Search results for: Majid Ebrahimi Warkiani

Authors: Reza Moloudi, Steve Oh, Charles Chun Yang, Majid Ebrahimi Warkiani, May Win Naing

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Inertial microfluidics has emerged recently as a promising tool for high-throughput manipulation of particles and cells for a wide range of flow cytometric tasks including cell separation/filtration, cell counting, and mechanical phenotyping. Inertial focusing is profoundly reliant on the cross-sectional shape of the channel and its impacts not only on the shear field but also the wall-effect lift force near the wall region. Despite comprehensive experiments and numerical analysis of the lift forces for rectangular and non-rectangular microchannels (half-circular and triangular cross-section), which all possess planes of symmetry, less effort has been made on the 'flow field structure' of trapezoidal straight microchannels and its effects on inertial focusing. On the other hand, a rectilinear channel with trapezoidal cross-sections breaks down all planes of symmetry. In this study, particle focusing dynamics inside trapezoid straight microchannels was first studied systematically for a broad range of channel Re number (20 < Re < 800). The altered axial velocity profile and consequently new shear force arrangement led to a cross-laterally movement of equilibration toward the longer side wall when the rectangular straight channel was changed to a trapezoid; however, the main lateral focusing started to move backward toward the middle and the shorter side wall, depending on particle clogging ratio (K=a/Hmin, a is particle size), channel aspect ratio (AR=W/Hmin, W is channel width, and Hmin is smaller channel height), and slope of slanted wall, as the channel Reynolds number further increased (Re > 50). Increasing the channel aspect ratio (AR) from 2 to 4 and the slope of slanted wall up to Tan(α)≈0.4 (Tan(α)=(Hlonger-sidewall-Hshorter-sidewall)/W) enhanced the off-center lateral focusing position from the middle of channel cross-section, up to ~20 percent of the channel width. It was found that the focusing point was spoiled near the slanted wall due to the dissymmetry; it mainly focused near the bottom wall or fluctuated between the channel center and the bottom wall, depending on the slanted wall and Re (Re < 100, channel aspect ratio 4:1). Eventually, as a proof of principle, a trapezoidal straight microchannel along with a bifurcation was designed and utilized for continuous filtration of a broader range of particle clogging ratio (0.3 < K < 1) exiting through the longer wall outlet with ~99% efficiency (Re < 100) in comparison to the rectangular straight microchannels (W > H, 0.3 ≤ K < 0.5).

Keywords: cell/particle sorting, filtration, inertial microfluidics, straight microchannel, trapezoid

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Authors: Shahram Nanekarani, Majid Goodarzi, Majid Khosravi

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The present study aimed at analyzing of ovine major histocompatibility complex class II (Ovar II) DRB1 gene second exon in Lori Sheep breed. The MHC plays a central role in the control of disease resistance and immunological response. Genomic DNA from blood samples of 124 sheep was extracted and a 296 bp MHC exon 2 fragment was amplified using polymerase chain reaction. PCR products were characterized by the restriction fragment length polymorphism technique using Hin1I restriction enzyme. The PCRRFLP patterns showed three genotypes, AA, AB and BB with frequency of 0.282, 0.573 and 0.145, respectively. There was no significant (P > 0.05) deviation from Hardy–Weinberg equilibrium for this locus in this population. The results of the present study indicate that exon 2 of the Ovar-DRB1 gene is highly polymorphic in Lori sheep and could be considered as an important marker assisted selection, for improvement of immunity in sheep.

Keywords: MHC-DRB1 gene, polymorphism, PCR-RFLP, lori sheep

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Authors: Majid Mardaniyan Ghahfarokhi, Abdolhamid Habibi, Majid Mohammad Shahi

