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robust Observer-based Control of Nonlinear Multi-omnidirectional Wheeled robot Systems via High Order Sliding-mode Consensus Protocol

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International Journal of Automation and computing 2021年第5期18卷 787-801页

作者： M.r.rahimi Khoygani r.ghasemi P.Ghayoomi Department of Electrical Engineering University of QomQom ***Iran Department of Control Engineering Islamic Azad UniversityTehran ***Iran

This paper presents a novel observer-based controller for a class of nonlinear multi-agent robot models using the high order sliding mode consensus protocol. In many applications, demand for autonomous vehicles is growing;omnidirectional wheeled robots are suggested to meet this demand. They are flexible, fast, and autonomous, able to find the best direction and can move on an optional path at any time. Multi-agent omnidirectional wheeled robot(MOWr) systems consist of several similar or different robots and there are multiple different interactions between their agents, thus the MOWr systems have complex dynamics. Hence, designing a robust reliable controller for the nonlinear MOWr operations is considered an important obstacles in the science of the control design. A high order sliding mode is selected in this work that is a suitable technique for implementing a robust controller for nonlinear complex dynamics models. Furthermore, the proposed method ensures all signals involved in the multi-agent system(MAS) are uniformly ultimately bounded and the system is robust against the external disturbances and uncertainties. Theoretical analysis of candidate Lyapunov functions has been presented to depict the stability of the overall MAS, the convergence of observer and tracking error to zero, and the reduction of the chattering phenomena. In order to illustrate the promising performance of the methodology, the observer is applied to two nonlinear dynamic omnidirectional wheeled robots. The results display the meritorious performance of the scheme.

关键词： Multi-agent system(MAS) nonlinear controller nonlinear observer high-order sliding mode consensus protocol omnidirectional robots

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Astrophysical S-factor of the ^(12)C(α, γ)^(16)O reaction at solar energies

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Chinese Physics C 2014年第8期38卷 18-22页

作者： H.Sadeghi r.ghasemi H.Khalili Department of Physics Faculty of Science Arak University

The astrophysical S-factor of the 4He＋12C radiative capture is calculated in the potential model at the energy range 0.1-2.0 MeV. radiative capture 12C（α,γ） 16O is extremely relevant for the fate of massive stars and determines if the remnant of a supernova explosion becomes a black hole or a neutron star. Because this reaction occurs at low energies, the experimental measurements are very difficult and perhaps impossible. In this paper, radiative capture of the 12C（α,γ） 16O reaction at very low energies is taken as a case study. In comparison with other theoretical methods and available experimental data, good agreement is achieved for the astrophysical S-factor of this process.

关键词： radiative capture the astrophysical S-factor potential model

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Effect of Aqueous-Alcoholic Extract of Ducrosia Anethifolia Boiss on the Fetal Liver of Diabetic rats

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World Journal of Traditional Chinese Medicine 2024年第1期10卷 104-113页

作者： Hossein Kargar Jahromi Farangis ghasemi Elmira Mikaeiliagah research Center for Noncommunicable Diseases Jahrom University of Medical SciencesJahromIran Department of Biology Islamic Azad UniversityJahromIran Department of Biology Ardabil BranchIslamic Azad UniversityArdabilIran Stem Cell and Tissue Engineering Laboratory Department of OrthopaedicsWest Virginia UniversityMorgantownUSA

Objective:Moshgak(Ducrosia anethifolia)is a wild plant with medicinal *** present study aimed to evaluate the effect of Moshgak on the liver tissue of the diabetic rat *** and Methods:In this animal study,the aqueous-alcoholic extract of Moshgak was prepared in the standard *** rats were divided randomly into five groups,including control,sham,and three diabetic *** rats were diabetic with intraperitoneal injection of a single dose of streptozotocin(80 mg)and 2 diabetic groups were treated with Moshgak extract(280 and 560 mg/kg/bw)for 19 *** rats were anesthetized and their blood was taken to measure the blood glucose,insulin,and ***,their fetuses were *** fetal liver sections were obtained by using the stereological *** micrometry of the liver tissue was performed and data were ***:The finding showed a statistically significant increase(Pr,connective tissue,sinusoid,and hepatocytes in diabetic rats compared to control rats,while these parameters decreased significantly in treated groups with *** cell count hepatic decreased in the treated ***,the changes in blood glucose,malondialdehyde,and insulin in diabetic rats were improved significantly by Moshgak *** dilation of sinusoids,hepatocyte vacuolation,and mild lymphocytosis was observed in all diabetic groups except the treatment group with Moshgak 560 mg/kg/***:According to obtained results,Moshgak extract was able to compensate partially the changes induced by diabetes in the fetal liver ***,due to the side effects of diabetes during pregnancy,further research on anti-diabetic properties of Moshgak is suggested.

