علیرضا طلوعی

In this article, the optimal design of a flying object is discussed with the help of designing the required speed. In this design method, the input information includes the type of fuel composition, payload mass, and maximum flight range, and the purpose of the design is to determine the initial mass and main dimensions of the aircraft. At the beginning of the design, the configuration of the bird is selected, and then with the determination of the fuel composition, the main characteristics of the fuel are determined as the main design inputs in the first step. By going through the design stages and by performing weight and geometric calculations, the initial mass of the flying object, the initial mass of the stages, the amount of fuel and oxidizer of the stages and the amount of thrust of the engines are determined. Then, to ensure the design method, similar flying objects in terms of fuel type, number of stages and also the final range have been used for validation. After performing the classical design, optimizing the mass function is considered, for optimization, the parameters λ_νi (relative initial thrust of the stages), P_ci (internal combustion pressure of the engines) and P_ei (exit pressure of the nozzle of the engines) with three GA methods (genetic evolutionary algorithm), ABC (bee colony evolutionary algorithm) and CA (cultural evolutionary algorithm) have been optimized and the results have been compared with each other. After analysis of the results, it is clear that the minimum mass (objective function) and the most optimal value is related to the cultural optimization method (CA), which reduces the initial mass by bringing the flying object to the final range.

The dynamics of many mobile devices in water are interactive and none linear. In particular, due to the assignment of incomplete and insufficient actuators, complex dynamics can be seen clearly in the Hovercraft. In this device, the dynamics changes greatly in each maneuver (different speeds). By turning the rudder for lateral movement, the longitudinal channel is affected and also by changing the longitudinal speed, the dynamics of the lateral channel is completely transformed. In this research, by identifying the dynamics of the system, a non-interference linear model is first extracted. For the obtained transfer function, with certain requirements, the controller is designed for the longitudinal, lateral velocity channel and angular velocity channel. As stated, this controller is designed for a specific situation and does not necessarily behave optimally for all maneuvers or uncertainties in the Hovercraft's system specifications. Inevitably, with the reinforcement learning method and specifically with the Monte-Carlo learning algorithm, the primary controller gains are adjusted offline for all possible situations (maneuvers and uncertainties). It should be mentioned that all the calculation load is done off-line, the result is applied to the primary control system as correction gains and is used on-line for the control process. The research results show that by adjusting the controller with the help of machine learning, at least %25 improvement in the tracking error is prosecuted.

Pulp and paper industry is a big consumer of energy and water. Its industrial process produces significant amounts of organic effluent with a high chemical oxygen concentration (COD). According to the raw materials used in the process, there are two types of paper production industry: pure pulp and recycled paper. In this work, we focus on the effluent of the recycled paper industry. A large amount of organic waste produced from the recycled paper industry may be converted into biomethane and converted into renewable energy. Different methods for pulp and paper wastewater treatment, physicochemical treatment methods such as (sedimentation and flotation, coagulation and sedimentation, filtration, reverse osmosis, absorption, wet oxidation, ozonation and other advanced oxidation processes) and biological treatment methods such as Anaerobic digestion, aerobic treatment and fungal treatment). Among these techniques, we can mention anaerobic digestion, which is a sustainable process for wastewater treatment. In fact, it significantly reduces the input mass and COD concentration compared to the activated sludge process. This technique has more advantages than aerobic and physicochemical processes, including simplicity of design and less energy requirement. Note that in the case of aerobic treatment, the thick sludge produced in large quantities by wastewater treatment facilities of paper recycling plants is a serious disposal problem that requires an immediate solution, the degradation process is effective compared to conventional aerobic processes, and only 5 It produces up to 10% sludge. This results in significant savings in costs and measures associated with sludge disposal. In addition, UASB digester can be used in small and large scale. Many different types of anaerobic reactors such as high flow anaerobic filter, high flow coated anaerobic sludge (UASB) + partial recirculation, submerged anaerobic membrane bioreactor (SAnMBR) and modified anaerobic baffled reactor (MABR). The most commonly used for industrial and municipal wastewater treatment is the UASB digester, which is operationally stable and energy efficient. UASBreacto is an encouraging system where it is located at the bottom of granular sludge because it can provide relatively high COD removal efficiency and energy production in the form of methane. Due to the low yield of biogas, anaerobic processing of bio sludge has not yet been carried out in pulp mills.

