فهرست مطالب جلال کریمی

In current study, an integrated guidance and control system is assessed for a projectile having dual spin motion in the cascade control structure. In this way, a nonlinear seven degrees of freedom model is used and coupling effects of pitch and yaw channels is taken into consideration. Based on cascaded control structure, a three-loops controller is designed, which in inner and middle loops the dynamic inversion method is used, and in the outer loop, an adaptive model based on PID controller is designed. The dynamic pressure contribution in acceleration command is also taken into account. The performance of the designed guidance and control system is assessed in presence of uncertainties via Monte Carlo statistical simulations. The results of suggested algorithm are compared with that of a cascade control having a classic PID controller in its outer loop. The results show the superior performance of the proposed algorithm in achieving the target and control effort.

The covid-19 epidemic has led to a severe challenge in the educational system. This study evaluated the readiness of the Isfahan University of Medical Sciences regarding the reopening for face-to-face training during the covid-19 pandemic as a community-based intervention.

In a cross-sectional descriptive study in 2020, the Community Readiness Model (CRM) was used to evaluate the level of readiness of members in the Medical Universities of Isfahan. A standard semi-structured community readiness tool (CRT) was used to collect data. The total readiness score is the average score of the five of the questionnaire. The standard t-test, the one-way ANOVA were conducted to determine differences in mean scores of community sections, and the ANCOVA to evaluate the effects of intervening.

The interviewees were 28 informed individuals in four departments of the academic community. The final readiness score was 6.03 ± 2.9 equivalent to the initial stage of the CRM. students’ awareness of university condition and relevant consequences, gained the highest score (7.14 ± 2.69), whereas financial resources Received the lowest score (4.82 ± 2.94). Significant differences existed between the student section and other sections (P < 0.05).

It is essential to evaluate the readiness for implementing any community-based intervention. analyze the views of stakeholders, and adopt relevant strategies for the readiness that must be done to achieve the expected results. In order to achieve the expected results in the implementation of any community–based intervention, it is necessary to analyze the opinions of stockholders and adopt relevant strategies.

COVID-19 can affect thyroid gland and causes subacute thyroiditis.

We introduced a 60-year-old woman with an initial symptom of anterior cervical pain without any other constitutional symptoms. Nasopharyngeal and oropharyngeal swabs were detected positive for COVID-19 using RT-PCR assay. According to ultrasonographic,  laboratory (lowered TSH, elevated CRP and ESR), and physical findings, subacute thyroiditis was found following the SARS-CoV-2 infection.

As subacute thyroiditis associated with SARS-Cov-2 may be represented without any fever, ruling out this infection in these patients is considerable.

Any defect in the flight control system may cause an irreparable problem. Typically, a highly reliable system with human decision-making power is used to prevent or correct such errors in a flying vehicle. A fault tolerant control system is designed to deal with various types of errors that may occur in the system. Fault-tolerant control systems are divided into two main parts. The first part is the error detection and isolation phase and the second part is the control system design phase to overcome the error effects in the system, depending on the type of error and the location of the error, whether the sensor, actuator, or components, the control system must be able to eliminate error effects. In this paper, a neural-adaptive observer is used in the error detection stage, and in the second stage, a control system is designed based on the back-stepping algorithm. Nonlinear six-degree-of-freedom simulation results for an F-18 aircraft model indicate its suitable efficiency in the detection and compensation of fault effects.

childhood is the most dangerous period of the life of humans. So, investigating the causes of children's death and preventing them has an essential role in the health and productivity of the family and society. This study aims to investigate the epidemiological factors related to the mortality of under-five years in Isfahan province.

In this cross-sectional-analytical and retrospective study, the files of 194 children under five years (109 boys and 85 girls) who were referred to Isfahan Legal Medicine Center between 2017 and 2021; were investigated and the causes of death and their demographic and clinical characteristics were extracted. The obtained data were analyzed using the Chi square statistical test and Fisher’s exact test.

In terms of the distribution, unnatural causes of death was, 30.4% died due to domestic incidents, 22.7% died due to chronic diseases, 21.1% died due to vehicle accidents, 17.5% died due to acute diseases, 2.1% Death due to asphyxia, 1.3% death due to sudden death syndrome and 1.3% death due to various causes. There is a statistically significant difference between the cause of death and age group, place of death, disease history and year of death (P<0.05), but there is no statistically significant difference between the cause of death and gender and nationality (P>0.05).