关键词： Diabetes Ducrosia anethifolia hepatocyte insulin micrometry rat

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Geyser Inspired Algorithm:A New Geological-inspired Meta-heuristic for real-parameter and Constrained Engineering Optimization

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Journal of Bionic Engineering 2024年第1期21卷 374-408页

作者： Mojtaba ghasemi Mohsen Zare Amir Zahedi Mohammad-Amin Akbari Seyedali Mirjalili Laith Abualigah Department of Electronics and Electrical Engineering Shiraz University of TechnologyShirazIran Department of Electrical Engineering Faculty of EngineeringJahrom UniversityJahromFrasIran Department of Electrical and Computer Engineering Tarbiat Modares UniversityTehranIran Department of Electrical and Computer Engineering University ofCyprusNicosiaCyprus Centre for Artificial Intelligence research and Optimisation Torrens University AustraliaBrisbaneQLD 4006Australia University research and Innovation Center Obuda University1034 BudapestHungary Department of Electrical and Computer Engineering Lebanese American UniversityByblos 13-5053Lebanon Hourani Center for Applied Scientific research Al-Ahliyya Amman UniversityAmman 19328Jordan MEU research Unit Middle East UniversityAmman 11831Jordan Applied Science research Center Applied Science Private UniversityAmman 11931Jordan

Over the past years,many efforts have been accomplished to achieve fast and accurate meta-heuristic algorithms to optimize a variety of real-world *** study presents a new optimization method based on an unusual geological phenomenon in nature,named Geyser inspired Algorithm(GEA).The mathematical modeling of this geological phenomenon is carried out to have a better understanding of the optimization *** efficiency and accuracy of GEA are verified using statistical examination and convergence rate comparison on numerous CEC 2005,CEC 2014,CEC 2017,and real-parameter benchmark ***,GEA has been applied to several real-parameter engineering optimization problems to evaluate its *** addition,to demonstrate the applicability and robustness of GEA,a comprehensive investigation is performed for a fair comparison with other standard optimization *** results demonstrate that GEA is noticeably prosperous in reaching the optimal solutions with a high convergence rate in comparison with other well-known nature-inspired algorithms,including ABC,BBO,PSO,and *** that the source code of the GEA is publicly available at https://***/projects/gea.

关键词： Nature-inspired algorithms real-world and engineering optimization Mathematical modeling Geyser algorithm(GEA)

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Deciphering resistancemechanisms and novel strategies to overcome drug resistance in ovarian cancer:a comprehensive review

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Oncology research 2024年第5期32卷 831-847页

作者： EFFAT ALEMZADEH LEILA ALLAHQOLI AFrOOZ MAZIDIMOrADI ESMAT ALEMZADEH FAHIMEH ghasemi HAMID SALEHINIYA IBrAHIM ALKATOUT Infectious Diseases research Center Birjand University of Medical SciencesBirjandIran Department of Midwifery Ministry of Health and Medical EducationTehranIran Student research Committee Shiraz University of Medical SciencesShirazIran Department of Biotechnology Faculty of MedicineBirjand University of Medical SciencesBirjandIran Cellular and Molecular research Center Birjand University of Medical SciencesBirjandIran Social Determinants of Health research Center Birjand University of Medical SciencesBirjandIran Kiel School of Gynaecological Endoscopy Campus KielUniversity Hospitals Schleswig-HolsteinKielGermany

Ovarian cancer is among the most lethal gynecological cancers,primarily due to the lack of specific symptoms leading to an advanced-stage diagnosis and resistance to *** resistance(Dr)poses the most significant challenge in treating patients with existing *** Food and Drug Administration(FDA)has recently approved three new therapeutic drugs,including two poly(ADP-ribose)polymerase(PArP)inhibitors(olaparib and niraparib)and one vascular endothelial growth factor(VEGF)inhibitor(bevacizumab)for maintenance ***,resistance to these new drugs has ***,understanding the mechanisms of Dr and exploring new approaches to overcome them is crucial for effective *** this review,we summarize the major molecular mechanisms of Dr and discuss novel strategies to combat Dr.

