Search results for: Hamideh Karimi Yazdi

Authors: Vahid Khadjeh Anvary, Hamideh Karimi Yazdi

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Generally, the tool of comparison between performance of each stage in the life of a project, is the number of project progress during that period, which in most cases is only determined as one-dimensional with referring to one of three factors (physical, time, and financial). In many projects in developing countries there are controversies on accuracy and the way of analyzing progress report of projects that hinders getting definitive and engineering conclusions on the status of project.Identifying weakness points of this kind of one-dimensional look on project and determining a reliable and engineering approach for multi-dimensional decoding information receivable from project is of great importance in project management.This can be a tool to help identification of hidden diseases of project before appearing irreversible symptoms that are usually delays or increased costs of execution. The method used in this paper is defining and evaluating a hypothetical project as an example analyzing different scenarios and numerical comparison of them along with related graphs and tables. Finally, by analyzing different possible scenarios in the project, possibility or impossibility of predicting their occurrence is examine through the evidence.

Keywords: physical progress, time progress, financial progress, delays, critical path

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Authors: Mohammad Tefagh

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The process of globalization has transformed many social and cultural phenomena and has entered the world into a new era and arena. This phenomenon has introduced new methods, ideas, and identity interactions to human beings and has caused great changes in individual and social identity. Women have also been affected by globalization. Globalization has made the presence of women more and more effective and has caused identity changes and changes in the dimensions of identity in them. The purpose of this study is to investigate the impact of globalization of culture on changes in the social identity of educated women in the global city of Yazd. This study will discuss identity change and identity reconstruction due to globalization. The method of this study is qualitative, and the research data is obtained through in-depth interviews with 15 Yazdi-educated women at the Ph.D. level. The method of data analysis is thematic analysis. Findings of the research show that educated Yazdi women have changed their identity due to new communication processes and globalization, including faster, easier, and cheaper communication with other women in the world near and far. Women's social identity has also changed in the face of elements of globalization in various dimensions such as national, gender, religious, and group identities. The analysis of the interviews revealed the confronting elements such as using new cultural goods and communication technologies, membership in social networks, and increasing awareness of environmental change.

Keywords: globalization, social identity, educated women, Yazd

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Authors: Kasra Majbouri Yazdi, Adel Majbouri Yazdi, Saeid Khodayi, Jingyu Hou, Wanlei Zhou, Saeed Saedy

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Fake news and false information are big challenges of all types of media, especially social media. There is a lot of false information, fake likes, views and duplicated accounts as big social networks such as Facebook and Twitter admitted. Most information appearing on social media is doubtful and in some cases misleading. They need to be detected as soon as possible to avoid a negative impact on society. The dimensions of the fake news datasets are growing rapidly, so to obtain a better result of detecting false information with less computation time and complexity, the dimensions need to be reduced. One of the best techniques of reducing data size is using feature selection method. The aim of this technique is to choose a feature subset from the original set to improve the classification performance. In this paper, a feature selection method is proposed with the integration of K-means clustering and Support Vector Machine (SVM) approaches which work in four steps. First, the similarities between all features are calculated. Then, features are divided into several clusters. Next, the final feature set is selected from all clusters, and finally, fake news is classified based on the final feature subset using the SVM method. The proposed method was evaluated by comparing its performance with other state-of-the-art methods on several specific benchmark datasets and the outcome showed a better classification of false information for our work. The detection performance was improved in two aspects. On the one hand, the detection runtime process decreased, and on the other hand, the classification accuracy increased because of the elimination of redundant features and the reduction of datasets dimensions.

Keywords: clustering, fake news detection, feature selection, machine learning, social media, support vector machine

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Authors: Hamideh Rahmani

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The subject matter of ethics is being changed in modern life, which had been an issue for a long time and aimed to define its moral boundaries in human's intellectual and everyday life. This has led to the introduction of notions based on the separation of religion from ethics in recent decades. It is in conflict with the traditional view, which introduces ethics as raised from religion and religion as the most crucial credit for ethics. The purpose of this study is to investigate the elements of secular ethics from the perspective of Mostafa Malekian, seeking to achieve his notions. After examining the strengths of secular ethics parameters from the viewpoint of Malekian, this research found his ethics in his interpretation of the ideal life which he treats as ethics, got a very strong link with his secularist project known as rationality and spirituality. We will analyze, review, and critique his ethics in the following.