Considering the ability to take preventive measures against child deaths and its trend in the country, it is necessary to make future policies to promote legal investigations to ensure children's health and safety.

The coronary artery calcium score is a reliable measure of coronary atherosclerosis. This study evaluated the relationship between coronary artery calcium score, cardiovascular events, and metabolic syndrome.

This cross-sectional study was performed in Al-Zahra Hospital in 2019 and included patients who referred to the emergency department of Al-Zahra Hospital with a complaint of typical and atypical chest pain and admitted to the emergency ward of the hospital. Those with a pre-test probability between 5-15 percent underwent coronary CT angiography and their coronary calcium score was calculated and recorded. The data were analyzed using Mantel-Haenszel Chi-square statistical tests of two domains and correlation test (Bivariate Correlations).

The correlation between metabolic syndrome and coronary artery calcium score was meaningful. The odds ratio of men with metabolic syndrome with a coronary artery calcium score was about 4 times higher than women. After adjusted for gender by Mantel-Haenszel method, the chance of developing metabolic syndrome and coronary artery calcium score of 1 or above was 9.96. With bivariate correlations test, the correlation between coronary artery calcium score and metabolic syndrome was statistically significant.

Coronary artery calcium score is more common in patients with metabolic syndrome (MetS) and these are two valuable predictors for coronary artery disease.

Osteoporosis is a systemic skeletal disease in which the internal structure and ability of bone to repair its daily damage is impaired. Menopause is a vital period that affects bone health, causing rapid loss of bone mass, which in turn increases the risk of fractures in postmenopausal women. The present study was performed to evaluate the frequency pattern of risk factors for decreased bone mineral density in postmenopausal women referred to the bone mineral density assessment center of Al-Zahra Hospital in Isfahan in years 2018 and 2020.

Among postmenopausal women referred to the Bone Density Assessment Center of Al-Zahra Hospital from March 2018 to March 2020, 384 people were included in the study using simple random sampling method. Patients’ information was extracted from their files. Data were analyzed using SPSS 16 software.

In this study, the prevalence of osteopenia and osteoporosis in postmenopausal women was 46.1% and 41.1%, respectively. The results showed that with increasing age, diabetes, use of corticosteroids, autoimmune disease and a previous history of femoral fracture, the chance of osteopenia and osteoporosis in postmenopausal women increased sharply. Among the known risk factors for decreased bone density, diabetes was the most common in postmenopausal women and followed by corticosteroids consumption.

This study showed that 87.2% of postmenopausal women had decreased bone mineral density. Osteoporosis as one of the main problems of women's health requires proper planning and preventive measures.

Mortality of pregnant women is one of the main concerns in the society. Knowing the causes and trying to reduce its prevalence has always been a health priority. The definite cause of death is often determined by autopsy in legal medicine. The aim of present study is an epidemiologic survey on the causes of death of pregnant women based on the autopsy findings in Isfahan province in 2012-2020.

In this cross-sectional survey, 37 cases of death of pregnant women, referred to Isfahan legal Medicine Center during 2012-2020 were studied. Data about the causes of death and their demographic and clinical characteristics were collected. The gathered data were analyzed using Chi-square and Fishers exact tests.

The frequency of death directly from pregnancy and childbirth was 17(46%), indirect causes of death was 18(49%) and accidental death was 2(5%). The mean age of deceased mothers was 32 ± 6.2 years. Among direct causes of deaths from pregnancy and childbirth, bleeding was the most common 9(24%) and among the indirect causes of deaths at pregnancy and childbirth, Coagulopathy was in the first place with 6(16%). Most recorded number of death of pregnant mothers in 2020 was 15.16 deaths per 100,000 births, the most common cause of which was due to indirect causes. Most mothers had an underlying disease and had also undergone caesarean delivery.

The most frequent indirect cause of deaths in pregnant women was due to coagulopathy. Also, the most common direct cause of pregnant women death was due to vaginal bleeding.

