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Dynamic analysis, simulation, and control of a 6-DOF IRB-120 robot manipulator using sliding mode control and boundary layer method

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Journal of Central South University 2018年第9期25卷 2219-2244页

作者： Mojtaba hadi BARHAGHTALAB Vahid MEIGOLI mohammad Reza GOLBAHAR HAGHIGHI Seyyed Ahmad NAYERI Arash EBRAHIMI Department of Electrical Engineering School of Engineering Persian Gulf University Department of Mechanical Engineering School of Engineering Persian Gulf University Department of Communication School of Electrical and Computer Engineering Tehran University Institute of Electrical Power Engineering Faculty of Computer Science and Electrical Engineering IEFRostock University

Because of its ease of implementation,a linear PID controller is generally used to control robotic *** controllers cannot effectively cope with uncertainties and variations in the parameters;therefore,nonlinear controllers with robust performance which can cope with these are *** sliding mode control(SMC)is a robust state feedback control method for nonlinear systems that,in addition having a simple design,efficiently overcomes uncertainties and disturbances in the *** also has a very fast transient response that is desirable when controlling robotic *** most critical drawback to SMC is chattering in the control input *** solve this problem,in this study,SMC is used with a boundary layer(SMCBL)to eliminate the chattering and improve the performance of the *** proposed SMCBL was compared with inverse dynamic control(IDC),a conventional nonlinear control *** kinematic and dynamic equations of the IRB-120 robot manipulator were initially extracted completely and accurately,and then the control of the robot manipulator using SMC was *** validation,the proposed control method was implemented on a 6-DOF IRB-120 robot manipulator in the presence of *** results were simulated,tested,and compared in the MATLAB/Simulink *** further validate our work,the results were tested and confirmed experimentally on an actual IRB-120 robot manipulator.

关键词： robot manipulator control IRB-120 robot sliding mode control sliding mode control with boundary layer inverse dynamic control

First detection of Leishmania infantum DNA in wild caught Phlebotomus papatasi in endemic focus of cutaneous leishmaniasis,south of Iran

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Asian Pacific Journal of Tropical Biomedicine 2013年第10期3卷 825-829页

作者： Rassi Yavar Karami hadi Abai mohammad Reza M Mohebali Bakshi Hasan Oshaghi mohammad Ali Rafizadch Sina Bagherpoor Hagigi Habib Hosseini Abodolrahim Gholami Manuchehr Department of Medical Entomology & Vector Control School of Public HealthTehran University of Medical SciencesTehranIran Department of Parasitology School of Public HealthTehran University of Medical SciencesTehranIran Ministry of Health & Medical Education TehranIran Farashband Health Center Furs ProvinceIran Unit of Communicable Diseases Control Health Center of Fars ProvinceFars ProvinceIran

Objective:To identify the vectors and reservoirs of cutaneous leishmaniasis in the endemic focus of Farashband,Fars Province,South of ***:Sticky papers and Sherman trap were used for collection of sand flies and rodents,*** chain reaction(PCR)of kDNA,ITS1-rDNA were used for identification of Leishmania parasite in sand flies as well as ***:Totally 2010 sand flies were collected and the species of Phlebotomus papatasi Scopoli was the common specimen in outdoors and indoors *** technique was employed on 130females of Phlebotomus *** of them(0.76%)was positive to parasite Leishmania major(***)and one specimen(0.76%)was positive to Leishmania *** investigation on blood smear of the animal reservoirs for amastigote parasites revealed 16(44%)infected Tatera *** of them to *** was confirmed by PCR against kDNA loci of the ***:The results indicated that Phlebotomus papatasi was the dominant species circulating two species of parasites including *** and Leishmania infantum among human and ***,Tatera indica is the only main host reservoir for maintenance of the parasite source in the area.

关键词： Leishmania infantum Leishmania major Vector Reservoir Iran

Long-term follow-up of intravesical abobotulinumtoxinA (Dysport®) injections in women with idiopathic detrusor overactivity

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Asian Journal of Urology 2024年第1期11卷 93-98页

作者： mohammad Sajjad Rahnama'i Amin Bagheri Elham Jahantabi Hanieh Salehi-Pourmehr hadi Mostafaei Brigitte Schurch Aida Javan Balegh Marand Sakineh Hajebrahimi Department of Urology St.Elisabeth-Tweesteden Hospital Tilburgthe Netherlands Research Center for Evidence-based Medicine Iranian EBM Centre:A Joanna Briggs Institute(JBI)Center of ExcellenceTabriz University of Medical SciencesTabrizIran Urology Department Faculty of MedicineTabriz University of Medical SciencesTabrizIran Department of Urology Comprehensive Cancer CenterMedical University of ViennaViennaAustria Service de Neuroréhabilitation CHUVLausanneSwitzerland Society of Urological Research and Education(SURE) Heerlenthe Netherlands