Keywords: secular ethics, Mostafa Malakian, global ethics, rationality, spirituality

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Authors: M. A. Yazdi, J. Yang, L. Yihui, H. Su

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The application of recycle waste tires into civil engineering practices, namely asphalt paving mixtures and cementbased materials has been gaining ground across the world. This review summarizes and compares the recent achievements in the area of plain rubberized concrete (PRC), in details. Different treatment methods have been discussed to improve the performance of rubberized Portland cement concrete. The review also includes the effects of size and amount of tire rubbers on mechanical and durability properties of PRC. The microstructure behaviour of the rubberized concrete was detailed.

Keywords: waste rubber aggregates, microstructure, treatment methods, size and content effects

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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

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Authors: Masoud Karimi

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‎Let R be a commutative ring‎. ‎The regular digraph of ideals of R, which is denoted by‎ Γ(R)‎, ‎is a digraph whose vertex-set is the set of all ‎non-‎trivial ideals of R and‎, ‎for every‎ two distinct vertices I and J‎, ‎there is an arc from I to J‎, ‎whenever I contains‎ a non-zero-divisor on J. In this article, ‎we ‎show ‎that an indecomposable ‎Noetherian ring ‎‎‎R ‎is ‎Artinian ‎local ‎if ‎and ‎only ‎if Z(I)=Z(R) ‎for ‎every ‎non-nilpotent ‎ideal ‎‎‎I‎. ‎Then ‎we ‎conclude ‎that ‎‎the ‎girth ‎of‎ Γ(R)‎ ‎is ‎not ‎equal ‎to ‎four.

Keywords: commutative ring‎, ‎girth‎, regular digraph‎, zero-divisor

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Authors: S. Yousefi Oderji, B. Chen, M. A. Yazdi, J. Yang

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This study investigates the influence of water-binder ratio, mineral admixtures (silica fume and ground granulated blast furnace slag), and copper coated steel fiber on fluidity diameter, compressive and flexural strengths of reactive powder concrete (RPC). The test results show that the binary combination of silica fume and blast-furnace slag provided a positive influence on the mechanical properties of RPC. Although the addition of fibers reduced the workability, results indicated a higher mechanical strength in the inclusion of fibers.

Keywords: RPC, steel fiber, fluidity, mechanical properties

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Authors: Aydin Azizi, Poorya Ghafoorpoor Yazdi

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This paper presents the review of the studies on the ergonomics, virtual reality, and work measurement (time study) at the industrial workstations because each of these three individual techniques can be used to improve the design of workstations and task position. The objective of this paper is to give an overall literature review that if there is any relation between these three different techniques. Therefore, it is so important to review the scientific studies to find a better and effective way for improving design of workstations. On the other hand, manufacturers found that instead of using one of the approaches, utilizing the combination of these individual techniques are more effective to reduce the cost and production time.

Keywords: ergonomics, time study, virtual reality, workplace

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Authors: Pouya Karimi, Ramin Ghasemi Shayan

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Conclusions of the sort and setting of observational treatment for immunocompromised patients with fever are confused by the qualities of the hidden disease and the impacts of medications previously got, just as by changing microbiological examples and patterns in sedate obstruction at national and institutional levels. A few frameworks have been proposed to recognize patients who could profit by outpatient anti-infection treatment from patients who require hospitalization. Useful contemplations may choose whether the fundamental checking during the time of neutropenia can be accomplished.

