关于Semigroups of Linear Operators and Applications to Partial Differential Equations的两个注解

Stability and stabilization of infinite dimensional systems with applications

The principles of sustainability have become particularly important in the construction, real estate maintenance sector, and all areas of life in recent years. The one of the major problem of urban territories that domestic and construction waste of generated products cannot be removed automatically.

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Sustainable Assessment of Alternative Sites for the Construction of a Waste Incineration Plant by Applying WASPAS Method with Single-Valued Neutrosophic Set

tIn this paper, a new outranking approach for multi-criteria decision-making (MCDM) problems is devel-oped in the context of a simplified neutrosophic environment, where the truth-membership degree,indeterminacy-membership degree and falsity-membership degree for each element are singleton sub-sets in [0,1].

An Outranking Approach for Multi-Criteria Decision-Making Problemswith Simplified Neutrosophic Sets

Prerequisites to the successful application of the H∞ control design technique to the marine dynamic positioning (DP) control problem are a realistic nominal model, relative bounds on modelling uncertainty, a set of frequency-dependent weighting functions to translate the control design specification into a control solution and a performance index to quantify the robustness. The authors propose procedures and algorithms to achieve these objectives. The H∞ robust control design technique is then used to calculate a robust controller which has superior properties to the conventional DP systems. The trade-off between track keeping and station keeping is undertaken via appropriate weighting functions and a two-degree-of-freedom control structure is employed. The technique proposed shows that effective wave filtering can be obtained with guaranteed stability robustness. The advantage of the proposed control design technique is demonstrated using ship nonlinear simulations.

H∞ robust control design for dynamic ship positioning : Special section on marine control

http://scientiairanica.sharif.edu/article_4302_70177545493a283d687b599b2ad8c983.pdf

Induced generalized interval neutrosophic Shapley hybrid operators and their application in multi-attribute decision making

With the increasing trend toward Minimally Invasive Surgery (MIS) procedures, the need to develop new robotic systems to facilitate such surgeries is more and more recognized. This paper describes the design and development of a 4 DOF force-reflective master robot (RoboMaster1) for haptic telesurgery applications. A two-double parallelogram robot is introduced including a novel mechanism at the base for producing and control of the end effector's linear motion. This eliminates the deficiencies caused due to suspending massive actuators at the end effector or cabling from the base. The kinematics and work space of the system were analyzed and a prototype was developed for primary practical evaluations. The results showed that the system can effectively simulate the surgeon's hand maneuvers inside the abdominal cavity with a Remote Center of Motion (RCM) located at the backside. With this important feature, the system is expected to facilitate the key hole surgeries by eliminating the need for inverse and/or scaled maneuvers during minimally invasive surgeries.

Design of a force-reflective master robot for haptic telesurgery applications: RoboMaster1

http://scientiairanica.sharif.edu/article_3664_72f31815e8714832527be0dfc7876c24.pdf

An adaptive impedance control algorithm; Application in exoskeleton robot

In this paper, the path planning problem of special hyper-redundant manipulator with lockable joints is solved using particle swarm optimization. There is a locking mechanism in each link of this tendon-actuated manipulator. At any time, all links of the manipulator must be locked except one. Then by pulling the cables, the configuration of the corresponding link will change and the manipulator will tilt to its new position. Therefore, by unlocking the links in sequence and pulling the cables, any desirable configuration of manipulator can be reached. In path planning problem, the desired path of the end-effector is given and the optimum sequence of switching (discrete) and the optimum cables length (continuous) during the motion must be calculated. In this study, a novel approach in particle swarm optimization is proposed. In this approach, the integer and continuous value numbers are joined together in a single particle to form a hybrid particle. In this way, the optimization in hybrid space is done. The results of this investigation show effectiveness of the proposed method.

Path planning for a hyper-redundant manipulator with lockable joints using PSO

In this paper the problem of boundary control of vibration in a clamped-free strain gradient Timoshenko micro-cantilever is studied. For getting systems closer to reality, the force or moment exertion conditions should be modeled. To this end, a piezoelectric layer is laminated on one side of the beam and the controlling actuation is applied through the piezoelectric voltage. The beam and piezoelectric layer are coupled and modeled at the same time and the dynamic equations and boundary conditions of the system are achieved using the Hamilton principle. To achieve the purpose of eliminating vibration of the system, the control law is obtained from a Lyapunov function using Lasalle invariant set theorem. The control law has a form of feedback from the spatial derivatives of boundary states of the beam. The finite element method using the strain gradient Timoshenko beam element has been used and then the simulation is performed to illustrate the impact of the proposed controller to the micro beam.

H. Salarieh

Papers

Induced generalized interval neutrosophic Shapley hybrid operators and their application in multi-attribute decision making

Design of a force-reflective master robot for haptic telesurgery applications: RoboMaster1

An adaptive impedance control algorithm; Application in exoskeleton robot

Path planning for a hyper-redundant manipulator with lockable joints using PSO

Boundary Vibration Control of Strain Gradient Timoshenko Micro-Cantilevers Using Piezoelectric Actuators.