$ may be the optimal cutoff for differentiating between benign and malignant tumors. The negative predictive value for low signal intensity on DWI, and type 1 TIC were 100%. The pairwise comparison among the receiver operating characteristic (ROC) curves showed that the area under the curve (AUC) of TIC was significantly larger than the AUCs of DWI and ADC (p<0.001 for comparison of TIC and DWI, p<0.02 for comparison of TIC and ADC value). Conclusions: DWI, ADC value and TIC type derived from DCE-MRI are all sensitive and relatively specific methods for differentiating benign from malignant adnexal masses. By comparing these functional MR techniques, TIC was found to be more accurate than DWI and ADC.

Radiolucent rim as a possible diagnostic aid for differentiating jaw lesions

Mortazavi, Hamed,Baharvand, Maryam,Rahmani, Somayeh,Jafari, Soudeh,Parvaei, Parvin Korean Academy of Oral and Maxillofacial Radiology 2015 Imaging Science in Dentistry Vol.45 No.4

In this study, we formulate a new proposal that complements previous classifications in order to assist dental practitioners in performing a differential diagnosis based on patients' radiographs. We used general search engines and specialized databases such as Google Scholar, PubMed, PubMed Central, MedLine Plus, Science Direct, Scopus, and well-recognized textbooks to find relevant studies by using keywords such as "jaw disease," "jaw lesions," "radiolucent rim," "radiolucent border," and "radiolucent halo." More than 200 articles were found, of which 70 were broadly relevant to the topic. We ultimately included 50 articles that were closely related to the topic of interest. When the relevant data were compiled, the following eight lesions were identified as having a radiolucent rim: periapical cemento-osseous dysplasia, focal cemento-osseous dysplasia, florid cemento-osseous dysplasia, cemento-ossifying fibroma, osteoid osteoma, osteoblastoma, odontoma, and cementoblastoma. We propose a novel subcategory, jaw lesions with a radiolucent rim, which includes eight entities. The implementation of this new category can help improve the diagnoses that dental practitioners make based on patients' radiographs.

지식공학을 위한 상호작용 시스템의 집단 행위 모델링 및 합성 방법

송준섭(Junsup Song),마리암 라흐마니(Maryam Rahmani),이문근(Moonkun Lee) 한국정보과학회 2017 정보과학회논문지 Vol.44 No.11

지식 도메인에 대한 집단적인 패턴에서 시스템의 행위를 이해하는 것은 중요하다. 그러나 시스템의 크기, 상호작용의 복잡성으로 집단 행위를 표현하는데 구조적인 어려움이 있으며, 상태 폭발 문제가 발생한다. 또한, 다른 시스템과의 합성은 시스템의 크기와 복잡성이 기하급수적으로 증가하기 때문에 현실적으로 어렵다. 본 논문은 도메인 공학의 새로운 개념인 행위 온톨로지를 이용하여, 집단 행위를 모델링하는 실용적인 방법을 제시한다. 첫째, 액티브 온톨로지를 통해 시스템의 행위를 정의한다. 둘째, 행위는 일반 정규 표현식이라고 불리는 정량화된 추상 격자 구조로 표현된다. 셋째, 격자는 공통된 요소를 기반으로 다른 격자와 합성할 수 있다. 이 방법은 시스템 복잡성을 줄이기 위해, 시스템 상태를 최소화하는 것뿐만 아니라 집단 패턴에서 시스템 동작을 표현하는 혁신적인 방법 중 하나일 수 있다. 이 방법을 구현하기 위해, PRISM 프로토타입 도구를 ADOxx 메타 모델링 플랫폼으로 개발하였다. It is very important to understand system behaviors in collective pattern for each knowledge domain. However, there are structural limitations to represent collective behaviors because of the size of system components and the complexity of their interactions, causing the state explosion problem. Further composition with other systems is mostly impractical because of exponential growth of their size and complexity. This paper presents a practical method to model the collective behaviors, based on a new concept of domain engineering: behavior ontology. Firstly, the ontology defines each collective behavior of a system from active ontology. Secondly, the behaviors are formed in a quantifiably abstract lattice, called common regular expression. Thirdly, a lattice can be composed with other lattices based on quantifiably common elements. The method can be one of the most innovative approaches in representing system behaviors in collective pattern, as well as in minimization of system states to reduce system complexity. For implementation, a prototype tool, called PRISM, has been developed on ADOxx Meta-Modelling Platform.