The main purpose of designing the sports politeness questionnaire is to convert the answers into data, which is an important part of the scientific research and its standardization for students. Politeness means accepting the feelings of others in order to deal with them appropriately. It also includes behavior in an appropriate manner and considering its aspects in individual social relationships. By increasing the level of sports politeness among athletes in society, it is possible to prevent cultural and moral degeneration among different groups, especially children, teenagers and youth.

The statistical population was students of Golestan University (3951), of which 384 were selected (Krejcie & Morgan table) and the proportional stratified random sampling method was used to select the samples. The reliability of the questionnaire was confirmed by using Cronbach's alpha coefficient test (0.84) and the Split-half test (0.78). Content validity is 0.99 based on the agreement coefficient.

As a result, using exploratory factor analysis technique; Three factors of respect, moral model and self-sacrifice were identified as the main dimensions of the concept of sports propriety.

The Sports politeness Questionnaire is a reliable and valid scale that can be used to assess the level of sports politeness among students and show valid results. It is Suggested that future research use this questionnaire in different sample and fields.

The main objective of the engineers and flight control system designers is to achieve the best performance and behavior of a controllable aeronautical vehicle. Trajectory optimization of a flying vehicle may improve performance, reduce costs, enhance the vehicle capabilities and lead to other favorable results. Trajectory Optimization is a knowledge that presents the ways of achieving optimum dynamic processes. Using the optimal control is one way to find the optimal trend of state variables. Since long range and endurance missions, require some forms of fuel management, there is ongoing research in the area of minimizing the fuel consumption. In current article, the problem of minimum fuel consumption for an unmanned aerial vehicle, during a circular maneuver in a predetermined area, is presented. UAV equations of motion are developed based on a point mass model. Optimality conditions of Pontryagen Minimum Principle (PMP) are found using the Hamiltonian function. Fuel consumption is the optimum performance index and multiple shooting method is chosen as numerical method for solving the problem at hand. Naturally, wind energy is expected to affect the flight path, so numerical simulations have been performed considering the effect of wind speed and direction on the optimal turn maneuver problem. Current research results show that in order to acquire a minimum fuel consumption loitering flight, in a circular trajectory, periodic climbing and descending maneuvers are needed.

Investigating the causes of child death and preventing preventable cases has an important role in the health and productivity of the family and society, because according to the age of children, it can have a great financial and psychological burden on the family and society. Due to the few studies conducted in this field in the country, the purpose of this study was to investigate the causes of death of children under 2 years of age based on autopsy findings.

In this cross-sectional and retrospective study, the cases of 57 children under two years old (26 boys and 31 girls) who were referred to Isfahan Forensic Medicine Center during 2018 and 2019 were examined and the causes of death and demographic and clinical characteristics were extracted. The obtained data were analyzed using χ2 statistical test and and Fishers exact test.

In terms of distribution of causes of death, 46% were natural deaths, 9% were asphyxia, 9% were home accidents, 19% were traffic accidents, 7% were sudden death syndrome and 10% were due to various causes. There is a statistically significant difference between cause of death and age group, place of death, history of disease and type of delivery (P<0.05) but there is no statistically significant difference between cause of death and sex, nationality, history of maternal disease, mother's age and mother's job (P>0.05).

Considering the ability to take preventive measures against abnormal deaths and its trend in the country, it is necessary to make future policies in order to promote legal investigations in order to ensure the health and safety of children.

In this paper, a reference trajectory tracking control is designed for a typical quadrotor. For this purpose, two control ‎loops is proposed as follow: the inner loop is based on state feedback control technique and optimal control which ‎coefficients are obtained as a function of system states using the genetic algorithm. Then, optimal control coefficients ‎functions are extracted‏ ‏using the optimally stored data and least square method. The mentioned control function is ‎based on a linear relationship between system state space and control coefficients. In the outer control loop, the PID ‎control is utilized. Since, in this approach, the control coefficients are ‎obtained from the genetic algorithm, the ‎properties of the fitness function are considered. The ‎performance of the proposed controller is evaluated by a ‎comparative study especially to the PID ‎controller, which is widely used in the literature. The simulation results show ‎the effective performance of this technique in controlling Euler angles, reduction in summation of tracking error and ‎optimization in power consumption.‎