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The combination of exercise and diet as the most important strategy to reduce weight and control obesity-related factors, including Irisin, Insulin, and Glucose was raised. The aim of this study was to investigate the effect of aerobic exercise combined with four different diets on serum levels of Irisin, Insulin, and Glucose in overweight men. Methods: In this quasi-experimental study, 8 overweight men (BMI 29.23±0.47) with average age of (23±1.6) voluntarily participated in 4 sessions by one-week interval. The study was done in exercise physiology lab. In each session, subjects performed a 30 minutes treadmill test with 60-70% of maximum heart rate, after consuming a high carbohydrate, high-fat, high-protein and normal diet. For biochemical measurement, three blood samples were taken in fasting state, two hours after meals and after exercise Results: Statistical analysis of data showed that the serum levels of Irisin after consumption all four diets had been reduced which this reduce as a result of high-fat diet that were significantly (p ≤ 0/038). Serum concentration of Insulin and Glucose increased after consuming four diets. However, increase in serum Insulin and Glucose was significant only after consuming high-carbohydrate diet (Respectively p ≤ 0/001, p ≤ 0/042). In addition, during exercise after consuming all four regular diet, high carbohydrate, high-protein and high-fat, Irisin significant increased significantly (Respectively p ≤ 0/021, p ≤ 0/049, p ≤ 0/001, P ≤ 0/003), Insulin decreased significantly (Respectively p ≤ 0/002, p ≤ 0/001, p ≤ 0/001, p ≤ 0/002) and Glucose were significantly reduced (Respectively p ≤ 0/001, p ≤ 0/001, P ≤ 0/001, p ≤ 0/002). After aerobic activity following the consumption of a high protein diet the highest increase in irisin levels, and after aerobic exercise following consumption of high carbohydrate diet the greatest decrease in insulin and glucose levels were observed. Conclusion: It seems that diet alone and exercises following different consumption diets can have a significant effect on Irisin, Insulin, and Glucose serum levels in overweight young men.

Keywords: acute aerobic exercise, diet, irisin, overweight

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Authors: Maryam Ebrahimpour, Amir Ebrahimi

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This paper presents the steady-state amplitude analysis of MOS Colpitts oscillator with short channel device. The proposed method is based on a large signal analysis and the nonlinear differential equations that govern the oscillator circuit behaviour. Also, the short channel effects are considered in the proposed analysis and analytical equations for finding the steady-state oscillation amplitude are derived. The output voltage calculated from this analysis is in excellent agreement with simulations for a wide range of circuit parameters.

Keywords: colpitts oscillator, CMOS, electronics, circuits

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Authors: Majid Dashtgerd, Eisa Moradi Afrapoli

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The “Yemen War” is one of the longest wars of the recent century, which was launched on 26 March 2015 after the Saudi Arabia-led alliance's military intervention in Yemen. The war began with the aim of fighting Yemen's Houthis and preventing Iranian influence in the region, and Saudi leaders expected a quick victory; However, the “Yemen War” lasted about seven years and is still going on (May 2022), and Saudi Arabia has not been able to achieve its strategic objectives. This study seeks to examine some of the most important reasons for Saudi Arabia's protracted war and failure in Yemen.

Keywords: Saudi Arabia, yemen war, houthis, Iran

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Authors: Saba Ebrahimi, Hedieh Ashrafi

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Predicting the cover type of forests is a challenge for natural resource managers. In this project, we aim to perform a comprehensive comparative study of two well-known classification methods, support vector machine (SVM) and decision tree (DT). The comparison is first performed among different types of each classifier, and then the best of each classifier will be compared by considering different evaluation metrics. The effect of boosting and bagging for decision trees is also explored. Furthermore, the effect of principal component analysis (PCA) and feature selection is also investigated. During the project, the forest cover-type dataset from the remote sensing and GIS program is used in all computations.

Keywords: classification methods, support vector machine, decision tree, forest cover-type dataset

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Authors: Hasmayadi Abdul Majid, Yuzman Yusoff, Noor Shelida Salleh

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This paper presents the development of a single-ended 38.5 kS/s 10-bit programmable reference SAR ADC which is realized in MIMOS’s 0.35 µm CMOS process. The design uses a resistive DAC, a dynamic comparator with pre-amplifier and a SAR digital logic to create 10 effective bits ADC. A programmable reference circuitry allows the ADC to operate with different input range from 0.6 V to 2.1 V. A single ended 38.5 kS/s 10-bit programmable reference SAR ADC was proposed and implemented in a 0.35 µm CMOS technology and consumed less than 7.5 mW power with a 3 V supply.

Keywords: successive approximation register analog-to-digital converter, SAR ADC, resistive DAC, programmable reference

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Authors: K. Ebrahimi, Sh. Shahid, M. Mohammadi Ghaleni, M. H. Omid

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The longitudinal dispersion coefficient is a crucial parameter for 1-D water quality analysis of riverine flows. So far, different types of empirical equations for estimation of the coefficient have been developed, based on various case studies. The main objective of this paper is to develop an empirical equation for estimation of the coefficient for a riverine flow. For this purpose, a set of tracer experiments was conducted, involving salt tracer, at three sections located in downstream of a lengthy canal. Tracer data were measured in three mixing lengths along the canal including; 45, 75 and 100m. According to the results, the obtained coefficients from new developed empirical equation gave an encouraging level of agreement with the theoretical values.

