Sharif Digital Repository

The taping mode Atomic Force Microscopic (T-AFM) can be assumed as a cantilever beam which its base is excited by a sinusoidal force and nonlinear potential interaction with sample. Thus the cantilever may cause chaotic behavior which decreases the performance of the sample topography. In order to modeling, using the galerkin method, the PDE equation is reduced to a single ODE equation which properly describing the continuous beam. In this paper a nonlinear delayed feedback control.is proposed to control.chaos in T-AFM system. Assuming model parameters uncertainties, the first order Unstable Periodic Orbits (UPOs) of the system is stabilized using the sliding nonlinear delayed feedback... 

In this paper, a new approach for controlling the sway angle of the load in trolley cranes is presented which is based on the flexibility of the cable and variation of its length by the time. The crane dynamics has been described by hybrid PDE and ODE equations which uses the PDE as the equations of motion for the flexible cable and ODE for those of the trolley and the load. The purpose of the controller is to transport the load to the desired position and to eliminate its sway angle at the destination. The control law is based on the Lyapunov's second method. The efficiency of the proposed controller is demonstrated via various simulations  

Control of the air-handling units (AHU) is required to maintain satisfactory comfort conditions with low energy consumption. In the case of failure in sensor fusion systems of AHUs, full-order observers can be used as the supportive tool to provide an acceptable estimation of state variables. In this paper, a multivariable nonlinear model of the AHU is considered in the presence of uncertainties. The indoor temperature and relative humidity are controlled via manipulation of valve positions of air and cold water flow rates. In proposed hybrid control system, full and minimum-order observers are designed for the estimation of indoor temperature and relative humidity. Also, a regulator for... 

Estimation of relevant turbocharger variables is crucial for proper operation and monitoring of turbocharged (TC) engines, which are important in improving fuel economy of vehicles. This paper presents mean-value models developed for estimating gas flow over the turbine and the wastegate (WG), the wastegate position, and the compressor speed in a TC gasoline engine. The turbine is modeled by an isentropic nozzle with a constant area and an effective pressure ratio calculated from the turbine upstream and downstream pressures. Another physically sensible model is developed for estimating either the WG flow or position. Provided the WG position is available, the WG flow is estimated using the... 

In this paper, vibration suppression of micro-or nano-scale beams subjected to nonlinear distributed electrostatic force is studied. For the sake of precision, we use the beam model derived from strain gradient elasticity theory aimed at prediction of size effect. In addition, the electrostatic force is considered with first order fringing field correction. The continuous model of the strain gradient beam is truncated by using Kantorovich method as a semi-analytical finite element method. A boundary control feedback law is proposed to suppress forced vibrations of the beam. Both measurements and actuations are taken place in the boundary to avoid spillover instabilities. Simulation results... 

Fault monitoring in internal-combustion engines is crucial for keeping the vehicle performance within the acceptable standards of emission levels and drivers' demands. This paper analyses how a vehicle's performance and engine variables are affected by a leakage fault in the exhaust manifold. The threshold leakage that causes the vehicle to exceed the emission standards is determined for a class M1 vehicle tested on a chassis dynamometer over the New European Driving Cycle. It is shown that, when a leakage of 6 mm diameter on the exhaust manifold is introduced, the vehicle emissions exceed those specified in the European 2013 on-board diagnostics standard. In addition, the effects of the... 

In the presence of harmonic disturbances, boiler-turbine units may demonstrate quasi-periodic behaviour due to the occurrence of various types of bifurcation. In this article, a nonlinear model of boiler-turbine unit is considered in which drum pressure, electric output and drum water level are controlled via manipulation of valve positions for fuel, steam and feed-water flow rates. For bifurcation control in tracking problem, two controllers are designed based on gain scheduling and feedback linearization (FBL). To investigate the efficiency of control strategies, three cases are considered for desired tracking objectives (a sequence of steps, ramps/steps, and a combination of them).... 

A Piezoelectric Energy Harvester (PEH) of cantilever beam type is developed to optimize the generated power by means of active control of moment of inertia of the beam. Distributed parameter equations of vibration of the beam are developed. Then the electromechanical response of the piezoelectric actuator is discussed. The harvester configuration is then described and it is shown that such a configuration can avoid the drastic power drop in presence of uncertainty around resonance frequency by applying voltage to the piezoelectric actuator. Finally the proposed harvester output power working frequency span is compared to conventional methods to show that the significant performance... 

In this paper, design, simulation and optimization of a novel electrothermally-activated polymeric microactuator capable of generating combination of bidirectional lateral and rotational motions are presented. The composite structure of this actuator is consisted of a symmetric meandered shape silicon skeleton, a SU8 thermal expandable polymer and a thin film chrome layer heater. This actuator is controlled by applying appropriate voltages on its four terminals. With the purpose of dimension optimization, a numerical parametric study is executed. The modeled actuator which is 1560 ?m long, 156 ?m wide and 30 ?m thick, demonstrates a remarkable lateral displacement of 23 ?m at power... 

The economical operations of power plants and environmental awareness are the major factors affecting the importance of control in boiler-turbine units. In this paper, a multivariable nonlinear model of boiler-turbine unit is considered. Drum pressure, electric output and water level of drum (as output variables) are adjusted at desired values by manipulation of valve positions for fuel, steam and feed-water flow rates (as input variables). Nonlinear dynamics of the unit is investigated through the concepts of bifurcation and limit cycles behaviour. In the presence of harmonic disturbances, some coefficients of the dynamic model, fuel and steam flow rates play as the bifurcation parameters.... 