In current research, a new optimal hybrid guidance law is developed based on classic guidance laws and fuzzy control approach. An optimized line of sight guidance law is designed for the midcourse phase. Proportional navigation method is also used for terminal phase. In order to smoothly switching between midcourse and terminal phases, an optimal fuzzy approach is developed. Two excising multi-objective heuristic optimization algorithms are evaluated for optimal fuzzy switch problem and the non-dominated sorting gravitational search algorithm is chosen due to its less computational run time. A data bank of optimal switching conditions in several flight scenarios is derived and based on these optimal points, the optimal switching plan is derived for all missions. Also, the practical zone is determined. The advantage of the proposed approach is that it has been derived in presence of vehicle full nonlinear dynamic model. Different scenarios simulation results revealed the desirable performance of the proposed approach.

Human immunodeficiency virus (HIV) infection has changed the epidemiology and prognosis of intestinal opportunistic parasitic infections. The present study was done to determine the prevalence of gastrointestinal coccidiosis in HIV/AIDS patients with gastroenteritis.

This cross-sectional study was conducted at the Laboratory of HIV/AIDS Research Station of Fasa University of Medical Sciences, in southern Iran, from October 2013 to December 2020. Demographic data were collected by interviewing 68 participants (54 males and 14 females). Fecal samples were sent and examined for opportunistic parasites using wet mount, formalin-ethyl acetate method, acid-fast stain, nested polymerase chain reaction for the detection and confirmation of Cryptosporidium spp., Isospora belli, Cyclospora cayetanensis.

The findings confirmed 2 cases (2.9%) infected with Giardia cysts, 1 case (1.5%) infected with Entamoeba coli cysts and 1 case (1.5%) infected with Cryptosporidium and I. belli co-infection in a man suffering from gastroenteritis.

This is the first detected case of gastroenteritis caused by co-infection of Cryptosporidium and I. belli in a man with AIDS occurring in the city of Fasa. If there are no other agents for gastroenteritis, the intestinal coccidiosis in such patients in Iran should not be ignored.

In this paper, the continuity of tracking a ground moving target using a Hexarotor is considered in the presence of sudden changes in direction, deceptive movements, temporary departure from the field of view (FOV) and changes in the height of the target. In this regard, a hierarchical guidance and control system for target tracking problem in an unknown environment and disturbances is proposed. In the inner loop, a constrained model predictive controller is designed to eliminate the environmental disturbances and also to ensure the stability against the rapid movement of the target considering the constraints on the dynamic of the Hexarotor. In the outer loop of the controller, the ability of the Hexarotor in changing its height helps the Hexarotor to preserve the ground moving target despite the sudden changes in the target direction and its temporal exitance from the field of view. Also, the controller provides an optimized control effort in a situation where the target attempts to reduce the energy level and endurance of the Hexarotor. In order to ensure the performance of the proposed system, the stability of the closed-loop system is guaranteed by defining a final state penalty function. The simulation results show the effectiveness of the proposed controller in ground moving target tracking in the presence of the environmental disturbances, the variation of the target altitude, and the deceptive movement of the target.

Pneumonia of unknown cause detected in Wuhan, China, was the first report on 31 December 2019. The World Health Organization (WHO) officially named it New Coronavirus Disease or COVID-19: "COVI" comes from coronavirus. The "D" stands for the disease. Chinese ministry of Health categorized it as a quarantined disease, and took strict preventive and control measures for this infectious disease. In Iran, the first cases of COVID-19 were reported from Qom on February 19, 2020, and spread to the other 31 provinces in 15 days. This study conducted to investigate some epidemiological features of the COVID-19 epidemic in Iran.

This study was conducted as a narrative review from February 19 to March 15, 2020. In this study, the most recent documentation published in pieces of literature, especially in China, has been reviewed. Moreover, mortality and morbidity of definite cases in Iran were summarized and reported.

The COVID-19 epidemic officially confirmed with two deaths in the city of Qom, Iran, on February 30, 2020, and spread rapidly throughout the 31 provinces in the country. During this period, 13938 cases and 724 deaths due to COVID-19 were reported by the Ministry of Health in Iran.