关键词： Chemotherapy Drug resistance mechanisms Ovarian cancer PArP inhibitors VEGF inhibitor

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白内障手术候选者的眼部生物特征参数分析

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国际眼科杂志 2024年第8期24卷 1186-1193页

作者： Zahra Sarlak Masoud Khorrami-Nejad Hamed ghasemi Ali Nouraeinejad reza Yousefi 伊朗德黑兰医科大学Farabi眼科医院转化眼科研究中心 *** 伊朗德黑兰医科大学康复学院视光系 ***

目的:分析白内障手术候选人的眼部生物特征参数。方法:横断面研究。纳入2017-01/2021-09就诊于伊朗德黑兰Farabi眼科医院的4607例白内障患者(4607眼)。使用IOLMaster 700评估眼轴(AL)、角膜曲率(Kf、Ks、Km)、前房深度(ACD)。根据AL分为... 详细信息

目的:分析白内障手术候选人的眼部生物特征参数。方法:横断面研究。纳入2017-01/2021-09就诊于伊朗德黑兰Farabi眼科医院的4607例白内障患者(4607眼)。使用IOLMaster 700评估眼轴(AL)、角膜曲率(Kf、Ks、Km)、前房深度(ACD)。根据AL分为22 mm25 mm组,根据ACD分为3.00 mm3.60 mm组。结果:患者平均年龄60.3±14.1(8-95)岁,女2243例(48.69%),男2364例(51.31%)。AL、ACD和平均角膜曲率范围分别为23.1-23.4 mm、3.1-3.2 mm和44.50-45.00 D。AL>25 mm组ACD平均值显著高于22 mm≤AL≤25 mm组和22 mm3.60 mm组的平均AL显著高于3.00 mm25 mm组的Kf、Ks、Km均值显著高于ACD>3.60 mm组和22 mm

关键词：白内障眼轴前房深度角膜曲率

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Efficient and optimized approximate GDI full adders based on dynamic threshold CNTFETs for specific least significant bits

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Frontiers of Information Technology & Electronic Engineering 2023年第4期24卷 599-616页

作者： Ayoub SADEGHI razieh ghasemi Hossein ghasemiAN Nabiollah SHIrI Department of Electrical Engineering Shiraz BranchIslamic Azad UniversityShiraz ***Iran School of Electrical Engineering Iran University of Science and TechnologyTehran ***Iran Department ofElectrical and Electronic Engineering Shiraz University of TechnologyShiraz ***Iran

Carbon nanotube field-effect transistors(CNTFETs) are reliable alternatives for conventional transistors, especially for use in approximate computing(AC) based error-resilient digital circuits. In this paper, CNTFET technology and the gate diffusion input(GDI) technique are merged, and three new AC-based full adders(FAs) are presented with 6, 6, and 8 transistors, separately. The nondominated sorting based genetic algorithm II(NSGA-II) is used to attain the optimal performance of the proposed cells by considering the number of tubes and chirality vectors as its variables. The results confirm the circuits' improvement by about 50% in terms of power-delay-product(PDP) at the cost of area occupation. The Monte Carlo method(MCM) and 32-nm CNTFET technology are used to evaluate the lithographic variations and the stability of the proposed circuits during the fabrication process, in which the higher stability of the proposed circuits compared to those in the literature is observed. The dynamic threshold(DT) technique in the transistors of the proposed circuits amends the possible voltage drop at the outputs. Circuitry performance and error metrics of the proposed circuits nominate them for the least significant bit(LSB) parts of more complex arithmetic circuits such as multipliers.