Objective:Only a few numbers of studies have been published on the use of abobotulinumtoxinA(Dysport®)in idiopathic detrusor overactivity(IDO).This study reported the long-term follow-up of women with IDO who were treated with intravesical Dysport®***:Two hundred and thirty-six patients with IDO who had failed first-line conservative and antimuscarinic therapy received 500-900 units of Dysport®between April 2014 and July *** patients were followed up for 5 years after their initial injection and interviewed on the ***:A total of 236 women with IDO aged from 18 years to 84 years(mean±standard deviation:49.6±15.9 years)were included in our *** median follow-up time for patients was 36.5(range:10-70)months,and the median recovery time after injection was 18.5(range:0-70)months.A total of 83(35.2%)patients stated that they had subjective improvement of their symptoms whereas 84(35.6%)patients did not report any improvement in *** initial International Consultation on Incontinence Questionnaire Overactive Bladder mean score was 6.9(standard deviation 3.4).There was a positive association between the median recovery time and the components of the International Consultation on Incontinence Questionnaire Overactive Bladder ***:In a sub-population of overactive bladder patients with IDO who have failed first-line therapy,a single intravesical Dysport®injection can resolve patient symptoms completely or reduce the symptoms to an acceptable level that can be controlled with antimuscarinics or re-injection on demands.

关键词： AbobotulinumtoxinA Dysport Intravesical ldiopathic Detrusor overactivity

A PID Sliding Mode Control for Ropeless Elevator Maglev Guiding System

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Energy and Power Engineering 2012年第3期4卷 158-164页

作者： Hasan Alipour mohammad Bagher Bana Sharifian hadi Afsharirad Faculty of Electrical and Computer Engineering University of Tabriz Tabriz Iran

In this paper, three different controllers are proposed and simulated for maglev guiding systems to have convenient and smooth elevator motion. The proposed controllers are PID, sliding mode, and PID sliding mode controllers. The advantages and disadvantages of the proposed controllers are discussed. Although, PID controller is fast, its response affected considerably by external disturbances. Unlike PID, the sliding mode controller is so robust, but its transient is unsuitable based on application conditions. However, an acceptable controller for ropeless elevator guiding system should guaranty the passengers safety and convenient. Consequently, the response of the system should be fast, robust, and without considerable overshoots and oscillations. These required advantages are compromised in the proposed parallel PID sliding mode controller. The affectivity of the introduced controllers for maglev guiding system is investigated through conducted simulations in MATLAB/Simulink environment. The obtained results illustrate that PID sliding mode controller is a so fast and robust controller for a ropeless elevator maglev guiding system.

关键词： Guiding System Linear Ropeless Elevator Non-Linear Control PID Sliding Mode Controller

Lifetime Optimization via Network Sectoring in Cooperative Wireless Sensor Networks

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Wireless Sensor Network 2010年第12期2卷 905-909页

作者： hadi Jamali Rad Bahman Abolhassani mohammad Abdizadeh 不详

Employing cooperative communication in multihop wireless sensor networks provides the network with significant energy efficiency. However, the lifetime of such a network is directly dependant upon the lifetime of each of its individual sections (or clusters). Ignoring the fact that those sections close to sink have to forward more data (their own data plus the data received from the previous sections) and hence die sooner with considering equal section sizes, leads to a sub-optimal lifetime. In this paper, we optimize the section sizes of a multihop cooperative WSN so that it maximizes the network lifetime. Simulation results demonstrate a significant lifetime enhancement for the proposed optimal sectoring.

关键词： Wireless Sensor Network (WSN) Cooperative Communications Virtual Multi-Input-Multi-Output (V-MIMO) Energy Efficiency

MicroRNAs in erythropoiesis and red blood cell disorders

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Frontiers in Biology 2015年第4期10卷 321-332页

作者： Javad Mohammdai-asl Abolfazl Ramezani Fatemeh Norozi Amal Saki Malehi Ali Amin Asnafi mohammad Ali Jalali Far Seyed hadi Mousavi Najmaldin Saki Department of Medical Genetics Ahvaz Jundishapur University of Medical Sciences Ahvaz Iran Healthresearch Institute Research Center of Thalassemia & Hemoglobinopathy Ahvaz Jundishapur University of Medical Sciences Ahvaz Iran Department of Biostatistics and Epidemiology School of Public Health Ahvaz Jundishapur University of Medical Sciences Ahvaz Iran Hematology Department Allied Medical School Tehran University of Medical Sciences Tehran Iran