Shreds of evidence suggests that early measures for timely action and early detection of COVID-19 were slightly delayed.

One of the main concerns in flight performance is to determine the highest level of capabilities for flying vehicles to perform the assigned missions. The objective of the current research is to utilize the maximum aerodynamic and propulsive capabilities of a flying robot. In this regard, the problem of optimal performance during all phases of a mission profile is proposed. By integrating a multi objective heuristic optimization algorithm with constrained optimization approaches, all phases of a typical mission profile have been optimized. The major advantage of the proposed approach is that it provides the optimal time history for all state variables as well as the optimal flight path and the amount of required fuel.

Unmanned aerial vehicles (UAVs) are well-suited to a wide range of mission scenarios, such as search and rescue, border patrol, and military surveillance. The complex and distributed nature of these missions often requires teams of UAVs to work together. Despite the complexity of the environment and patrol procedures, thepersistent surveillance is a one of an important problem in aerial patrol which can be simplified with basic patterns. The main object is minimizing the maximum revisit time in specified path. In this article, the single and multi-agent aerial search and patrol patterns are described and revisit time equation is driven for known UAV with real model and several situations. The impact of changing speed and the number of agents on the efficiency of persistent surveillance has been evaluated and compared with another patrolling pattern. As results of this paper, the basic search methods are distributed to an arbitrary number of the agent in several patterns. The revisit time function as a dependent parameter can be calculated from agent’s number as an independent parameter also in fixed value of revisit time, the optimal number of UAVs can be obtained due to specified search area. The results show that in the high-speed situation, increase the number of UAVs in the particular area, little performance improvement occurs in minimizing of maximum revisit time. A velocity and UAV number domain can be determined whereas the maximum revisit time always is minimal.

One of the main concerns in the field of promoting autonomy level of Unmanned Air Vehicles (UAVs) is guidance system which is designed to enable UAVs to fulfill their missions, especially through uncertain atmospheric conditions. The UAV should be able to complete the mission in a robust manner. Therefore, the current study is to provide a robust guidance system for UAVs. The designed guidance law should perform the mission, defined by a set of waypoints, in presence of wind and turbulence as efficiently as possible. In those parts of the path with small radii of curvature or when the UAV flies within the wind and turbulence, the classic guidance laws such as Pure Pursuit and Proportional Navigation undergo severe losses in their performance. In order to flight through a series of waypoints, while considering the UAV nonlinear six degrees of freedom dynamic model, a new robust guidance law is designed, based on the Pure Pursuit Guidance law and sliding mode control approach. Then, in order to increase the efficiency of the Pure Pursuit Sliding Mode Guidance and to reduce the undesired phenomenon of chattering, the desired guidance law is combined with a fuzzy control approach. Then, dynamic inversion is used for attitude control. The performance analysis of the newly developed guidance law, Pure Pursuit Fuzzy Sliding Mode Guidance, is evaluated through a series of scenarios without turbulence and wind and with turbulence and wind effects. The six degrees of freedom simulations reveal the superior performance of the proposed approach in comparison with the pure pursuit guidance law.

Persistent surveillance is one of an important problem in the field of aerial investigation, border patrolling, surveillance and search, Which distinguishes it from other matters by revisit time of major area. The main point of our problem is the minimizing of the time interval between two consecutive hits for a particular area that makes the details and dynamics tracking with higher accuracy. In this paper in order to achieve the minimum revisit time, the heuristic function based on the waypoints time age was used. This function defines the value of each point with the weight functions that optimized by genetic algorithm in several successive iterations. These optimal values are dependent on the position of major point and number of UAV. In multi-agent problems, the patrolling pattern is determined by heuristic weight function in several iterations. Some basic patterns such as lawn mover and spiral are organized to calculate the minimum traveling distance in the search area and obtain the comparative criteria for the results. The paper results lead to improved the navigation during aerial patrolling the area with the graded region , with respect to the UAV dynamics and minimum revisit time.

