Sharif Digital Repository

It is so essential to study a safe dynamics of agricultural mechanical equipment during duty stroke, plus getting a rich information about the nature of the soil under processing and in many cases there are associated simultaneous problems, so the main aim of this study is to create a safe working conditions for such specific equipment to extend their life time span as possible as it could. This study will predict an un-usual working circumstances for agricultural tools including plough of course depending on some automated technologies with fast response supported by smooth working conditions. Simply, the proposed Investigative system consists of a linear potentiometric element with... 

Isopropanol purifying denotes dehydration of it to utilize in industries become important these days. Conventional process like distillation could not produce this product in high purity. Using membrane-based process, pervaporation, to dehydrate Isopropanol and other organic compound has been noticed in the last years. Among all type of membranes to dehydrate alcohols, poly (vinyl alcohol) is more effective due to its high hydrophilic characteristic. But it swallows in aqueous solutions and decrease its selectivity. To enhance structural and separation properties Chitosan, TiO2 and glurataldehyde added to polymeric membranes. Nine membranes have been made in this study that can be grouped in... 

In this study, surface modification of Thin-film composite (TFC) membranes was performed in order to enhancement of its performance and chlorine resistance. TFC membranes was prepared through the interfacial polymerization between m-phenylenediamine (MPD) and trimesoyl chloride (TMC) on the polysulphone support membrane and surface modification performed through redox initiated graft polymerization of acrylic amide followed by acrylic acid. The successful surface modification of TFC membranes was evident from attenuated total reflection Fourier transform infrared spectroscopy (ATR-FTIR), contact angle (θ), scanning electron microscope (SEM) and atomic force microscope (AFM). Changes in... 

In this study, mesh-reinforced cellulose acetate (CA)-based membranes were prepared for forward osmosis (FO) by immersion precipitation. Casting composition, preparation conditions, evaporation time, coagulation bath temperature, annealing temperature, CA percent and 1,4-dioxane/acetone ratio were tested for membranes’ performance. Also, the results were compared with commercially CTA membranes. The FO membrane prepared under optimized conditions had a smooth surface similar to commercial ones. The most proper membrane (17.9 % polymer and 1,4-dioxane /acetone ratio 1.89) showed water flux of 9.3 L/m2.hr (LMH) and RSF of 0.536 mol NaCl/m2.hr. Using mesh in the membrane structure, different... 

This study investigated the effect of oxidized molybdenum disulfide (MoS2) nanosheets on the anti-corrosion and rheological properties of epoxy resin. Raw MoS2 sheets were obtained as layered nanosheets with a thickness of 50 to 100 nm using acid washing, oxidation, and heat shock methods. The use of nanoparticle characterization tests such as XRD, FT-IR, FE-SEM, EDS, and TGA supports this claim. Then, in the next step, epoxy coatings containing different percentages (0, 0.3, 0.5, 0.8, and 1.5 wt%) of MoS2 nanosheets were prepared with polyamide hardener to investigate the effect of adding nanosheets and the optimal percentage. The best effect on the corrosion properties of the coating in a... 

Recently, the number of multi business companies in Iran has increased. Nevertheless, they are challenged with several management and control issues, due to an unstable business and political environment in Iran as well as a lack of comprehensive knowledge in related fields. Thus conducting studies to address these issues in Iran’s special context would have a suitable impact on the successful management of these multi business companies. The main objective of this study is to determine suitable management mechanisms for regulating subsidiary-parent relationship. These mechanisms should be selected in a way to be aligned with subsidiary’s business context, which would lead to create benefit... 

In this work, sulfonated polycarbonate (SPC ) membranes with different acid contents have been prepared by conducting sulfonation reaction at room temperature using Chlorosulfonic acid (CSA) as sulfonating agent at different concentration of acid in reacting solution. The SPC membranes were obtained by casting from 10% solution of SPC in chloroform at room temperature. The prepared membranes were characterized using Ion exchange capacity (IEC), and degree of sulfonation (DS), Fourier Transform Infrared (FTIR), NMR spectra, Thermal Gravimetric Analysis (TGA) and Water uptake. The obtained results showed that with increaseing in Chlorosulfonic acid content in sulfonation reaction IEC and DS of... 