Keywords: microbiology, infectious, neutropenia, epidemiology

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Authors: Ali Karimi, Shabnam Karimifam, Amirhosein Karimi, Farahnaz Pournavvab

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Researches have emphasis on the important role of psychosocial support and appropriate interventions for individuals that involved in serious physical and psychological problems . Patients with AIDS are often discussed in studies, but sometimes the psychological conditions of the people who live with them are ignored. In the present study, while paying attention to the spouses of AIDS patients, the role of supportive interventions has been investigated. the other word , Researchers Show that life skills training causes significant improvement in the mean scores of mothers physical health , mental health, social relationship and ultimately quality of life in the experimental group . The purpose of this study is determine of mental health of Twenty-one wives of patients with HIV+ In Shiraz ( city in sought of Iran) and effects of life skills on promotion of their mental health . Sampling was systematic randomize . These women were selected and invited to the training program based on their husbands' file numbers, who were selected to the counseling center for people with AIDS. first , they filled out GHQ questionnaires . Then , the life skills training for 8 sessions were taught for these women . Results indicated that Psychological condition of wife of patients with HIV+ was not appropriate . Scores of most them were above of cut of point of questionnaires .T test was done . worse scores were Assigned to anxiety and weakness in social functions . In the other hand , life skills have been effective significantly only in social functions of women . Scores of research’s participants in anxiety , depression and total test score were enhanced , but have not been significant . In the main of article , researchers have discussed why life skills training does not have much effect on some emotional problems .Despite the fact that life skills training had a positive effect on these spouses, but due to the stress of women with AIDS spouses, life skills training did not show much effectiveness, and for outstanding effects, there is a need for individual psychological treatments and broader social support.

Keywords: Hiv, aids, social suport, life skills

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Authors: Amir Razmjou, Elika Karbassi Yazdi

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Several direct lithium extraction (DLE) technologies have been developed for Li extraction from different brines. Although laboratory studies showed that they can technically recover Li to 90%, challenges still remain in developing a sustainable process that can serve as a foundation for the lithium dependent low-carbon economy. There is a continuing quest for DLE technologies that do not need extensive pre-treatments, fewer materials, and have simplified extraction processes with high Li selectivity. Here, an overview of DLE technologies will be provided with an emphasis on the basic principles of the materials’ design for the development of membranes with nanochannels and nanopores with Li ion selectivity. We have used a variety of building blocks such as nano-clay, organic frameworks, Graphene/oxide, MXene, etc., to fabricate the membranes. Molecular dynamic simulation (MD) and density functional theory (DFT) were used to reveal new mechanisms by which high Li selectivity was obtained.

Keywords: lithium recovery, membrane, lithium selectivity, decarbonization

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Authors: Seyed Amin Vakili, Sahar Sadat Vakili, Seyed Ehsan Vakili, Nader Abdoli Yazdi

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The main purpose of this paper is to present the Modified Newmark Method of buckling analysis frame considering the effect of the axial load. The discussion will be restricted to plane frameworks containing a constant cross-section for each element. In addition, it is assumed that the frames are prevented from out-of-plane deflection. In this method, stiffness matrix of the structure is considered to be constant. The most important advantage of such a method is that it obtains both upper and lower critical loads. The advanced of the present method is fast convergence, ability to use computer simulations, and ability to model structures with semi-rigid support conditions using linear and rotational spring.

Keywords: buckling, stability, frame, modified newmark method

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Authors: Hamideh Marefat, Eskandar Samadi

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This study examined the effect of semantics on processing ambiguous sentences containing Relative Clauses (RCs) preceded by a complex Determiner Phrase (DP) by Persian-speaking learners of L2 English with different proficiency and Working Memory Capacities (WMCs). The semantic relationship studied was one between the subject of the main clause and one of the DPs in the complex DP to see if, as predicted by Spreading Activation Model, priming one of the DPs through this semantic manipulation affects the L2ers’ preference. The results of a task using Rapid Serial Visual Processing (time-controlled paradigm) showed that manipulation of the relationship between the subject of the main clause and one of the DPs in the complex DP preceding RC has no effect on the choice of the antecedent; rather, the L2ers' processing is guided by the phrase structure information. Moreover, while proficiency did not have any effect on the participants’ preferences, WMC brought about a difference in their preferences, with a DP1 preference by those with a low WMC. This finding supports the chunking hypothesis and the predicate proximity principle, which is the strategy also used by monolingual Persian speakers.

