Search results for: Alireza Aslezaeem
239 Coated Chromium Thin Film on Zirconium for Corrosion Resistance of Nuclear Fuel Rods by Plasma Focus Device
Authors: Amir Raeisdana, Davood Sohrabi, Mojtaba Nohekhan, Ameneh Kargarian, Maryam Ghapanvari, Alireza Aslezaeem
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Improvement of zirconium properties by chromium coating and nitrogen implantation is ideal to protect the nuclear fuel rods against corrosion and secondary hydrogenation. Metallic chromium (Cr) has attracted attention as a potential coating material on zirconium alloys, to limit external cladding corrosion. In this research, high energy plasma focus device was used to coat the chromium and implant the nitrogen ions in the zirconium substrate. This device emits high-energy nitrogen ions of 10 keV-1 MeV and with a flux of 10^16 ions/cm^2 in each shot toward the target so it is attractive for implantation on the substrate materials at the room temperature. Six zirconium samples in 2cm×2cm dimensions with 1mm thickness were located at a distance of 20cm from the place where the pinch is formed. The experiments are carried out in 0.5 mbar of the nitrogen gas pressure and 15 kV of the charging voltage. Pure Cr disc was installed on the anode head for sputtering of the chromium and deposition on zirconium substrate. When the pinch plasma column decays due to various instabilities, intense and high-energy N2 ions are accelerated towards the zirconium substrate also sputtered Cr is deposited on the zirconium substrate. XRD and XRF analysis were used to study the structural properties of the samples. XRF analysis indicates 77.1% of Zr and 11.1% of Cr in the surface of the sample. XRD spectra shows the formation of ZrN, CrN and CrZr composites after nitrogen implantation and chromium coating. XRD spectra shows the chromium peak height equal to 152.80 a.u. for the major sample (θ=0֯) and 92.99 a.u. for the minor sample (θ=6֯), so implantation and coating along the main axis of the device is significantly more than other directions.Keywords: ZrN and CrN and CrZr composites, angular distribution for Cr deposition rate, zirconium corrosion resistance, nuclear fuel rods, plasma focus device
Procedia PDF Downloads 0238 Optimization of Structures Subjected to Earthquake
Authors: Alireza Lavaei, Alireza Lohrasbi, Mohammadali M. Shahlaei
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To reduce the overall time of structural optimization for earthquake loads two strategies are adopted. In the first strategy, a neural system consisting self-organizing map and radial basis function neural networks, is utilized to predict the time history responses. In this case, the input space is classified by employing a self-organizing map neural network. Then a distinct RBF neural network is trained in each class. In the second strategy, an improved genetic algorithm is employed to find the optimum design. A 72-bar space truss is designed for optimal weight using exact and approximate analysis for the El Centro (S-E 1940) earthquake loading. The numerical results demonstrate the computational advantages and effectiveness of the proposed method.Keywords: optimization, genetic algorithm, neural networks, self-organizing map
Procedia PDF Downloads 298237 Dam Break Model Using Navier-Stokes Equation
Authors: Alireza Lohrasbi, Alireza Lavaei, Mohammadali M. Shahlaei
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The liquid flow and the free surface shape during the initial stage of dam breaking are investigated. A numerical scheme is developed to predict the wave of an unsteady, incompressible viscous flow with free surface. The method involves a two dimensional finite element (2D), in a vertical plan. The Naiver-Stokes equations for conservation of momentum and mass for Newtonian fluids, continuity equation, and full nonlinear kinematic free-surface equation were used as the governing equations. The mapping developed to solve highly deformed free surface problems common in waves formed during wave propagation, transforms the run up model from the physical domain to a computational domain with Arbitrary Lagrangian Eulerian (ALE) finite element modeling technique.Keywords: dam break, Naiver-Stokes equations, free-surface flows, Arbitrary Lagrangian-Eulerian
Procedia PDF Downloads 325236 Waste Generation in Iranian Building Industry: Addressing a Theory
Authors: Golnaz Moghimi, Alireza Afsharghotli, Alireza Rezaei
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Construction waste has been gradually increased as a result of upsizing construction projects which are occurred within the lifecycle of buildings. Since waste management is a major priority and has profound impacts on the volume of waste generated in construction stage, the majority of efforts have been attempted to reuse, recycle and reduce waste. However, there is still room to study on lack of sufficient knowledge about waste management in construction industry. This paper intends to provide an insight into the effect of project management knowledge areas on waste management solely on construction stage. To this end, a survey among Iranian building construction industry contractors was conducted to identify the effectiveness of project management knowledge areas on three jobsite key factors including ‘Site activity’, ‘Training’, and ‘Awareness’. As a result, four management disciplines were identified as most influential ones on amount of construction waste. These disciplines were Project Cost Management, Quality Management, Human Resource Management, and Integration Management. Based on the research findings, a new model was presented to develop effective construction waste strategies.Keywords: awareness, PMBOK, site activity, training, waste management