关键词： Carbon nanotube field-effect transistor(CNTFET) Optimization algorithm Nondominated sorting based genetic algorithm II(NSGA-II) Gate diffusion input(GDI) Approximate computing

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Feasibility Assessment of Fast Numerical Simulations for real-Time Monitoring and Control of PEM Fuel Cells

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Transactions of Tianjin University 2023年第1期29卷 31-45页

作者： Abbas ghasemi Samaneh Shahgaldi Xianguo Li Department of Mechanical and Mechatronics Engineering University of WaterlooWaterlooON N2L 3G1Canada

Computational models that ensure accurate and fast responses to the variations in operating conditions,such as the cell tem-perature and relative humidity(rH),are essential monitoring tools for the real-time control of proton exchange membrane(PEM)fuel *** this end,fast cell-area-averaged numerical simulations are developed and verifi ed against the present experiments under various rH *** present simulations and measurements are found to agree well based on the cell voltage(polarization curve)and power density under variable rH conditions(rH=40%,rH=70%,and rH=100%),which verifi es the model accuracy in predicting PEM fuel cell *** addition,computationally feasible reduced-order models are found to deliver a fast output dataset to evaluate the charge/heat/mass transfer phenomena as well as water production and two-phase fl ow *** fast and accurate evaluations of the overall fuel cell operation can be used to inform the real-time control systems that allow for the improved optimization of PEM fuel cell performance.

关键词： fuel cell relative humidity real-time control Gas diff usion layer Catalyst layer

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Optimization of design parameters for controlled rocking steel braced dual-frames

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Earthquake Engineering and Engineering Vibration 2022年第4期21卷 1053-1068页

作者： Sobhan ghasemi M.Firoozi Nezamabadi Abdolreza S.Moghadam Mahmood Hosseini Department of Civil Engineering South Tehran BranchIslamic Azad UniversityTehranIran Structural Engineering research Center International Institute of Earthquake Engineering and Seismology(IIEES)TehranIran

A controlled rocking concentrically steel braced frame(Cr-CSBF)is introduced as an alternative to conventional methods to prevent major structural damage during large *** is equipped with elastic post-tensioned(PT)cables and replaceable devices or fuses to provide overturning resistance and dissipate energy,*** Cr-CSBFs are not officially legalized in globally valid codes for new buildings,it is expected to be presented in them in the near *** main goal of this study is to determine the optimal design parameters consist of the yield strength and modulus of elasticity of the fuse,the initial force of the PT cable,and the gravity load on the rocking column,considering different heights of the frame,spanning ratios and ground motion types for dual-configuration *** time-history analyses are performed in *** study aims to define the optimal input variables as effective design parameters of Cr-CSBFs by comparing four seismic responses consisting of story drift,roof displacement,roof acceleration and base shear,and also using the Euclidean metric optimization *** the previous research,this study is innovative and first of its *** results demonstrate that the optimal design parameters are variable for various conditions.

关键词： self-centering rocking steel braced frame design parameters optimization low damage

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Design, synthesis, and nanoengineered modification of spherical graphene surface by layered double hydroxide (LDH) for removal of As (Ⅲ) from aqueous solutions

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Chinese Journal of Chemical Engineering 2023年第1期53卷 374-380页

作者： Najma Kamali Jahan B.ghasemi Ghodsi Mohammadi Ziarani Sahar Moradian Alireza Badiei School of Chemistry College of ScienceUniversity of TehranTehranIran Department of Organic Chemistry Faculty of ChemistryAlzahra UniversityVanak SquareTehranIran

In this study, new nano spherical graphene modified with LDH(Layered Double Hydroxide) was prepared and used to remove As(Ⅲ) ion from aqueous solutions. At first, graphene oxide was synthesized from graphite using a well-known Hammer method. The obtained graphene oxide solution was sprayed in octanol solution under different temperatures and sprayed speed as influenced variables. The structure and physical characterization of synthesized spherical graphene oxide were determined by various techniques,including FT-Ir, N_(2) adsorption–desorption, SEM, TEM, and EDX. In the next step, the hydrothermal method was applied to deposition LDH on the spherical graphene oxide. The synthesized spherical graphene modified by LDH was used to remove As(Ⅲ) as a toxic heavy metal ion. The effect of influenced variables including p H, contact time, amount of sorbent, and type eluent studied and the optimum values were as 8, 30, 50, and HCl(0.5 mol·L^(-1)), respectively. After optimization, the studied sorbent was shown a high adsorption capacity(149.3 mg·g^(-1)). The adsorption mechanism and kinetic models exhibited good agreement with the Langmuir isotherm and pseudo-second-order trends, respectively. Besides, the synthesized product was tested for seven times without significant loss in its sorption efficiency.

关键词： Graphene-based spherical adsorbent Layered double hydroxide(LDH) Adsorption Spray-assisted deep-frying

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