Keywords: semantics, relative clause processing, ambiguity resolution, proficiency, working memory capacity

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Authors: Sara Sharifi Yazdi

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The main purpose of this study is to find out about the reasons and the ways of middle-class married women betrayal via their living world. This is qualitative research, so deep semi-structured, episodic interview techniques and observation techniques were used to collect data; meanwhile, the basic theory method was used to analyze the data. The sample in this research includes 34 women with emotional and sexual relationships out of marriage. The results indicate that some set of conditions created the first spark of change in their opinions. These changes are empowered through both experiences of tolerance and exclusion, so strategies such as distance, compulsive tolerance, counteract, etc. have been used for reacting by the people in this study; besides some of the other consequences of betrayal which can be named are lack of comfort, feeling of deprivation, violence, labeling, guilty feelings of grief, and so on.

Keywords: living world, rejection, admission, betrayal, sexual relationship, marriage

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Authors: Mohammadreza Nezamirad, Azadeh Yazdi, Sepideh Amirahmadian, Nasim Sabetpour, Amirmasoud Hamedi

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In this study, the Reynolds-Stress-Navier-Stokes framework is utilized to investigate the flow inside the diesel injector nozzle. The flow is assumed to be multiphase as the formation of vapor by pressure drop is visualized. For pressure and velocity linkage, the coupled algorithm is used. Since the cavitation phenomenon inherently is unsteady, the quasi-steady approach is utilized for saving time and resources in the current study. Schnerr-Sauer cavitation model is used, which was capable of predicting flow behavior both at the initial and final steps of the cavitation process. Two different turbulent models were used in this study to clarify which one is more capable in predicting cavitation inception and super-cavitation. It was found that K-ε was more compatible with the Shnerr-Sauer cavitation model; therefore, the mentioned model is used for the rest of this study.

Keywords: CFD, RANS, cavitation, fuel, injector

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Authors: Somayeh Khanjani, Hamideh Abolghasemi, Hadi Shirzad, Samaneh Nabavi

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At world market can be currently encountered a wide range of gemological objects that are incorrectly declared, treated, or it concerns completely different materials that try to copy precious objects more or less successfully. Counterfeiting of precious commodities is a problem faced by governments in most countries. Police have seized many counterfeit coins that looked like the real coins and because the feeling to the touch and the weight were very similar to those of real coins. Most people were fooled and believed that the counterfeit coins were real ones. These counterfeit coins may have been made by big criminal organizations. To elucidate the manufacturing process, not only the quantitative analysis of the coins but also the comparison of their morphological characteristics was necessary. Several modern techniques have been applied to prevent counterfeiting of coins. The objective of this study was to demonstrate the potential of X-ray Fluorescence (XRF) technique and the other analytical techniques for example SEM/EDX/WDX, FT-IR/ATR and Raman Spectroscopy. Using four elements (Cu, Ag, Au and Zn) and obtaining XRF for several samples, they could be discriminated. XRF technique and SEM/EDX/WDX are used for study of chemical composition. XRF analyzers provide a fast, accurate, nondestructive method to test the purity and chemistry of all precious metals. XRF is a very promising technique for rapid and non destructive counterfeit coins identification in forensic science.

Keywords: counterfeit coins, X-ray fluorescence, forensic, FT-IR

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Authors: Hamideh S. Shahidi

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This research examines destination image and its impact on tourist revisit intention. Destination images can evolve over time, depending on a number of factors. Due to the multidimensional nature of destination image, the full extent of what might influence that change is not yet fully understood. As a result, the destination image should be measured with a heavy consideration of the variables used. Depending on the time and circumstances, these variables should be adjusted based on the research’s objectives. The aim of this research is to evaluate the image of destinations that may be perceived as risky, such as Iran, from the perspective of European cultural travellers. Further to the goal of understanding the effects of an image on tourists’ decision-making, the research will assess the impact of destination image on the revisit intention using push and pull factors and perceived risks with the potential moderating effect of cultural contact (the direct interaction between the host and the tourists with different culture). In addition, the moderating effect of uncertainty avoidance on revisit intention after Iran’s crisis in 2022 will be measured. Furthermore, the level of uncertainty avoidance between gender and age will be compared.