2-1- Setting up and test method Figure 1. shows the experimental setup consisting of an inlet storage buffer tank installed before the UASB digester; The role of the buffer tank is to control and adjust the input physicochemical parameters before feeding to the reactor. A peristaltic pump maintains digester feeding at a flow rate of 0.5 to 4.5 liters per hour. The results of the digester design were 70 liters with a height of 1 meter and a diameter of 0.30 meters. The upper part of the UASB digester includes a gas-liquid-solid separator with a height of 0.30 m. This device allows the recovery of biogas. In order to maintain the mesophilic conditions of the process, a spiral exchanger is fixed inside the digester.Fig. 1. Schematic of a UASB digester, designed to treat wastewater from recycled pulp and paper industry. Fig. 1 Illustrates the designed UASB digester used in this work, influent tank (1), influent feed pump (2), UASB cylinder tank digester (3) with a total volume of 70 L, "solid-liquid-gas" separator (4), including thermostat heating water (5) for mesophilic conditions (37°C) C, effluent tank (6), Gazometer (7), graduated tube (8) for measuring the water volume displaced from the gasometer.The volume of biogas produced during the process is measured using a 16-liter water tank connected to the reactor (Boyle-Marriott tank). The volume of biogas displaces an equal measurable volume of water from the tank. The volume of biogas is expressed in normal conditions (0 °C and 760 mmHg) taking into account the effect of pressure and temperature on a standardized laboratory scale.2-3-1-granular sludge bed The reactor is inoculated with 25 liters of granular sludge. The granular sludge bed used in this experiment is recovered from a full-scale UASB digester. Table 1 shows the characteristics of the granular sludge bed used in this study. Table 1 Physicochemical characteristics of the granular sludge bed

The purpose of monitoring stability parameters is to control and ensure process performance. The main control parameters are: evolution of pH, alkalinity (Alk), volatile fatty acid (VFA), VFA/Alk ratio and chemical oxygen demand (COD).3-1- Stability parameters 3-1-1- Evolution of pH pH is an essential parameter used to control the stability of the anaerobic digestion process. The average value of input and output pH is calculated during the process. The pH fluctuation was in the neutral range, which confirms the correct operation of the process and the stability of the UASB digester. Indeed, several studies reported that most anaerobic bacteria, especially methanogens, increase biogas production in the pH range of 6.5 to 7.5. A previous study on RPMW treatment using a modified anaerobic baffled reactor (MABR), reported that the pH decreased slightly from 7.3 to 6.2 during the process.3-1-2- Evolution of volatile fatty acids Volatile fatty acid content is an essential parameter for monitoring the anaerobic digestion process. Accumulation of VFA causes displacement of bicarbonate to dissolved CO2, and CO2 partially passes into the gas phase. Their accumulation in the digester leads to organic overload and acidification of the digester content, which leads to process failure. Several studies show that organic overload in digesters is due to VFA accumulation, and often acetate accumulates first, the total VFA concentration increases slightly or steadily.

It is predicted that UASB digester granules are effective in converting organic matter from wastewater to biogas. The reactor seems to support high organic loads; Also, this technique is an excellent opportunity to exploit the economic benefits of the energy produced from this process, which can contribute to the development of more efficient and sustainable systems.

The intended aircraft in this issue is an UAV type, capable of performing multiple missions. In this paper, after the linearization of the pitch channel, the transfer function for important points is extracted. After that, a robust classic compensator and an angular velocity damper are designed. According to the range of uncertainties, the compensator is adjusted by article bee colony algorithm. Also, the optimal value of the wing sweep back angle is obtained indirectly from the optimal value of the center of aerodynamic pressure. The optimization approach in this pepper is to make pitch channel robust to uncertainties. The results show that with the innovation in the design of the classic controller and its combination with Mont Carlo simulation and Optimization algorithm, the behavior of the pitch channel in the presence of uncertainties has been improved.

