Sharif Digital Repository

Nowadays, Autonomous Underwater Vehicles (AUV) are used in environmental studies, ocean floor mapping, and measuring water properties. Navigation of these vehicles is one of the most challenging issues due to the unavailability of global positioning system (GPS) signal underwater. Inertial navigation is a method commonly used for underwater navigation. If a low-cost Inertial Measurement Unit (IMU) is used, navigation quality will decline rapidly due to sensor inherent error. Although using a Doppler Velocity Log (DVL) speedometer sensor helps limit this error to some extent, it does not yield acceptable accuracy in low-cost IMUs. Filtering the gyro based on the AUV rotational dynamics model... 

In this paper, a multiproduct single-machine production system under economic production quantity (EPQ) model is studied in which the existence of only one machine causes a limited production capacity for the common cycle length of all products, the production defective rates are random variables, shortages are allowed and take a combination of backorder and lost sale, and there is a service rate constraint for the company. The aim of this research is to determine the optimal production quantity, the allowable shortage level, and the period length of each product such that the expected total cost, including holding, shortage, production, setup and defective items costs, is minimized. The... 

Asphaltene deposition is a problematic challenge for oil production. Changes in key parameters like pressure and fluid composition during natural depletion and different gas injection scenarios may result in asphaltene precipitation and deposition. In this work, a model is developed by application of mass balance equations, momentum equation, asphaltene deposition and permeability reduction models. An algorithm is developed to perform iterative procedure to solve the numerical equations that contains highly coupled variables. Indeed, an equation is introduced to calculate the saturation of the precipitated asphaltene phase. Model parameters were determined by genetic algorithm which is a... 

Self-weight consolidation and desiccation phenomena of ultra soft soils and slurries have important implications in mining, coastal, and environmental engineering. Disposal of mine tailings behind tailings impoundments, transportation of dredged materials and land reclamation, and disposing of sludge in water/wastewater treatment facilities are some of the engineering applications where self-weight consolidation and desiccation of slurries are of concern. Numerical modeling of desiccation phenomenon is a relatively new subject that enables geotechnical engineers to better manage the large volume of mine tailings, dredged materials, and other slurries that are disposed in confined disposal... 

The disposal of used tires is a major environmental problem. With increasing interest on recovery of wastes, pyrolysis is considered as an alternative process for recovering some of the value in scrap tires. An accurate kinetic model is required to predict product yields during thermal or catalytic pyrolysis of scrap tires. Pyrolysis products contain a variety of hydrocarbons over a wide boiling range. A common approach for kinetic modeling of such complex systems is lumping where each lump is defined by a boiling point range. Available experimental data for thermal and catalytic pyrolysis of scrap tires from the literature were used to evaluate two types of lumping models; discrete and... 

Catechins from fresh green tea leaves as potential sources of anticancer and antioxidant components were target materials in this work. Superheated water extraction, which is a kind of leaching operation, and solvent partition with chloroform and ethyl acetate were utilized to recover Catechins from tea leaves. Then, a mathematical model was developed to simulate the superheated water extraction of Catechins. The unsteady state mass balance of the solute in solid and superheated water phases led to two partial differential equations. The model was solved numerically using a linear equilibrium relationship. The model parameters were predicted applying existing experimental correlations. An... 

This paper presents a closed-loop laser cladding process used in nonplanar deposition of desired metallic materials. In the proposed system, the deposited layer geometry is continuously controlled via a sliding mode controller (SMC). The controller, which uses the scanning speed as the control input, is designed based on a parametric Hammerstein model. The model is a parametric dynamic model with several unknown parameters, which are identified experimentally using the recursive least squares method. The designed SMC is robust to all model parameters' uncertainties and disturbances. The results showed that the tracking accuracy improves and the chattering effect reduces if an integrator on... 

Water-quality modeling and prediction is a complicated task because of inherent randomness and uncertainties associated with various processes and variables throughout the stream environment and the lack of appropriate data. Hence, the results of mathematical models are always approximate, lying within an uncertainty. This paper describes and demonstrates the application of the U.S. Environmental Protection Agency's water-quality model, QUAL2E-UNCAS, to the Zayandeh-Rood River in Iran. First-order reliability analysis is used to examine the variability of predicted water-quality parameters of total dissolved solids, dissolved oxygen, and biochemical oxygen demand. This analysis also... 

Equations of state based on the statistical associating fluid theory for potentials of variable range (SAFT-VR) and the perturbed chain statistical associating fluid theory (PC-SAFT) have been used to model the PVT behavior of ionic liquids and the solubility of H2S in six imidazolium-based ionic liquids. The studied systems included [bmim][PF6], [hmim][PF6], [bmim][BF4], [hmim][BF4], [bmim][NTF2] and [hmim][NTF2] at various temperatures and pressures.For pure components, parameters of the models have been obtained by fitting the models to experimental data on liquid densities; the average relative deviation between the calculated and experimental densities for ionic liquids is less than... 

Functional magnetic resonance imaging (fMRI) is widely-used for detection of the brain's neural activity. The signals and images acquired through this imaging technique demonstrate the human brain's response to pre-scheduled tasks. Several studies on blood oxygenation level-dependent (BOLD) signal responses demonstrate nonlinear behavior in response to a stimulus. In this paper we propose a new mathematical approach for modeling BOLD signal activity, which is able to model nonlinear and time variant behaviors of this physiological system. We employ the Nonlinear Auto Regressive Moving Average (NARMA) model to describe the mathematical relationship between output signals and predesigned... 

This paper presents efficient denoising and lossy compression schemes for electrocardiogram (ECG) signals based on a modified extended Kalman filter (EKF) structure. We have used a previously introduced two-dimensional EKF structure and modified its governing equations to be extended to a 17-dimensional case. The new EKF structure is used not only for denoising, but also for compression, since it provides estimation for each of the new 15 model parameters. Using these specific parameters, the signal is reconstructed with regard to the dynamical equations of the model. The performances of the proposed method are evaluated using standard denoising and compression efficiency measures. For... 

The liquid-liquid extraction process is well-known for its complexity and often entails intensive modeling and computational efforts to simulate its dynamic behavior. This paper presents a new application of the Genetic Algorithm (GA) to predict the modeling parameters of a chemical pilot plant involving a rotating disc liquid-liquid extraction contactor (RDC). In this process, the droplet behavior of the dispersed phase has a strong influence on the mass transfer performance of the column. The mass transfer mechanism inside the drops of the dispersed phase was modeled by the Handlos-Baron circulating drop model with consideration of the effect of forward mixing. Using the Genetic Algorithm...