Keywords: coefficients, dispersion, river, tracer, water quality

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Authors: Mahdi Ebrahimi

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One of the most effective factors that can empower and modernize the Islamic government according to the needs of society is the institution of expediency in Islamic governance. At the same time, not paying attention to the foundations and principles of Islamic governance may cause this factor to create the basis for corruption and totalitarianism of the rulers, which ultimately causes a gap between the people and the rulers and the emergence of whole government corruption and dictatorship. Meanwhile, there are specific principles in the doctrine of Islamic Governance that can prevent such an event from happening. Principles such as: remaining popular and pious by the Ulama, Amr Bil-Maroof Va Nahy An Al-Munkar (commanding the good and preventing the bad) by the individuals, the rule of frank criticism with loud voices and clarification and accountability in the fields that cause the corruption of those in charge. In this research, these principles are presented along with their Islamic basis. It is also stated what effect each of these cases will have on preserving Islam in the ruling system.

Keywords: expediency, Islamic ruling, Islamic principles, Islam

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Authors: Seyed Abdol Majid Hosseinizadeh

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This study aims at an assessment of the part of interpretational issues on the Quran in Roozbihan Baqli Shirazi's books, who has been a mystic and Sufi in the 12th century. He has written many mystical books which Henry Corbin and others have introduced and researched, especially his commentary on the Quran called Ara'is al-Bayan, but he also has other interpretational viewpoints on the Quran spread throughout his mystical works, which have not been considered. In this paper, it has been shown through a documentary method that Quranic verses and their interpretations also have a great role in his other works.

Keywords: interpretation, Islamic mysticism, Quran, Roozbihan Baqli Shirazi

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Authors: Nastaran Hazrati, Ali Akbar Miran Beigi, Majid Abdouss, Amir Vahid

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Hydrogen sulfide is the most toxic gas of crude oil. Adsorption is an energy-efficient process used to remove undesirable compounds such as H2S in gas or liquid streams by passing the stream through a media bed composed of an adsorbent. In this study, H2S of Iran crude oil was separated via cold stripping then zinc incorporated MCM-41 was synthesized via an in-situ method. ZnO functionalized mesoporous silica samples were characterized by XRD, N2 adsorption and TEM. The obtained results of adsorption of H2S showed superior ability of all the materials and with an increase in ZnO amount adsorption was increased.

Keywords: MCM-41, ZnO, H2S removal, adsorption

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Authors: Majid Azarniush, Soroush Mokallaei

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Although robust security software, including anti-viruses, anti spy wares, anti-spam and firewalls, are amalgamated with new technologies such as Safe Zone, Hybrid Cloud, Sand Box etc., and it can be said that they have managed to prepare highest level of security against viruses, spy wares and other malwares in 2012, but in fact hackers' attacks to websites are increasingly becoming more and more complicated. Because of security matters and developments, it can be said that it was expected to happen so. Here in this work, we try to point out to some functional and vital notes to enhance security on the web enabling the user to browse safely in no limit web world and to use virtual space securely.

Keywords: firewalls, security, web services, software

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Authors: Nikhil Byanna, Abdolghani Ebrahimi, Diego Klabjan

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How does one objectively measure the performance of an individual offensive lineman in the NFL? The existing literature proposes various measures that rely on subjective assessments of game film, but has yet to develop an objective methodology to evaluate performance. Using a variety of statistics related to an offensive lineman’s performance, we develop a framework to objectively analyze the overall performance of an individual offensive lineman and determine specific linemen who are overvalued or undervalued relative to their salary. We identify eight players across the 2013-2014 and 2014-2015 NFL seasons that are considered to be overvalued or undervalued and corroborate the results with existing metrics that are based on subjective evaluation. To the best of our knowledge, the techniques set forth in this work have not been utilized in previous works to evaluate the performance of NFL players at any position, including offensive linemen.