In this study, the properties of carboxymethyl cellulose made from waste paper were investigated. For this purpose, waste paper with different conditions was utilized to producing carboxymethyl cellulose, which included waste paper without ink and without bleaching (CMC-Ni), waste paper with ink and without bleaching (CMC-P), waste paper without ink and bleached (CMC-E). Also, industrial cellulose available in the market was utilized to producing carboxymethyl cellulose (CMC-Ic), and in order to compare the resulting samples, the properties of industrial carboxymethyl cellulose were also examined as a control. Infrared spectroscopy was used to investigate the chemical structure of carboxymethyl cellulose. And to investigate the manufactured carboxymethyl celluloses, the degree of substitution (DS), viscosity and pH of the samples were measured. The FT-IR results showed that the carboxymethyl celluloses obtained from waste paper have functional groups similar to industrial carboxymethyl cellulose, and the presence of ink and other impurities had no effect on their chemical structure. Carboxymethyl cellulose made from industrial cellulose showed differences in structure. The most important difference between cellulose and carboxymethyl cellulose is the presence of a peak at the wavelength of 1060/1 cm, which indicates the presence of carboxyl groups. Investigating the characteristics of the manufactured carboxymethyl celluloses showed that the degree of substitution of carboxymethyl cellulose is about 0.73 and the degree of substitution of carboxymethyl cellulose obtained from unbleached waste paper is about 0.69, which are not much different from each other. The viscosity of industrial carboxymethyl cellulose was higher than carboxymethyl celluloses made from waste paper. The characteristics of carboxymethyl cellulose obtained from bleached waste paper were more similar to industrial carboxymethyl cellulose. The pH of carboxymethyl celluloses was about 8 and very close to each other. In general, according to the obtained results, it can be concluded that the presence of ink and other impurities in the structure of waste paper does not have much effect on the characteristics of carboxymethyl cellulose, and by removing these steps, a simpler and more economical method can be used to produce carboxymethyl cellulose. Also, avoid from environmental pollution caused by these processes.

One of the attitude sensors for the spacecraft is the star sensor. The attitude calculation by the star sensor includes several steps: image processing, star identification, database search, and implementation of the attitude determination algorithm. This paper presents analysis and improvements on the star identification algorithm based on singular value decomposition. To improve the identification results, modifications have been made to the algorithm. Also, analysis and simulation are presented to investigate the effect of field of view dimensions and the number of stars used on the identification results, and the rate of duplicate sets in the database. In addition, identification has been considered a two-step process based on singular values and vectors. The results show the superiority of the improved algorithm in increasing the identification rate and reducing the rate of duplicate sets in the database. The identification rate of the improved algorithm in 〖10〗^°×〖10〗^° and 〖12〗^°×〖12〗^° fields of view dimension is always more the %97. The simulations were performed based on the Hipparcos star catalog for stars brighter than magnitude 6.5 and using MATLAB software.

This article aims to control the group flight of unmanned helicopters. After presenting the dynamic equations using the Newton-Euler method, the dynamic inversion control has been applied to control the position and attitude of helicopters. generalized predictive control was also used to control the position and attitude of the helicopter. And the results of the simulation of these two controllers were compared, which showed the better performance of the predictive control. Therefore, in the design of the formation control, the independent control of the helicopters was done using the predictive control method. To control the formation, the method based on the leader-follower model has been used, An integral sliding mode controller is also used to control the dynamics of the formation error. The results of the simulation showed the success of the tracking by increasing the number of helicopters and the linear and spiral paths in the control commands.

