Amirkabir University of Technology

About: Amirkabir University of Technology is a education organization based out in Tehran, Iran. It is known for research contribution in the topics: Nonlinear system & Finite element method. The organization has 15254 authors who have published 31165 publications receiving 487551 citations. The organization is also known as: Tehran Polytechnic & Tehran Polytechnic University.

Adaptive Vehicle Lateral-Plane Motion Control Using Optimal Tire Friction Forces With Saturation Limits Consideration

Abstract: This paper presents an adaptive nonlinear control scheme aimed at the improvement of the handling properties of vehicles. The control inputs for steering intervention are the steering angle and wheel torque for each wheel, i.e., two control inputs for each wheel. The control laws are obtained from a nonlinear 7-degree-of-freedom (DOF) vehicle model. A main loop and eight cascade loops are the basic components of the integrated control system. In the main loop, tire friction forces are manipulated with the aim of canceling the nonlinearities in a way that the error dynamics of the feedback linearized system has sufficient degrees of exponential stability; meanwhile, the saturation limits of tires and the bandwidth of the actuators in the inner loops are taken into account. A modified inverse tire model is constructed to transform the desired tire friction forces to the desired wheel slip and sideslip angle. In the next step, these desired values, which are considered as setpoints, are tackled through the use of the inner loops with guaranteed tracking performance. The vehicle mass and mass moment of inertia, as unknown parameters, are estimated through parameter adaptation laws. The stability and error convergence of the integrated control system in the presence of the uncertain parameters, which is a very essential feature for the active safety means, is guaranteed by utilizing a Lyapunov function. Computer simulations, using a nonlinear 14-DOF vehicle model, are provided to demonstrate the desired tracking performance of the proposed control approach.

Agricultural Waste Conversion to Activated Carbon by Chemical Activation with Phosphoric Acid

Abstract: Activated carbon is widely used in various processes as an inexpensive and effective adsorbent. The adsorption properties of activated carbon vary with the feed materials used and the method of activation. The use of an inexpensive material and performing a suitable production method may help to generate a low cost product. Agricultural wastes could be considered as suitable raw materials for the production of activated carbon. In this work, activated carbon was produced by chemical activation with phosphoric acid of agricultural wastes such as bagasse, hard shells of apricot stones, almond, walnut and hazelnut shells. The effects of various preparation variables on both yield and quality of the prepared carbon were studied. The results showed that the selection of final activation temperature, heating rate, activation time and impregnation rate of the chemical agent was important in determining the quality of activated carbon obtained. The surface area and ash content of the activated carbon produced were compared to those of imported commercial samples. According to the results obtained, activated carbon from the hard shells of apricot stones have the best adsorption properties and the highest surface area. This activated carbon could be used in the separation of metal ions from wastewaters.