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- 저자 : Seyed Mehdi Rezaei (검색결과 3 건)
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Rezaei, Ali Akbar,Salehi, Iraj,Karimi, Seyed Asaad,Rahnama, Mehdi The Korean Society for Reproductive Medicine 2020 Clinical and Experimental Reproductive Medicine Vol.47 No.1
Objective: The strong antioxidant activity of Commiphora mukul prompted us to conduct the present study to explore whether treatment with C. mukul extract (CME) would have any protective influence on sperm parameters, testosterone levels, and plasma glucose levels in streptozotocin (STZ)-induced diabetic rats. Methods: Male Wistar rats were randomly divided into four groups: control, control animals treated with CME, diabetic animals, and diabetic animals treated with CME. CME extract (300 mg/kg) was administered for 60 days by daily gavage. Diabetes was induced by an intraperitoneal injection of 50 mg/kg STZ. The epididymal sperm count, weight, motility, morphology, viability, and serum testosterone and glucose levels were determined. Results: In the diabetic animals, CME decreased blood glucose levels (p< 0.05), increased the total sperm count (p< 0.05), and decreased the proportion of sperm with abnormal morphology (p< 0.05). Diabetes reduced sperm motility (p< 0.001), and CME supplementation partially reversed this effect of diabetes (p= 0.003). Furthermore, in diabetic animals, CME decreased the proportion of immotile sperm (p< 0.001). In rats, diabetes caused a significant decrease (p< 0.05) in serum testosterone levels (F[3, 28] = 3.283, p= 0.035), but treatment of diabetic animals with CME increased serum testosterone levels. Conclusion: The present study demonstrated that C. mukul possesses proandrogenic activity and exerts a beneficial effect on sperm parameters in diabetic rats.
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A Teleoperation System for Micro Positioning with Haptic Feedback
Reza Seifabadi,Seyed Mehdi Rezaei,Saeed Shiry Ghidary,Mohammad Zareinejad 제어·로봇·시스템학회 2013 International Journal of Control, Automation, and Vol.11 No.4
This paper presents the research work on a 1 Degree of Freedom (DOF) macro-micro teleoperation system which enables human operator to perform complex task in micro environment such as cell insertion with the capability of haptic feedback. To reach submicron resolution, a nano-motion piezo actuator was used as the slave robot and a servo DC motor was used as the master robot. Force sensors were implemented at both ends for haptic feedback and a microscope equipped with camera was employed for real-time visual feedback. The hysteresis nonlinearity of the piezo motor was modeled using LuGre friction model and compensated for. A Sliding Mode Based Impedance Controller (SMBIC) was designed at the slave side to ensure position tracking while an impedance force controller was designed at the master side to ascertain tracking of the force. Control parameters were chosen based on Llewellyn stability criteria such that the entire system stays stable against parameter uncertainties and constant time delay. The experimental results demonstrated capability of the proposed control frameworks in desirable tracking of the position and force signals while the entire system remained stable. The results of this study can be used for complex tasks in micron environment such as cell insertion.
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Precision Control of a Piezo-Actuated Micro Telemanipulation System
Mohammad Zareinejad,Saeed Shiry Ghidary,Seyed Mehdi Rezaei,Amir Abdullah 한국정밀공학회 2010 International Journal of Precision Engineering and Vol.11 No.1
Piezoelectric actuators are widely used in micro manipulation applications. However hysteresis nonlinearity limits accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. To deal with the influence of parametric uncertainties,unmodeled dynamics, and PI identification error a perturbation term is added to the slave model and apply a sliding mode based impedance control with perturbation estimation. The stability of the entire system is guaranteed by Llewellyn's absolute stability criterion. Performance of the proposed controllers is verified through experiments.
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