In this paper, formation tracking control by maintaining a triangular shape for three quadrotors is discussed. Because of the nonlinear dynamic of the quadrotor and the presence of the external disturbance in the quadrotor dynamic model, a sliding mode controller was used for independent control of the quadrotor .To Formation Control of Quadrotors, a leader-follower decentralized formation control was applied. In such a way that the leader, follows a reference path and the followers use a formation controller to maintain a constant distance and an angle to the leader. First, the dynamic of the formation error is considered and then by using the integral slide mode controller, the formation error is reduced to zero. The simulation results obtained from the design of the sliding mode controller showed the occurrence of the Chatting phenomenon in the control commands, which was removed using the approximation of continuous functions. And the simulations obtained from this method showed the elimination of chattering in the control commands and the smooth tracking without oscillation of the desired path in the control commands. Also, the simulation results of formation control in the three missions with different paths, different formation geometry, and the number of different quadrotors indicate that the followers follow the leader and the success of formation control.

One of the best attitude sensors for space applications is the star sensor. This sensor determines the attitude using stars in the field of view. One of the main advantages of this sensor is attitude initialization using lost-in-space star identification algorithms. This paper presents a new lost-in-space star identification algorithm based on Hausdorff distance. Using Hausdorff distance, two different identification algorithms have been proposed, and their results have been compared. The first approach is designed based on using the pivot star, and the second approach uses the segmentation of the celestial sphere. The performance of these two approaches has been investigated using the simulation of 200 random directions of the star sensor in different magnitudes. The results show the approach of using the pivot star has better performance, and its identification rate is 93.5% at the magnitude of 6. Also, the identification time of the Hausdorff algorithm has been compared with the pyramid algorithm and some geometric algorithms. The results show that the Hausdorff identification algorithm has the lowest identification time which makes it suitable for real-time applications.

Development in the aerospace industry is linked to the continuous pursuit of lightweight designs. Open-architecture composite structures are a new and novel use of composites for minimal-weight component design. It is reasonable to use efficient and advanced techniques such as radial braiding in the manufacturing of composite lattice tubular structures. In this article, an aerospace composite lattice tubular structure with a braided reinforcement system is studied. A method is developed to determine the parameters of the preform reinforcement. A new process has been created for the manufacture of lattice structures with a braided reinforcement system. A methodology has been developed for determining the technological parameters of radial braiding. A sample structure is manufactured and tested. Experimental studies of lattice structure samples were carried out in order to verify the methods for determining mechanical, structural, and technological parameters.

A numerical dynamic-aerodynamic interface for simulating the separation dynamics of constrained strap-on boosters jettisoned in the atmosphere is presented. Two commercial solvers: a 6DOF multi-body dynamic solver and a numerical time-dependent flow solver are integrated together with an interface code to constitute a package that presents real-time dynamic/aerodynamic coupled analysis. Dynamic unstructured mesh approach is employed using local remeshing methods in respect of bodies motion with a second-order upwind accurate 3D Euler solver. This interface can simulate multi body separation dynamics interaction with aerodynamic effects to complete separation mechanisms like springs, thrusters, joints and so on. The flow solver is validated by the Titan IV launch vehicle experimental data. The separation integration is used for a typical launch vehicle with two strap-on boosters using spring ejector mechanism and spherical constraint joints acting in the dense atmosphere. Hence, the aim of the presented interface is to facilitate the integration of complicated separation mechanisms with a full numerical CFD aerodynamic solver.

due to the variability and uncertainty of some process parameters under investigation and limited uncertainties and confusions, the controller design faces problems. the controller is performed locally using the information of neighboring agents and the corresponding graph has a spanning tree. fuzzy systems are used as a general approximator and the parameters of the fuzzy system are adjusted in such a way that the tracking error of each agents and the stability of the uniform ultimately bounded of the closed loop system are guaranteed. 1- considering of the nonlinear non-affine of multi-agent system, 2- The unknown dynamics of the agents, 3- The convergence of the tracking error and the formation error to zero, 4- The use of fuzzy systems as a general estimator, are the main advantages of the presented method. Finally, in the simulations performed on the quadrotor, the leader-follower formation for the desired mission is realized and according to the set criteria, the proposed methodology is satisfactory.

