m. abedini

Trajectory tracking and positioning are essential requirements in many areas, including robots and autonomous vehicles. In some cases, such as in areas where GPS signals are weak or not available, trajectory tracking is used as an alternative positioning system. In these cases, simultaneous localization and mapping (SLAM), is of great importance as it does not require prior knowledge and empirical offline fingerprint. SLAM can be combined with signal processing algorithms among which, particle filter stands out. However, challenges exist such as particle weights degradation and particles impoverishment that need to be dealt with. In fact, the loss of particle diversity for estimation has led to the lack of particles. To overcome this problem, one solution is to diversify the selection of particles after resampling. In this paper, we proposed a crow search algorithm (CSA) to overcome these issues and improve position estimation. The simulation results showed that this algorithm greatly improved the performance of fast SLAM.

In this paper, a novel risk-based, two-objective (technical and economical) optimal reactive power dispatch method in a wind-integrated power system is proposed which is more consistent with operational criteria.  The technical objective includes the minimization of the new voltage instability risk index. The economical objective includes cost minimization of reactive power generation and active power loss. The proposed voltage instability risk employs a hybrid possibilistic (Delphi-Fuzzy)-probabilistic approach that takes into consideration the operator’s experience, the wind speed and demand forecast uncertainties when quantifying the risk index. The decision variables are the reactive power resources of the system. To solve the problem, the modified multi-objective particle swarm optimization algorithm with sine and cosine acceleration coefficients is utilized. The method is implemented on the modified IEEE 30-bus system. The proposed method is compared with those in the previously published literature, and the results confirm that the proposed risk index is better at estimating the voltage instability risk of the system, especially in cases with severe impact and low probability. In addition, according to the simulation results compared to typical security-based planning, the proposed risk-based planning may increase the security and economy of the system due to better utilization of system resources.

Microgrids as the local area power systems are changing the power system landscape due to their potential of offering a viable solution for integrating renewable energy resources into the main grid. From the operational point of view, microgrids should have the appropriate power electronic interfaces, control schemes, as well as monitoring and automation infrastructures to provide the required flexibility and meet the related IEEE 1547 standard requirements. This paper describes some of the efforts made in the smart microgrid educational laboratory to provide these facilities and create a real-world conditions needed to conduct researches and teach the related courses. Laboratory works not only increase the practical skills of the students but also can motivate them to pursue theoretical courses with more passion. The introduced facilities are somehow unique for the integration of both electric and communication infrastructures which overcome the shortcomings of not considering data transfer challenges in the studies. Complete hardware design of power plant components, and incorporation of solar photovoltaic (PV) and two types of wind turbine generations are some of the efforts made to bring the real-world conditions in the laboratory. In the load-related side, dynamic behaviors of the various types of motors are modeled.

Maternal health and pregnancy outcomes are vitally important areas of each country's healthcare system. This study aimed to investigate the acceptability of a mobile app-based intervention program for choosing the mode of delivery among pregnant women.

Thirty pregnant women participated in this study. The Mobile App-Based Program focused on facilitating choosing mode of delivery based on information, motivation, and behavior model among pregnant women in Tehran, Iran. A retrospective post-intervention study was carried out. We used quantitative and qualitative semi-structured interviews to explore the experiences of women participating in the Mobile app-based program and investigate the intervention's acceptability.

Quantitative result has shown that 76.6% of the users assessed the application as usable.  In the qualitative section of the study, three main themes were emerged: 1- specific features of the App (images, text, colors, and etc.); 2- advantages (distance learning method, reliability, and credibility, being user-friendly and comfortability, time-saving, and being interactive); and 3- disadvantages (fear of mobile radiation on fetus, poor internet connection, and limited audience) regarding using of the intervention.

This mobile application eased women's knowledge and behavior and satisfied them, specifically during the new-emerged pandemic. It also helped women to clarify their thoughts regarding their choice on mode of delivery. Participants suggested some shortages using the application that should be noticed.

Fresh frozen plasma is the plasma that retains its unstable protein activity during the freezing process. The purpose of this study was to investigate the quality of FFP products during 1397- 1398.

In this cross-sectional descriptive study, quality control results of FFP parameters of blood transfusion departments were collected in EXCEL 2019. The ratio of compliance was investigated using Med Calc Statistical Software and chi squared statistical method. Values of mean ± 1SD, parameters volume, FVIII, WBC, RBC and platelet counts and protein levels were compared by T-test method.

In the year 1397, 18744 and in the year 1398, 18282 FFP units were evaluated in terms of quality. The percentage of compliance of FFP quality parameters was increased in 1398 compared to 1397. The differences in the percentage of compliance in FVIII, RBC count and protein parameters were significant (p ≤ 0.05). Mean FVIII increased significantly and the number of  RBC, WBC, and platelets of FFP products in 1398 was significantly decreased compared to 1397 (p ≤ 0.05).

Conclusions  :

This study showed that more than 99% of the FFP units evaluated during the years 1397-1398 were in accordance with the standards of the Iranian Blood Transfusion Organization. Also, increase in the percentage of compliance with qualitative parameters in 1398, the increase in the average FVIII activity, and the significant decrease in the number of RBC, WBC and platelets of FFP products in 1398 compared to 1397 were indicative of improvement in the production process.

This study was undertaken to examine the role of parental involvement dimensions in the academic motivation of primary school 6th graders in Babol. This research had a descriptive, correlational design. The statistical population of the study was comprised of 6th graders, along with their parents in school year 2017-18. The sample was drawn via one-stage cluster sampling method and based on Miles and Shevlin graphs and it included 273 students and their parents. For the purpose of data collection, Family Involvement Questionnaire (Grover, 2015) and the Elementary School Motivation Scale (Guay et al., 2005) were utilized. The results demonstrated that the two dimensions of home-based involvement and school-based involvement were positively associated with intrinsic motivation in reading, writing, and mathematics; however, the  home-school dimension had no meaningful relationship with internal motivation. Home-based involvement was negatively correlated with external regulation in writing. All three dimensions of parental involvement had a positive relationship with identified regulation in reading and writing; nevertheless, this association was not observed in math. The results of the model revealed that parental involvement has a positive effect on intrinsic motivation as well as identified regulation. Results of regression analysis indicated that none of the parental involvement dimensions could predict external regulation; nonetheless, home-based involvement emerged as the predictor of intrinsic motivation and identified regulation. Given the positive impact of parental involvement on students’ academic motivation, it can be concluded that enhancing parental involvement can help improve students’ learning.

This study has been in Hormoz island with 42 km2 that is located at 56º 25' 20'' to 56º 30' 08'' E and 27º 07' 07'' to 27º 06' 25'' N whit shorelines up to 6 meter .area of studies site is 74 km2.
We used Esmith griding method and sensitive evaluation of costal and sea areas (Danehkar and Majnoniyan-2004) and we get result that east of island with 11.3 km2 (15.2%) has ability for conservation because there is jebir, coral and Little Cormorant habitat , nesting site of seaturtles and sea cove in that area
Therefore for promotion of environmental quality It is necessary to prepare and accomplishment of many programs like; education, landuse planning, EAI, EMS. People participation for protection of environment and recreation and waste and urban sewage management. and the end we give approach and proposes for management of protected area.