Keywords: offensive lineman, player performance, NFL, machine learning

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Authors: K. Ebrahimi, S. Shahid, H. Dehban

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Climate variability can affect surface water quality. The objective of present study is to assess the impacts of climate variability on water quality of Gorganroud River, Iran, over the time period 1971 to 2011. To achieve this aim, climate variability and water quality variations were studied involving a newly developed drought index (MRDI) and hysteresis curves, respectively. The results show that climate variability significantly affected surface water quality over the time. The existence of yearly internal variation and hysteresis phenomenon for pH and EC parameters was observed. It was found that though drought affected pH considerably, it could not affect EC significantly.

Keywords: climate variability, hysteresis curves, multi drought index, water quality

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Authors: Vahid Sabermand, Yousef Hojjat, Majid Hasanzadeh

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This paper contains two main parts. In the first part of paper we simulated and studied three type of electrode patterns used in various industries for suspension and handling of the semiconductor and glass and we selected the best pattern by evaluating the electrostatic force, which was comb pattern electrode. In the second part, we investigated the parameters affecting the amount of electrostatic force such as the gap between surface and electrode (g), the electrode width (w), the gap between electrodes (t), the surface permittivity and electrode Length and methods of improvement of adhesion force by changing these values.

Keywords: electrostatic force, electrostatic adhesion, electrostatic chuck, electrostatic application in industry, electroadhesive grippers

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Authors: Mehrzad Mohabbi Yadollahi, Pouneh Abdollahifard, Behzad Mokhtare, Majid Atashafrazeh

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Geopolymers are believed to provide good fire resistance. The effects of elevated temperatures on mechanical and microstructural properties of pumice-based geopolymer were investigated in this study. Pumice based geopolymer was exposed to elevated temperatures of 200, 400, 600, and 800 ºC for 3 hours. The residual strength of these specimens was determined after cooling at room temperature and microstructures of these samples were investigated by FTIR and SEM analyses. Specimens which were initially grey turned reddish accompanied by the appearance of cracks as temperatures increased to 600 and 800 ºC.

Keywords: geopolymer, pumice, elevated temperature, SEM, FTIR

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Authors: Nafiseh Ebrahimi, Gautham Muthukumaran, Amir Jafari

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Human walking gait is considered to be the most efficient biped walking gait. There are various types of gait human follows during locomotion and arm swing is one of the most important factors which controls and differentiates human gaits. Earlier studies declared a 7% reduction in the metabolic cost due to the arm swing. In this research, we compared different types of arm swings in terms of metabolic cost reduction and then suggested, designed, fabricated and tested a quasi-passive upper body exoskeleton to study the metabolic cost reduction in the folded arm walking gate scenarios. Our experimental results validate a 10% reduction in the metabolic cost of walking aided by the application of the proposed exoskeleton.

Keywords: arm swing, MET (metabolic equivalent of a task), calorimeter, oxygen consumption, upper body quasi-passive exoskeleton

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Authors: Abbas Ebrahimi, Mohammad Zandsalimy

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The main purpose of this study is to investigate the feasibility of using FPGA (Field Programmable Gate Arrays) chips as alternatives for the conventional CPUs to accelerate the numerical solution of the Laplace equation. FPGA is an integrated circuit that contains an array of logic blocks, and its architecture can be reprogrammed and reconfigured after manufacturing. Complex circuits for various applications can be designed and implemented using FPGA hardware. The reconfigurable hardware used in this paper is an SoC (System on a Chip) FPGA type that integrates both microprocessor and FPGA architectures into a single device. In the present study the Laplace equation is implemented and solved numerically on both reconfigurable hardware and CPU. The precision of results and speedups of the calculations are compared together. The computational process on FPGA, is up to 20 times faster than a conventional CPU, with the same data precision. An analytical solution is used to validate the results.

Keywords: accelerating numerical solutions, CFD, FPGA, hardware definition language, numerical solutions, reconfigurable hardware

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Authors: Mohammad Reza Ebrahimi, Behnaz Mahdaviani

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Increasing renewable sources such photovoltaic are the reason of environmental pollution. Because photovoltaic generates power in low voltage, first, generated power should increase. Usually, distributed generation injects their power to AC-Grid, hence after voltage increasing an inverter is needed to convert DC power to AC power. This results in utilization two series converter that grows cost, complexity, and low efficiency. In this paper a single stage inverter is utilized to boost and invert in one stage. Control of this scheme is easier, and its initial cost decreases comparing to conventional double stage inverters. A simple control scheme is used to control active power as well as minimum total harmonic distortion (THD) in injected current. Simulations in MATLAB demonstrate better outputs comparing with conventional approaches.