Procedia PDF Downloads 341235 Fuzzy Implicative Pseudo-Ideals of Pesudo-BCK Algebras
Authors: Alireza Gilani
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In this paper, we consider the fuzzification of implicative pseudo-ideal in a pseudo-BCK algebra, and then we investigate some of their properties. We prove that the family of fuzzy implicative pseudo-ideal is completely distributive lattice.Keywords: BCK-algebra, pseudo-BCK algebra, pseudo-ideal, implicative pseudo-ideal
Procedia PDF Downloads 380234 A New Center of Motion in Cabling Robots
Authors: Alireza Abbasi Moshaii, Farshid Najafi
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In this paper a new model for centre of motion creating is proposed. This new method uses cables. So, it is very useful in robots because it is light and has easy assembling process. In the robots which need to be in touch with some things this method is very good. It will be described in the following. The accuracy of the idea is proved by an experiment. This system could be used in the robots which need a fixed point in the contact with some things and make a circular motion. Such as dancer, physician or repair robots.Keywords: centre of motion, robotic cables, permanent touching, mechatronics engineering
Procedia PDF Downloads 430233 Impact of FACTS Devices on Power Networks Reliability
Authors: Alireza Alesaadi
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Flexible AC transmission system (FACTS) devices have an important rule on expnded electrical transmission networks. In this paper, the effect of these diveces on reliability of electrical networks is studied and it is shown that using of FACTS devices can improve the relibiability of power networks, significantly.Keywords: FACTS devices, power networks, reliability
Procedia PDF Downloads 411232 Views and Experiences of Medical Students of Kerman University of Medical Sciences on Facilitators and Inhibitators of Quality of Education in the Clinical Education System in 2021
Authors: Hossein Ghaedamini, Salman Farahbakhsh, Alireza Amirbeigi, Zahra Saghafi, Salman Daneshi, Alireza Ghaedamini
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Background: Assessing the challenges of clinical education of medical students is one of the most important and sensitive parts of medical education. The aim of this study was to investigate the views and experiences of Kerman medical students on the factors that facilitate and inhibit the quality of clinical education. Materials and Methods: This research was qualitative and used a phenomenological approach. The study population included medical interns of Kerman University of Medical Sciences in 1400. The method of data collection was in-depth interviews with participants. Data were encoded and analyzed by Claizey stepwise model. Results: First, about 540 primary codes were extracted in the form of two main themes (facilitators and inhibitors) and 10 sub-themes including providing motivational models and creating interest in interns, high scientific level of professors and the appropriate quality of their teaching, the use of technology in the clinical education process, delegating authority and freedom of action and more responsibilities to interns, inappropriate treatment of some officials, professors, assistants and department staff with their interns, inadequate educational programming, lack of necessary cooperation and providing inappropriate treatment by clinical training experts for interns, inadequate evaluation method in clinical training for interns, poor quality mornings, the unefficiency of grand rounds, the inappropriate way of evaluating clinical training for interns, the lack of suitable facilities and conditions with the position of a medical intern, and the hardwork of some departments were categorized. Conclusion: Clinical education is always mixed with special principles and subtleties, and special attention to facilitators and inhibitors in this process has an important role in improving its quality.Keywords: clinical education, medical students, qualitative study, education
Procedia PDF Downloads 88231 Innovative Design of Spherical Robot with Hydraulic Actuator
Authors: Roya Khajepour, Alireza B. Novinzadeh
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In this paper, the spherical robot is modeled using the Band-Graph approach. This breed of robots is typically employed in expedition missions to unknown territories. Its motion mechanism is based on convection of a fluid in a set of three donut vessels, arranged orthogonally in space. This robot is a non-linear, non-holonomic system. This paper utilizes the Band-Graph technique to derive the torque generation mechanism in a spherical robot. Eventually, this paper describes the motion of a sphere due to the exerted torque components.Keywords: spherical robot, Band-Graph, modeling, torque