As many countries, abortion has always been a sensitive issue in terms of cultural, social, political and religion in Iran. This study was performed with aim to investigate the distribution and causes of fetal congenital abnormalities leading to the licensing of therapeutic abortion in Legal Medicine of Isfahan province.
This retrospective study with forensic epidemiology approach was performed on the records of therapeutic abortions certificates with fetal causes in Legal Medicine of Isfahan province from 2012 to 2014. During the study period, a total of 629 therapeutic abortions certificates with fetal causes were recorded which after evaluation of the mentioned abortions, data related to age, education and residence of the mother and the age of the fetus and the fetal causes of abortion were extracted and were recorded in data collection form. Data were analyzed by SPSS software (version 18) in descriptive statistics and analytic method of multinomial regression. P In terms of frequency distribution of fetal abnormalities, 233 (37.4%) cases of legal abortions certificates were due to cephalic disorders. The second most commonly fetal disorder is hydrops fetalis with 113(18%) cases. The third disorder is chromosomal or trisomy problems, which contains 85(13.5%) of the cases. Skeletal dysplasia with 69 (11%) cases, the fourth most common disorder, followed by thalassemia major with 46 (7.3%) cases.
The distribution of abortion is not the same in different cities of Isfahan. Considering the fact that a significant portion of abortions don’t refer to Legal Medicine and also the mothers who refer to Legal Medicine, but cant receive legal permission, so it is not possible to determine the true feature of abortion in Isfahan province.

The aerial vehicle performance capabilities are usually ignored during the guidance laws design. This may result in saturation of commands and undesirable behavior of integrated guidance and control system. In the current research, based on the Augmented Proportional Navigation (APN) law and considering the performance and maneuvering capabilities of a flying vehicle through different flight conditions, the parameters of APN are optimized. In contrast with the conventional APN, in the proposed guidance law, the guidance parameters are not fixed but are functions of environmental conditions and engagement scenarios. In this regard, utilizing different flight conditions and engagement scenarios, a multi-objective optimization problem is formed. The performance and maneuvering capabilities are considered as the optimization constraints. Multi-objective problem includes three objectives of miss distance, acceleration command and flight time. The NSGA-II algorithm is utilized here. The limits of the acceleration commands are not fixed and vary depending on the flight conditions. The simulation of several scenarios, reveals a superior behavior for the proposed guidance law in comparison with the conventional laws.

Improvements in the level of autonomy of unmanned air vehicles (UAVs) are highly desirable and under pursuit by many researchers. The motion planning problem is one of the vital issues for autonomous vehicles. In motion planning, a trajectory is provided for the vehicle from a known location to a predefined target point. In order to provide feasible trajectories, one needs to consider the vehicle performance and dynamic constraints. In this regard, in the current research, by utilizing the nonlinear dynamic model and performance and dynamic capabilities of the vehicle, feasible trajectories are generated. Particle swarm optimization method is enhanced to handle the motion planning problem. Evaluation of the proposed algorithm, via simulating various scenarios, reveals its capability in generating optimal trajectories through terrain and threat obstacles.

The aim of this study was to investigate those factors affecting the quality improvement of training of undergraduate physical education human resources with a job capabilities approach. Quality improvement factors included areas and environmental conditions, inputs, processes, outputs, outcomes and impacts with totally 20 sub-factors. The research method was descriptive, correlation and application in terms of aim which was conducted as a field study. Data were collected by interview and a researcher-made questionnaire. 350 questionnaires were sent to 400 faculty members of physical education and sports sciences faculties and independent groups of Iran state universities. To obtain more sample and better data, 243 questionnaires were selected for final analysis which belonged more to the suggested sample of Morgan table (217). Face and content validity of the questionnaire was evaluated according to the viewpoints of experts and professors as well as a review of the literature. The reliability was calculated using Cronbach's alpha (α=96.2). The results of multiple regression showed that entrepreneurship (beta ratio 0.360) had the largest contribution to enlightening the changes in job capabilities and then rules and regulations (0.215), monitoring and evaluation (0.208), cultural - sports activities (0.189), structure (- 0.172), practical training (0.153), theoretical training (0.144) and leadership (- 0.89) were placed. For one standard deviation increase in the independent variable of entrepreneurship, 0.360 standard deviations were created in the dependent variable of job capabilities. Finally, 8 remaining variables were able to explain 57% of the job capabilities changes and 43% were related to the variables which were not predicted in this study.