Keywords: maximum power point tracking, boost inverter, control strategy, three phase inverter

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Authors: Mark Harmon, Abdolghani Ebrahimi, Patrick Lucey, Diego Klabjan

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In this paper, we predict the likelihood of a player making a shot in basketball from multiagent trajectories. Previous approaches to similar problems center on hand-crafting features to capture domain-specific knowledge. Although intuitive, recent work in deep learning has shown, this approach is prone to missing important predictive features. To circumvent this issue, we present a convolutional neural network (CNN) approach where we initially represent the multiagent behavior as an image. To encode the adversarial nature of basketball, we use a multichannel image which we then feed into a CNN. Additionally, to capture the temporal aspect of the trajectories, we use “fading.” We find that this approach is superior to a traditional FFN model. By using gradient ascent, we were able to discover what the CNN filters look for during training. Last, we find that a combined FFN+CNN is the best performing network with an error rate of 39%.

Keywords: basketball, computer vision, image processing, convolutional neural network

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Authors: Mohammad Reza Ebrahimi

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In new restructured power systems, swift fault detection is very important. The parallel transmission-lines are vastly used in this kind of power systems because of high amount of energy transferring. In this paper, a method based on the comparison of two schemes, i.e., i) maximum magnitude of travelling-wave (TW) energy ii) the instants of maximum energy occurrence at the circuits of parallel transmission-line is proposed. Using the travelling-wave of fault in order to faulted line identification this method has noticeable operation time. Moreover, the algorithm can cover for identification of faults as external or internal faults. For an internal fault, the exact location of the fault can be estimated confidently. A lot of simulations have been done with PSCAD/EMTDC to verify the performance of the proposed algorithm.

Keywords: travelling-wave, maximum energy, parallel transmission-line, fault location

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Authors: Mustapha Majid

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Gone were the days when technicians/mechanics will have to spend too much time trying to identify a mechanical fault and rectify the problem. Now the emphasis is on the use of Automobile diagnosing Equipment through the use of computers and special software. An investigation conducted at Tamale Metropolis and Accra in the Northern and Greater Accra regions of Ghana, respectively. Methodology for data gathering were; questionnaires, physical observation, interviews, and newspaper. The study revealed that majority of mechanics lack computer skills which can enable them use diagnosis tools such as Exhaust Gas Analyzer, Scan Tools, Electronic Wheel Balancing machine, etc.

Keywords: diagnosing, local garages and modern garages, lack of knowledge of diagnosing posing an existential threat, training of local mechanics

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Authors: Saba Ebrahimi, Saeed Ahmadian, Hedie Ashrafi

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World-wide spread of coronavirus grows the concern about planning for the excess demand of hospital services in response to COVID-19 pandemic. The surge in the hospital services demand beyond the current capacity leads to shortage of ICU beds and ventilators in some parts of US. In this study, we forecast the required number of hospital beds and possible shortage of beds in US during COVID-19 pandemic to be used in the planning and hospitalization of new cases. In this paper, we used a data on COVID-19 deaths and patients’ hospitalization besides the data on hospital capacities and utilization in US from publicly available sources and national government websites. we used a novel ensemble modelling of deep learning networks, based on stacking different linear and non-linear layers to predict the shortage in hospital beds. The results showed that our proposed approach can predict the excess hospital beds demand very well and this can be helpful in developing strategies and plans to mitigate this gap.

Keywords: COVID-19, deep learning, ensembled models, hospital capacity planning

Procedia PDF Downloads 157

Authors: Majid Pourahmadi

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The performance of time-reversal MUSIC algorithm will be dramatically degrades in presence of strong noise and multiple scattering (i.e. when scatterers are close to each other). This is due to error in determining the number of scatterers. The present paper provides a new approach to alleviate such a problem using an information theoretic criterion referred as minimum description length (MDL). The merits of the novel approach are confirmed by the numerical examples. The results indicate the time-reversal MUSIC yields accurate estimate of the target locations with considerable noise and multiple scattering in the received signals.

Keywords: microwave imaging, time reversal, MUSIC algorithm, minimum description length (MDL)

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Authors: P. Zakikhani, R. Zahari, M. T. H. Sultan, D. L. Majid

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Natural plant fibres reinforced polymeric composite materials have been used in many fields of our lives to save the environment. Especially, bamboo fibres due to its environmental sustainability, mechanical properties, and recyclability have been utilized as reinforced polymer matrix composite in construction industries. In this review study bamboo structure and three different methods such as mechanical, chemical and combination of mechanical and chemical to extract fibres from bamboo are summarized. Each extraction method has been done base on the application of bamboo. In addition Bamboo fibre is compared with glass fibre from various aspects and in some parts it has advantages over the glass fibre.