Procedia PDF Downloads 338230 A Survey on Important Factors of the Ethereum Network Performance
Authors: Ali Mohammad Mobaser Azad, Alireza Akhlaghinia
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Blockchain is changing our world and launching a new generation of decentralized networks. Meanwhile, Blockchain-based networks like Ethereum have been created and they will facilitate these processes using tools like smart contracts. The Ethereum has fundamental structures, each of which affects the activity of the nodes. Our purpose in this paper is to review similar research and examine various components to demonstrate the performance of the Ethereum network and to do this, and we used the data published by the Ethereum Foundation in different time spots to examine the number of changes that determine the status of network performance. This will help other researchers understand better Ethereum in different situations.Keywords: blockchain, ethereum, smart contract, decentralization consensus algorithm
Procedia PDF Downloads 214229 Investigation of Riprap Stability on Roughness Bridge Pier in River Bend
Authors: A. Alireza Masjedi, B. Amir Taeedi
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In this research, by placing the two cylindrical piers without roughness and with roughness with riprap around its, they proceeded to a series of tests. Experiments were done by three relative diameters of riprap with density 2.1 and one rate of discharge 27 lit/s under pure water condition. In each experiment, flow depth measured in terms of failure threshold then stability number calculated by using data obtained. The results of the research showed that the riprap stability in pier with roughness is more pier without roughness because of the pier with roughness is sharp-pointed and reduced horseshoe vortex.Keywords: riprap stability, roughness, river bend, froude number
Procedia PDF Downloads 336228 Effect of Riprap Stability on Roughness Bridge Pier in River Bend
Authors: Alireza Masjedi, Amir Taeedi
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In this research, by placing the two cylindrical piers without roughness and with roughness with riprap around its, they proceeded to a series of tests. Experiments were done by three relative diameters of riprap with density 2.1 and one rate of discharge 27 lit/s under pure water condition. In each experiment, flow depth measured in terms of failure threshold then stability number calculated by using data obtained. The results of the research showed that the riprap stability in pier with roughness is more pier without roughness because of the pier with roughness is sharp-pointed and reduced horseshoe vortex.Keywords: riprap stability, roughness, river bend, froude number
Procedia PDF Downloads 341227 Equations of Pulse Propagation in Three-Layer Structure of As2S3 Chalcogenide Plasmonic Nano-Waveguides
Authors: Leila Motamed-Jahromi, Mohsen Hatami, Alireza Keshavarz
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This research aims at obtaining the equations of pulse propagation in nonlinear plasmonic waveguides created with As2S3 chalcogenide materials. Via utilizing Helmholtz equation and first-order perturbation theory, two components of electric field are determined within frequency domain. Afterwards, the equations are formulated in time domain. The obtained equations include two coupled differential equations that considers nonlinear dispersion.Keywords: nonlinear optics, plasmonic waveguide, chalcogenide, propagation equation
Procedia PDF Downloads 406226 Reliability Improvement of Power System Networks Using Adaptive Genetic Algorithm
Authors: Alireza Alesaadi
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Reliability analysis is a powerful method for determining the weak points of the electrical networks. In designing of electrical network, it is tried to design the most reliable network with minimal system shutting down, but it is usually associated with increasing the cost. In this paper, using adaptive genetic algorithm, a method was presented that provides the most reliable system with a certain economical cost. Finally, the proposed method is applied to a sample network and results will be analyzed.Keywords: reliability, adaptive genetic algorithm, electrical network, communication engineering
Procedia PDF Downloads 492225 Optimal Energy Consumption with Semiconductor Lamps
Authors: Pejman Hosseiniun, Rose Shayeghi, Alireza Farzaneh, Abolghasem Ghasempour
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Using LED lamps as lighting resources with new technology in designing lighting systems has been studied in this article. In this respect a history of LED emergence, its different manufacturing methods and technologies were revised, then their structure, light production line, its application and benefits in lighting industry has been evaluated. Finally, there is a comparison between these lamps and ordinary lamps to assess light parameters as well as energy consumption using DIALux software. Considering the results of analogies LED lamps have lower consumption and more lighting yield, therefore they are more economically feasible. Color variety, longer usage lap (circa 10 years) and compatibility with DC voltages are other LED lamps perquisites.Keywords: LED, lighting efficiency, lighting intensity, luminance