MicroRNAs （miRNAs） are 19-24 nucleotide non-coding ribonucleic acids binding DNA or RNA and controlling gene expression via mRNA degradation or its transcription inhibition. Erythropoies is a multi step differentiation process of erythroid progenitors to nucleate red blood cells. Maturation, proliferation and differentiation of red blood cells is affected by erythroid factors, signaling pathways in niche of hematopoietic cells, transcription factors as well as miRNAs. Expression of different types of miRNAs during erythroid development provides a background for the study of these molecules to control erythroid differentiation and maturation as well as their use as diagnostic and prognostic markers to treat erythroid disorders like thalassemia, sickle cell disease and erythrocyte enzyme deficiencies. In this paper, with reference to biosynthesis of miRNAs, their function in normal and anemic erythropoiesis has been investigated. The target molecule of each of these miRNAs has been cited in an attempt to elucidate their role in erythropoiesis.

关键词： miRNA erythropoiesis red blood cell

Investigation of Affecting Factors on Persistence in the Treatment of Patients under Methadone Maintenance Therapy in Addiction Therapy Centers, Yazd-Iran

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Health 2015年第5期7卷 606-616页

作者： mohammad Reza Vafaeinasab mohammad hadi Farahzadi Omran mohammad Razaghi Reza Ali Fallahzadeh mohammad Hasan Lotfi Shahin Akhondzadeh Faculty of Medicine Shahid Sadoughi University of Medical Sciences Yazd Iran Department of Neuroscience Faculty of Advanced Technologies in Medicine Tehran University of Medical Sciences Tehran Iran Faculty of Medicine Tehran University of Medical Sciences and Health Services Tehran Iran Department of Environmental Health Faculty of Public Health Shahid Sadoughi University of Medical Sciences Yazd Iran Faculty of Public Health Shahid Sadoughi University of Medical Sciences Yazd Iran Psychiatric Research Center Roozbeh Hospital Tehran University of Medical Sciences Tehran Iran

Drug addiction is one of the current world’s hygienic, mental and social problems. There are different treatments for this illness. MMT (Methadone Maintenance Therapy) is considered as a standard and acceptable therapy for addiction;and there are many affecting factors regarding gaining success in this type of treatment. In this study, we investigated some of these factors. One of the most important issues in MMT is to keep up patient on his/her treatment till complete abstinence;therefore, it is recommended that the patient does not leave his/her therapy without discretion of the therapist. In this study, 230 patients, who began MMT, and admitted to addiction treatment centers of Yazd province were included. In this study, the survival rate in the first, third, and sixth months were evaluated as 93.9%, 63.48%, and 28.36%, respectively. It was found that following parameters are important in rate of survival during treatment: family support, gender, dose of methadone and concomitant use of morphine during treatment. Moreover, factors like level of education, marital status, age and concomitant use of methamphetamine during treatment can be effective in this regard.

关键词： MMT Addiction Persistence in the Treatment Yazd

The Effect of Information Technology on Productivity （Case Study： The Regional Power Firm of Khorasan-e-Razavi - Iran）

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通讯和计算机（中英文版） 2010年第7期7卷 59-63页

作者： Nour-mohammad Yaghoubi hadi Raees-o-Zakerin Dehbani Management Department University of Sistan and Baluchestan Zahedan *** Iran Faculty of Management and Accounting University of Sistan and Baluchestan Zahedan *** Iran

Embedding-Based Sliding Mode Control for Linear Time Varying Systems

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Applied Mathematics 2011年第4期2卷 487-495页

作者： mohammad Reza Zarrabi mohammad hadi Farahi Ali Jafar Koshkouei Sohrab Effati Keith Burnham 不详

In this paper, a novel strategy using embedding process and sliding surface is proposed. In this method, a state trajectory starting from a given initial point reaches a definite point on a sliding surface in the minimum time, and then tends to the origin along the sliding surface (SS). In the first, a SS is designed, then using an appropriate measure, an embedding is constructed to solve a time optimal control problem such that the system trajectory reaches the SS in minimum time, after that a control is designed such that the system trajectory tends to the origin along the SS. It is well-known that the main disadvantage of the use of sliding mode controls (SMCs) is a phenomenon, the so-called chattering. The proposed SMC here is piecewise continuous and chattering free. Some numerical examples is presented to illustrate the effectiveness and reliability of the proposed method.

关键词： Time Optimal Control Problem Measure Theory Sliding Mode Control Sliding Surface Design Equivalent Control