Due to the presence of carbon dioxide and hydrogen sulfide in natural gas outlet of wells, it cannot be sent directly to the municipal pipelines. This study was trying to be select and made membranes for separation of CO2 and H2S from methane. Permeability of methane and carbon dioxide gases through the polyurethane membranes were studied. For this purpose, two commercial polyurethane and synthesized polyurethane with different formulations of the compounds that have been studied so far in the literature were used. Synthesized polyurethane and nano-composite membranes were characterized by using Scanning Electron Microscopy (SEM), Differential Scanning Calorimetry (DSC) and Fourier Transfer... 

This thesis contributes two separate predictive direct torque control methods; based on hysteresis and fuzzy logic for Brushless Doubly Fed Induction Machine (BDFM). Initially Chapter 1, focuses on BDFM history and concept of this machine and after that a short review about the development of BDFM and the Field Oriented Control will be studied. Chapter 2 introduces the d-q-0 state transformation matrix, dynamic equation of BDFM and represents its steady-state equivalent. Furthermore, in this chapter the bond graph model of BDFM is studied and via distinguishing all energy ports the bond graph model of this motor is introduced and validated, finally the result of this model is compared with... 

In this thesis, in order to improve the performance of the mobile robot navigation, a Fuzzy approach is used for making a safe path in the cluttered environment with hurdles in the work space of the robot. To this end, based on data collected from instantaneous location of the robot and location of the robot, heuristic rules are extracted. Also, in order to obtain optimal data fusion of the sensors, Kalman filter is used to localize the robot. In this regards, by using the kinematics of the robot and supposing the white noise in the process and measurements, the position and orientation of the mobile robot are estimated in a real-time and adaptive manner  

In this study, membrane distillation process was used for treatment of high salinity waters. The focus of this study is to simulate and build a setup of membrane distillation process. Since the membrane distillation process is based on the driving force of the temperature difference, the required temperature is provided by both the use of heaters and the use of solar energy. To increase the feed temperature by solar energy, a black polymer coating on the main membrane is used. The main membrane used in this process is PVDF polymer and the polymer coated on the surface is the PAN polymer. After simulating and constructing the laboratory setup, the influence of a variety of parameters on the... 

Due to the inherent non-linear nature of the MR damper, an intelligent non-linear neuro-fuzzy control strategy is designed for control of wave-induced vibration of an offshore steel jacket platform equipped with MR dampers. In the proposed control system, a dynamic-feedback neural network is employed to model non-linear dynamic system and the fuzzy logic controller is used to determine the control forces of MR dampers. Required voltages and actual forces of MR dampers are obtained by use of two feedforward neural networks, in which the first neural network and second one act as the inverse and forward dynamics model of the MR dampers, respectively. The most important characteristic of the... 

Smart heat-sensitive polymers play a unique role in drug delivery systems due to reversible behavior in response to environmental changes, especially temperature changes. Among the heat-sensitive polymers, UCST polymers due to their specific behavior and very little-known polymers with this feature are the subject of many new researches. In the present study, New designed temperature-sensitive polymers with UCST capability based on acrylamide and vinyl acetate were synthesized. These copolymers were synthesized in different percentages of acrylamide by free radical polymerization in solution conditions. All polymers compounds were characterized by H-NMR, FT-IR, DSC and GPC measurements. The... 

This thesis is presented to introduce a semi-active control of the suspension systems. The currently available semi-active damper technologies can be divided into two main groups. The first uses controllable electromagnetic valves and the second uses Magnetorheological (MR) fluid to control the damping characteristics of the system. A mass-spring model with eleven degrees of freedom, considering constant velocity for the car, is developed to model the suspension system. A semi-active vibration control system is presented to reduce the amplitude of automotive vibrations caused by the alteration of the road profile. The gravel road profile with Gaussian white noise as the road irregularity... 

The present study discusses the problem of enabling a PUMA 560 electrical robot manipulator to interact with the environment using impedance control concept. The impedance control strategy maintains a pre-specified desired second order dynamic relation between the end-effector position and force and enables a stable transmission between unconstrained and constrained motion. In this study Position-Based Impedance Control (PBIC) is used which is more suitable for industrial manipulators. PBIC requires a position controller with high accuracy. Therefore, a nonlinear PID controller is used in the position loop which is capable of both tracking and regulating of the input signals and shows better...