Procedia PDF Downloads 584224 Mechanical Properties of Palm Oil-Based Resin Containing Unsaturated Polyester
Authors: Alireza Fakhari, Abdul Razak Rahmat
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In this study, new palm oil-based polymer systems have been produced by blending unsaturated polyester (UPE) and maleinated, acrylated epoxidized palm oil (MAEPO). The MAEPO/UPE ratio was varied between 10/90 and 40/60 wt%. The influences of various loadings of MAEPO (10, 20, 30, and 40 wt%) on tensile, flexural and impact properties of resulting polymer systems were investigated. The results revealed that, these bio-based polymer systems exhibit mechanical properties comparable to those of petroleum-based polymers.Keywords: palm oil, bio-based resin, renewable resources, unsaturated polyester resin
Procedia PDF Downloads 335223 Investigation of the Flow in Impeller Sidewall Gap of a Centrifugal Pump Using CFD
Authors: Mohammadreza DaqiqShirazi, Rouhollah Torabi, Alireza Riasi, Ahmad Nourbakhsh
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In this paper, the flow in a sidewall gap of an impeller which belongs to a centrifugal pump is studied using numerical method. The flow in sidewall gap forms internal leakage and is the source of “disk friction loss” which is the most important cause of reduced efficiency in low specific speed centrifugal pumps. Simulation is done using CFX software and a high quality mesh, therefore the modeling error has been reduced. Navier-Stokes equations have been solved for this domain. In order to predict the turbulence effects the SST model has been employed.Keywords: numerical study, centrifugal pumps, disk friction loss, sidewall gap
Procedia PDF Downloads 520222 Numerical Modelling of Crack Initiation around a Wellbore Due to Explosion
Authors: Meysam Lak, Mohammad Fatehi Marji, Alireza Yarahamdi Bafghi, Abolfazl Abdollahipour
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A wellbore is a hole that is drilled to aid in the exploration and recovery of natural resources including oil and gas. Occasionally, in order to increase productivity index and porosity of the wellbore and reservoir, the well stimulation methods have been used. Hydraulic fracturing is one of these methods. Moreover, several explosions at the end of the well can stimulate the reservoir and create fractures around it. In this study, crack initiation in rock around the wellbore has been numerically modeled due to explosion. One, two, three, and four pairs of explosion have been set at the end of the wellbore on its wall. After each stage of the explosion, results have been presented and discussed. Results show that this method can initiate and probably propagate several fractures around the wellbore.Keywords: crack initiation, explosion, finite difference modelling, well productivity
Procedia PDF Downloads 278221 Numerical Simulation of Flow and Particle Motion in Liquid – Solid Hydrocyclone
Authors: Seyed Roozbeh Pishva, Alireza Aboudi Asl
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In this investigation a hydrocyclone by using for separation particles from fluid in oil and gas, mining and other industries is simulated. Case study is cone – cylindrical and solid - liquid hydrocyclone. The fluid is water and the solid is a type of silis having diameters of 53, 75, 106, 150, 212, 250, and 300 micron. In this investigation CFD method used for analysis flow and movement of particles in hydrocyclone. In this modeling flow is three-dimention, turbulence and RSM model have been used for solving. Particles are three dimensional, spherical and non rotating and for tracking them Lagrangian model is used. The results of this study in addition to analyzing flowfield, obtaining efficiency of hydrocyclone in 5, 7, 12, and 15 percent concentrations and compare them with experimental result that both of them had suitable agreement with each other.Keywords: hydrocyclone, RSM Model, CFD, copper industry
Procedia PDF Downloads 562220 The Effect of Bunch in the Branch on Vegetative Characteristics of Pistacia vera
Authors: Alireza Sohrabi, Hamid Mohammadi
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The pistachio fruit is a strategic product in Iran. One of the problems caused the reduction of pistachio proceeds is related to biennial- bearing or alternative bearing. Biennial- bearing is very important and is happened because of the fallen female bloom buds in vintage year. This test was done according to random blocks of 6 orchards in the type of Ahmad Aghaie with 4 iterations. Vegetative properties of branch are investigated. The results are shown that if the bunch numbers are increased, the possibility of falling is increased in bloom buds. The least possibility of falling of bloom buds is specified in trimming of one bunch and has significant difference with other trimming.Keywords: alternate bearing, pistachio, cluster, bud