The main challenge of the star sensor as a real-time sensor is the execution time of attitude determination. Attitude determination using the star sensor includes five main steps: star catalog and identification algorithm selection, database construction, image processing, star identification and finally, attitude determination. Star identification consists of the implementation of the selected identification algorithm on the field of view stars and database searching. in the process of attitude determination using the star sensor, database searching is the most time-consuming part. This paper deals with three methods for database searching and surveys the search time for each of the presented algorithms also the consideration of using them as the database search methods for the star sensor. The methods are the ternary search technique, Fibonacci search technique, and interpolation search technique. The presented algorithms have not been used so far in the star sensor database searching. To survey the influence of the database dimensions on the identification time, each of the presented methods was studied using seven databases with different dimensions. The results show the superiority of the interpolation search method.

In this paper, a design of a hydrazine monopropellant system is proposed based on the maximum likelihood for the presentation of uncertainties, without any specific assumptions about the type of distribution and even uncertainty in distribution parameters by the johnson distributions family. The maximum likelihood method for the combination of spars point and interval data has been added to a separate formulation for design variables and parameters. This formulation is also suitable for both epistemic and aleatory uncertainty with three presentation types of spars points, single interval, and multi-interval.

Considering uncertainty is an Inseparable part of industrial design and close to real issues. Ignoring these uncertainties in design can reduce system performance and even worse lead to failing the mission completely in some cases. In the present study, one of the design methods under uncertainty, namely the worst-case optimization for the design of a hydrogen peroxide monopropellant propulsion system, has been implemented. The proposed method in this study includes two types of epistemic and aleatory uncertainty. This method searches for the optimal point using the genetic algorithm by separating design parameters and variables for all three types of sparse points, single-interval, and multi-interval uncertainty representations. The designer is ineffective in choosing the type of distribution and the type of distribution is determined depending on the available data. In other words, even uncertainty in the type of distribution and its parameters has been considered. Also, the method of maximum likelihood-based is used to estimate the distribution parameters.

The z-pins in spite of their small sizes and small weights, but they have been expanded to reduce the disadvantages of composites and sandwich panels, increase their resistances and strengths, and prevent crack growth. In this paper, using a finite element method, the behavior of multi-functional sandwich panels with z-pin cores in average strain rates (between 164-327 1/s) under Split Hopkinson pressure bar (SHPB) test have been investigated. The effects of strain rate and mechanical behavior of multifunctional sandwich panel subjected to dynamic loading were investigated and the results compared with the published experimental tests. Good agreements were found between them. Also, effective parameters such as embedding angle of z-pins, their materials and their diameters were investigated. In conclusion, the results show that the foresaid parameters have effective roles in increasing flow stress and ultimate strength of multifunctional sandwich panels. Furthermore, the mechanical properties of sandwich panel with z-pin and honeycomb were compared. The results show that in the same weight and Volume core condition, the ultimate strength and flexibility of z-pins are respectfully smaller and larger than honeycomb cores.

A numerical dynamic-aerodynamic interface code for the separation dynamics simulation of constra­in­ed strap-on boosters jettisoned in the atmosphere is presented. This code includes a main environme­nt which connects both dynamic and aerodynamic subsystems together at one time. The first part، consists of a 6-DOF multi body dynamic solver and the second part، contains a numeric­al aerodynamic flow solver، which is automatically used the dynamic mesh updating algorithm for adaption of the body motion in the discrete computa­tion­al field. The relationship between dynamic and aero­dyn­a­m­i­c solver is such that the resultant separation software، can simulates mult­­i body separation with complete mechanisms such as springs separation، Thrusters، joints، etc، in the presence of the aero­dyna­mic effects. The flow solver is validated by the Titan-IV launch vehicle experimental data. After all، this method is used in simulation of strap-on booster separation for a typical launch vehicle with use of spring separation system and constraint joints in presence of aerodynamic effects and without them. Hence the aim of presented interface is to facilitate integration of complicated separation mechanisms simulation with a full numerical CFD aerody­n­a­m­ic solver.