Minimum entropy control technique, an approach for controlling chaos without using the dynamical model of the system, can be improved by being combined with a nature-based optimization technique. In this paper, an ACO-based optimization algorithm is employed to minimize the entropy function of the chaotic system. The feedback gain of a delayed feedback controller is adjusted in the ACO algorithm. The effectiveness of the idea is investigated on suppressing chaos in the tapping-mode atomic force microscope equations. Results show a good performance. The PSO-based version of the minimum entropy control technique is also used to control the chaotic behavior of the AFM, and corresponding results... 

In this paper application of Ionic Polymer Metal Composite (IPMC) as actuator in a deformable ring capable of locomotion is studied. Such a deformable ring moves as a result of gravitational force acting on its body when its shape changes. It can be used in exploration, search and rescue missions in future, where using conventional robots with rigid bodies and actuators is impossible. Large deformation induced by small stimulating voltage, low stiffness the sensing characteristics that in future work can be used in feedback control make IPMC a good choice for such an application. In this work first a model for IPMC is introduce that can be used in simulating deformation of IPMC in different... 

One of the recently developed approaches for control of chaos is the minimum entropy (ME) control technique. In this method an entropy function based on the Shannon definition, is defined for a chaotic system. The control action is designed such that the entropy as a cost function is minimized which results in more regular pattern of motion for the system trajectories. In this paper an online optimization technique using particle swarm optimization (PSO) method is developed to calculate the control action based on ME strategy. The method is examined on some standard chaotic maps with error feedback and delayed feedback forms. Considering the fact that the optimization is online, simulation... 

In this paper, a parametrically resonated MEMS gyroscope is considered, and the effect of its parameters on the system stability is studied. Unlike the general case of MEMS gyroscopes with harmonic excitation, in this new class of gyroscopes with parametric excitation, the origin is one stationary point of the system. The study starts with the stability analysis of the origin, and then it goes on to analyze the effect of each parameter on the stability of periodic orbits. Stabilities are studied by means of Floquet theory. As the results indicate, presence of a non-trivial response for the system is closely interconnected to the stabilities (and instabilities) of the system. It is... 

In this paper stabilizing unstable periodic orbits (UPO) in a chaotic fractional order system is studied. Firstly, a technique for finding unstable periodic orbits in chaotic fractional order systems is stated. Then by applying this technique to the fractional van der Pol and fractional Duffing systems as two demonstrative examples, their unstable periodic orbits are found. After that, a method is presented for stabilization of the discovered UPOs based on the theories of stability of linear integer order and fractional order systems. Finally, based on the proposed idea a linear feedback controller is applied to the systems and simulations are done for demonstration of controller performance... 

In this paper, a novel thermal microactuator is designed which is capable of producing bi-directional lateral and rotational output and one of its applications as a two DOF micromanipulator is shown. Also, by carefully choosing the doping level, temperature distribution is determined by considering the dependency of silicon's resistivity and conductivity to temperature. Using variable separation method an equation in terms of elliptic integrals is reached and after imposing boundary conditions the exact temperature distribution is obtained numerically. Currents at each branch is updated due to the last temperature distribution and this process is repeated several times until the final... 

In this paper optimization of energy consumption in an electric vehicle is presented. The main idea of this optimization is based on selecting the best gear level in driving the vehicle. Two algorithms for optimization are introduced which are based on fuzzy rules and fuzzy controllers. In first algorithm, fuzzy controller simulates energy consumption in different gear levels, and chooses the optimum gear level. While in second method, fuzzy controller detects the optimum gear level by measuring the vehicle's average speed and acceleration. To investigate the performance of these controllers, a model of TOSAN vehicle is developed and the controllers outputs are checked in simulation of TOSAN... 

In tins paper, stabilizing the unstable periodic orbits (UPO) in a chaotic fractional order system called Van der Pol is studied. Firstly, a technique for finding unstable periodic orbit in chaotic fractional order systems is stated. Then by applying tins technique to the van der Pol system, unstable periodic orbit of system is found. After that, a method is presented for stabilization of the discovered UPO based on theories stability of the linear integer order and fractional order systems. Finally, a linear feedback controller was applied to the system and simulation is done for demonstration of controller performance  

In this work a new method for analyzing nanostructured materials has been proposed to accelerate the simulations for solid crystalline materials. The proposed Structural Approximation Method (SAM) is based on Molecular Dynamics (MD) and the accuracy of the results can also be improved in a systematic manner by sacrificing the simulation speed. In this method a virtual material is used instead of the real one, which has less number of atoms and therefore fewer degrees of freedom, compared to the real material. The number of differential equations that must be integrated in order to specify the state of the system will decrease significantly, and the simulation speed increases. To generalize... 

The robots that can move on rough terrains are very important especially in Rescue operation, exploration, etc. In this research, a mechanism is introduced for a ring-like robot with a flexible body. This robot is moved by arms which are placed radially and have Reciprocating motion in this direction. By controlling the contraction and the extension of the arms which contact lhe ground, the robot will be forced to move which is called rolling-creeping motion. The robot is stable in stationary state.; also the maximum angle which it can be stable is determined. Considering the speed of contracted arm is the input parameter, the speed of the extended arm for locomotion of the robot has been...