Procedia PDF Downloads 427219 Fermentation of Tolypocladium inflatum to Produce Cyclosporin in Dairy Waste Culture Medium
Authors: Fereshteh Falah, Alireza Vasiee, Farideh Tabatabaei-Yazdi
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In this research, we investigated the usage of dairy sludge in the fermentation process and cyclosporin production. This bioactive compound is a metabolite produced by Tolypocladium inflatum. Results showed that about 200 ppm of cyclosporin can be produced in this fermentation. In order to have a proper and specific function, CyA must be free of any impurities, so we need purification. In this downstream processing, we used chromatographic extraction and evaluation of pharmacological activities of cyA. Results showed that the obtained metabolite has very high activity against Aspergilus niger (25mm clear zone). This cyclosporin was isolated for use as an antibiotic. The current research shows that this drug is very vital and commercially very important.Keywords: fermentation, cyclosporin A, Tolypocladium inflatum, TLC
Procedia PDF Downloads 119218 Application of Fuzzy Clustering on Classification Agile Supply Chain Firms
Authors: Hamidreza Fallah Lajimi, Elham Karami, Alireza Arab, Fatemeh Alinasab
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Being responsive is an increasingly important skill for firms in today’s global economy; thus firms must be agile. Naturally, it follows that an organization’s agility depends on its supply chain being agile. However, achieving supply chain agility is a function of other abilities within the organization. This paper analyses results from a survey of 71 Iran manufacturing companies in order to identify some of the factors for agile organizations in managing their supply chains. Then we classification this company in four cluster with fuzzy c-mean technique and with Four validations functional determine automatically the optimal number of clusters.Keywords: agile supply chain, clustering, fuzzy clustering, business engineering
Procedia PDF Downloads 698217 Dynamic Compaction Assessment for Improving Pasdaran Highway
Authors: Alireza Motamadnia, Roohollah Zohdi Oliayi, Hümeyra Bolakar, Ahmet Tortum
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Dynamic compression as a method of soil improvement in recent decades has been considered by engineers and experts. Three methods mainly, deep dynamic compaction, soil density, dynamic and rapid change have been proposed and implemented to improve subgrade conditions of highway road. Northern highway route in Tabriz (Pasdaran), Iran that was placed on the manual soil was the main concern. Engineering properties of soil have been investigated experimentally and theoretically. Among the three methods rapid dynamic compaction for highway has been suggested to improve the soil subgrade conditions.Keywords: manual soil, subsidence, improvement, dynamic compression
Procedia PDF Downloads 588216 The Effect of Styrene-Butadiene-Rubber (SBR) Polymer Modifier on Properties of Bitumen
Authors: Seyed Abbas Tabatabaei, Alireza Kiasat, Ferdows Karimi Alkouhi
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In order to use bitumen in hot mix asphalt, it must have specific characteristics. There are some methods to reach these properties. Using polymer modifiers are one of the methods to modify the bitumen properties. In this paper, the effect of Styrene-Butadiene-Rubber that is one of the bitumen polymer modifiers on rheology properties of bitumen is studied. In this regard, the rheological properties of base bitumen and the modified bitumen with 3, 4, and 5 percent of Styrene-Butadiene-Rubber (SBR) were analysed. The results show that bitumen modified with 5 percent of SBR has the best performance than the other samples.Keywords: bitumen, polymer modifier, styrene-butadiene-rubber, rheological properties
Procedia PDF Downloads 322215 Development of Femoral Head Osteonecrosis Due to Corticosteroids Consumption; Probable Role of OCP: A Case Report
Authors: S. Alireza Mirghasemi, Shervin Rashidinia, Mohammad Saleh Sadeghi, Mohsen Talebizadeh, Narges Rahimi Gabaran, Seyed Shahin Eftekhari, Sara Shahmoradi
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Avascular necrosis of femoral head is a pathologic condition that the main cause is decreased blood supply of femoral head. Among predisposing risk factors, chronic use of corticosteroids, alcoholism, smocking and hip traumas have more important role. Also we can mention OCP consumption as a risk factor among less common predisposing factors that lead to AVNF, in this study we introduce another cause of AVNF with a period of treatment with moderate dose of corticosteroids accompanied by OCP as a probable facilitating factor that leads to AVNF.Keywords: AVN, corticosteroids consumption, femoral head osteonecrosis, OCP
Procedia PDF Downloads 455214 Evaluation of Mixtures of Recycled Concrete Aggregate and Reclaimed Asphalt Pavement Aggregate in Road Subbases
Authors: Vahid Ayan, Joshua R Omer, Alireza Khavandi, Mukesh C Limbachiya