A current method by which star trackers identify stars is to match the angles between stars within its field of view to angles stored in a catalog. If an angle can be matched to one pair of stars, the attitude of the star tracker can be determined. However, the measurement of the angle will include error, and so the true angle can only be known to lie within a certain measured range. The result is, after comparing the measured angle to the catalog of angles, more than one pair of stars can be the correct solution. A method for narrowing down to one solution involves employing many angles within the field of view in a certain order, called “pivoting,” which can be time consuming and does not always yield a solution. another method presented here matches planar triangles made from sets of three stars within the field of view to planar triangles stored within a catalog. By using both the area and polar moment properties of the planar triangle, the range of possible solutions is very quickly narrowed, fewer pivots to other planar triangles are required, and the method is more likely to yield the correct solution than the angle method. New method presented here use these two methods simultaneously, first, by angle method candidate some stars to identification. In this level reduces stars in FOV. Second, by triangle method in fewer time identification completed, because FOV is smaller. So this new method is faster than triangle and more accurate than angle method and we do not pivoting the same as each method. In addition, Simulation results show the performance of the new method as well as its robustness with respect to including false stars.

Falcaria vulgaris has different properties and it used as dietary and medicinal herb in the west of Iran. Previously, we showed that this plant has protective and repairing effect on gastric ulcer were demonstrated. The aim of present work was to investigate the effects of F. vulgaris extract on female rat's fertility. In this Exprimental study Virgin female NMRI rats (160-190 gr) were used in three experiments. In each experiment, animal divided into two subgroups (n=8): control which received Distilled Water (DW) (2cc/kg) and case which received herb extract (150mg/kg) interaperitonealy. In first experiment, animals received single dose of extract or DW. In second experiment، female rat received extract or DW in perimplantation period (day 1 to 5 of pregnancy) and in third experiment (day 5 to 7 of pergnancy). In both experiments implantation sites and neonates were counted in three experiments. Data were analyzed by T-Test test and p<0. 05 were considered significant. All three experiments showed significant differences between control and case groups in implantation sites and neonates number. This differences were more prominence in first and third experiment.

The common detoxification method is replacement of long effect opiate by short effect opiate and then reducing its amount gradually. More modern method is ultra rapid opiate detoxification (UROD) by opiate antagonists, which is performed by general anesthesia. The advantages of two methods have not been confirmed. This study aimed to compare effectiveness and withdrawal rate in both methods following up to a year. 211 self-introduced patients who referred to Farabi hospital for withdrawal were enrolled in this cross sectional study during 2005-06. The patients underwent detoxification after psychiatry screening and addiction confirmation. They divided into two detoxified method groups (110 patients in UROD and 101 Methadone). Recurrent and suspected cases were confirmed or rejected by urinary test and more specific test respectively. Data was collected from available patients profiles and contacting with patients or their relatives and was analyzed using Chi-square & independent sample T-test. The results showed that addiction recurrent in UROD and Methadone groups was 35.7% and 56.4% respectively (P=0.002). The average age of recurrent subjects in UROD group was younger than successful population at that same group (27.95±5.2 vs. 31.4±7.1 years old, p=0.008). This study suggested that chance of detoxification and successful withdrawal by UROD method is higher than Methadone method and younger patients are more likely to get the recurrence. It is recommended to compare these two methods in a prospective study by unifying both groups based on age and considering opiate use duration.

In this paper، a new method to design self-adaptive PID controller is developed. This approach is used for replication of the adaptive feedback control systems with a reference model. This approach is based on the method «coupling of frequency” andutilized for synthesis of the adaptive control system for obtaining the answers of problem of objective replication. Application of this technique is shown by solving a design example for a nonlinear system and the results has been compared by PID linear and nonlinear controllers which have been reported by other researches.