Keywords: bamboo fibres, natural fibres, bio composite, mechanical extraction, glass fibres

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Authors: Payam Najafi, Behnam Ebrahimi, Hamid Montazerolghaem, Safoura Akbari-Alavijeh, Rasoul Tarkesh Esfahani

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The combination of work and study has been recently gained lots of attention due to the crucial demand of industries to skillfully trained youth. Nevertheless, the distance between university and industry makes this combination challenging. According to the OECD (2012), in most countries, there is a limited link between students’ field of study and their area of work while studying. On the other hand, high unemployment rates among the specialized workforce, which is common in developing countries, highlights the need to strengthen this relationship. Innovative Center of Isfahan Chamber of Commerce has defined a project called 'POUYESH', which helps students to find related work opportunities to their field of study as well as supporting industries to supply their needed workforce. The present research is sought to explore the effect of the running project as a model of combining work and study on the university-industry linkage.

Keywords: work and study, university-industry linkage, POUYESH project, field of study

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Authors: Asghar Ebrahimi, Elyas Lakzian

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For the analysis of flow inside micro geometries, classical CFD methods can not accurately predict the behavior of flow. Alternatively, the gas flow through micro geometries can be investigated precisely using the direct simulation Monte Carlo (DSMC) method. In the present paper, a pressure boundary condition is utilized to simulate a gaseous flow inside a micro channel using the DSMC method. Accuracy of simulation is guaranteed by choosing proper cell dimension and number of particle per cell analysis. Also, results of simulation are compared with the results of reliable references. Good agreement with results certifies the correctness of new boundary condition implemented on the micro channel.

Keywords: pressure boundary condition, DSMC, micro channel, cell dimension, particle per cell

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Authors: Mahboobeh Mohadeszadeh, Majid Saghi

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Polyoxometalates (POMs) are important inorganic compounds that have been considered specifically in recent years due to abundant attributes and applications. Those POMs that have one central tetrahedral atom called keggin. The binding Amino-acid groups to keggin structure give the antivirus effect to these compounds. A new organic-inorganic hybrid structure, with formula (Gly)2H4SiW12O40 was synthesized. Investigation on Anti-viral effect of this compound showed the (Gly)2H4SiW12O40 prevents infection of Tobacco Mosaic Virus (TMV) on the Nicotianatabacum plants.

Keywords: Polyoxometalate, Keggin, Organic-inorganic salt, TMV

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Authors: Mahboobeh Mohadeszadeh, Majid Saghi

Abstract:

Polyoxometalates (POMs) are important inorganic compounds that have been considered specifically in recent years due to abundant attributes and applications. Those POMs that have one central tetrahedral atom called keggin. The binding Amino-acid groups to keggin structure give the antivirus effect to these compounds. A new organic-inorganic hybrid structure, with formula (Gly)2H4SiW12O40 was synthesized. Investigation on Anti-viral effect of this compound showed the (Gly)2H4SiW12O40 prevents infection of Tobacco Mosaic Virus (TMV) on the Nicotianatabacum plants.

Keywords: polyoxometalate, keggin, organic-inorganic salt, TMV

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Authors: Reza Karami, Ali Akbar Ebrahimi

Abstract:

This paper discusses concurrent engineering of robot manipulators, based on the Holistic Concurrent Design (HCD) methodology and by using a hardware-in-the-loop simulation platform. The methodology allows for considering numerous design variables with different natures concurrently. It redefines the ultimate goal of design based on the notion of satisfaction, resulting in the simplification of the multi-objective constrained optimization process. It also formalizes the effect of designer’s subjective attitude in the process. To enhance modeling efficiency for both computation and accuracy, a hardware-in-the-loop simulation platform is used, which involves physical joint modules and the control unit in addition to the software modules. This platform is implemented in the HCD design architecture to reliably evaluate the design attributes and performance super criterion during the design process. The resulting overall architecture is applied to redesigning kinematic, dynamic and control parameters of an industrial robot manipulator.

Keywords: concurrent engineering, hardware-in-the-loop simulation, robot manipulator, multidisciplinary systems, mechatronics

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