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In Iran, utilization of reclaimed asphalt pavement (RAP) aggregate has become a common practice in pavement rehabilitation during the last ten years. Such developments in highway engineering have necessitated several studies to clarify the technical and environmental feasibility of other alternative materials in road rehabilitation and maintenance. The use of recycled concrete aggregates (RCA) in asphalt pavements is one of the major goals of municipality of Tehran. Nevertheless little research has been done to examine the potential benefits of local RCA. The objective of this study is laboratory investigation of incorporating RCA into RAP for use in unbound subbase application. Laboratory investigation showed that 50%RCA+50%RAP is both technically and economically appropriate for subbase use.Keywords: Roads & highways, Sustainability, Recycling & reuse of materials
Procedia PDF Downloads 478213 Renal Amyloidosis in Domestic Iranian Sheep
Authors: Keivan Jamshidi, Fateme Behbahani, Sara Omidi, Nadia Shahi, Alireza Farkhonde
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Amyloidosis represents a heterogenous group of diseases that have in common the deposition of fibrils composed of proteins of beta-pleated sheet structure, which can be specifically identified by histochemistry using the Congo red or similar stains. Between October 2013 to April 2014 (6 months) different patterns of renal amyloidosis was diagnosed on histopathological examination of kidneys belong to 196 out of 7065 slaughtered sheep subjected to postmortem examination. Microscopic examination of renal tissue sections stained with H&E and CR staining techniques revealed 3 patterns of renal amyloid deposition; including glomerular (22.72%), medullary (68.18%), and vascular (9.09%) were recognized. Renal medullary amyloidosis (RMA) was detected as the most prevalence pattern of renal amyloidosis in domestic sheep.Keywords: sheep, amyloidosis, kidney, slaughterhouse
Procedia PDF Downloads 364212 QoS-CBMG: A Model for e-Commerce Customer Behavior
Authors: Hoda Ghavamipoor, S. Alireza Hashemi Golpayegani
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An approach to model the customer interaction with e-commerce websites is presented. Considering the service quality level as a predictive feature, we offer an improved method based on the Customer Behavior Model Graph (CBMG), a state-transition graph model. To derive the Quality of Service sensitive-CBMG (QoS-CBMG) model, process-mining techniques is applied to pre-processed website server logs which are categorized as ‘buy’ or ‘visit’. Experimental results on an e-commerce website data confirmed that the proposed method outperforms CBMG based method.Keywords: customer behavior model, electronic commerce, quality of service, customer behavior model graph, process mining
Procedia PDF Downloads 405211 The Use of the Matlab Software as the Best Way to Recognize Penumbra Region in Radiotherapy
Authors: Alireza Shayegan, Morteza Amirabadi
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The y tool was developed to quantitatively compare dose distributions, either measured or calculated. Before computing ɣ, the dose and distance scales of the two distributions, referred to as evaluated and reference, are re-normalized by dose and distance criteria, respectively. The re-normalization allows the dose distribution comparison to be conducted simultaneously along dose and distance axes. Several two-dimensional images were acquired using a Scanning Liquid Ionization Chamber EPID and Extended Dose Range (EDR2) films for regular and irregular radiation fields. The raw images were then converted into two-dimensional dose maps. Transitional and rotational manipulations were performed for images using Matlab software. As evaluated dose distribution maps, they were then compared with the corresponding original dose maps as the reference dose maps.Keywords: energetic electron, gamma function, penumbra, Matlab software
Procedia PDF Downloads 291210 Two Spherical Three Degrees of Freedom Parallel Robots 3-RCC and 3-RRS Static Analysis
Authors: Alireza Abbasi Moshaii, Shaghayegh Nasiri, Mehdi Tale Masouleh
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The main purpose of this study is static analysis of two three-degree of freedom parallel mechanisms: 3-RCC and 3-RRS. Geometry of these mechanisms is expressed and static equilibrium equations are derived for the whole chains. For these mechanisms due to the equal number of equations and unknowns, the solution is as same as 3-RCC mechanism. Mathematical software is used to solve the equations. In order to prove the results obtained from solving the equations of mechanisms, their CAD model has been simulated and their static is analysed in ADAMS software. Due to symmetrical geometry of the mechanisms, the force and external torque acting on the end-effecter have been considered asymmetric to prove the generality of the solution method. Finally, the results of both softwares, for both mechanisms are extracted and compared as graphs. The good achieved comparison between the results indicates the accuracy of the analysis.Keywords: robotic, static analysis, 3-RCC, 3-RRS
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