Keywords: destination image, Iran’s 2022 crisis, revisit intention, uncertainty avoidance

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Authors: C. Tezara, H. Y. Lim, M. H. Yazdi, J. W. Lim, J. P. Siregar

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Natural fibre has become an element in human lives. A lot of researchers have conducted research about natural fibre reinforced polymer. Malaysian government has spent a lot of money on the research funding for researchers and academician especially research on kenaf fibre due to exclusion of tobacco from AFTA (Asean Free Trade Area) list. This work is to investigate the mechanical properties of kenaf fiber reinforced epoxy composite where short kenaf fibre was applied and the mechanical properties of 5%, 10% and 15% wt. of kenaf fibre were added into the mixture of epoxy resin. Hand lay-up process was selected in the fabrication of the specimen for testing. The tensile, flexural and impact test were conducted following ASTM D3039, ASTM D790 and ASTM D256 accordingly. From the experiment result, the effect of different fiber loading of the specimen on its mechanical properties would be analyzed and compared in the result and discussion.

Keywords: Kenaf fibre, epoxy, composite, fibre

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Authors: V. Sadeghi Balkanlou, M. Reza Bagerzadeh Karimi, A. Hasanbakloo, B. Bagheri Azar

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In this paper, the behavior of different types of DST columns has been studied under bending load. Briefly, composite columns consist of an internal carbon steel tube and an external stainless steel wall that the between the walls are filled with concrete. Composite columns are expected to combine the advantages of all three materials and have the advantage of high flexural stiffness of CFDST columns. In this research, ABAQUS software is used for finite element analysis then the results of ultimate strength of the composite sections are illustrated.

Keywords: DST, stainless steel, carbon steel, ABAQUS, straigh columns, tapered columns

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Authors: Fariborz Ahmadi, Hamid Salehi, Khosrow Karimi

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A sensor network is set of sensor nodes that cooperate together to perform a predefined tasks. The important problem in this network is power consumption. So, in this paper one algorithm based on the eurygaster life is introduced to minimize power consumption by the nodes of these networks. In this method the search space of problem is divided into several partitions and each partition is investigated separately. The evaluation results show that our approach is more efficient in comparison to other evolutionary algorithm like genetic algorithm.

Keywords: evolutionary computation, genetic algorithm, particle swarm optimization, sensor network optimization

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Authors: Uriel Martinez-Hernandez, Luke W. Boorman, Hamideh Kerdegari, Tony J. Prescott

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In this paper, we present architecture for the study of telepresence, immersion and human-robot interaction. The architecture is built around a wearable interface, developed here, that provides the human with visual, audio and tactile feedback from a remote location. We have chosen to interface the system with the iCub humanoid robot, as it mimics many human sensory modalities, such as vision, with gaze control and tactile feedback. This allows for a straightforward integration of multiple sensory modalities, but also offers a more complete immersion experience for the human. These systems are integrated, controlled and synchronised by an architecture developed for telepresence and human-robot interaction. Our wearable interface allows human participants to observe and explore a remote location, while also being able to communicate verbally with humans located in the remote environment. Our approach has been tested from local, domestic and business venues, using wired, wireless and Internet based connections. This has involved the implementation of data compression to maintain data quality to improve the immersion experience. Initial testing has shown the wearable interface to be robust. The system will endow humans with the ability to explore and interact with other humans at remote locations using multiple sensing modalities.

Keywords: telepresence, telerobotics, human-robot interaction, virtual reality

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Authors: Mohammadreza Nezamirad, Sepideh Amirahmadian, Nasim Sabetpour, Azadeh Yazdi, Amirmasoud Hamedi

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Cavitation inside the diesel injector nozzle is investigated numerically in this study. Reynolds Stress Navier Stokes set of equations (RANS) are utilized to investigate flow behavior inside the nozzle numerically. Moreover, K-ε turbulent model is found to be a better approach comparing to K-ω turbulent model. Winklhofer rectangular shape nozzle is also simulated in order to verify the current numerical scheme, and with, mass flow rate approach, the current solution is verified. Afterward, a six-hole real-size nozzle was simulated, and it was found that among different fuels used in this study with the same condition, diesel fuel provides the largest length of cavitation. Also, it was found that at the same boundary condition, RME fuel leads to the highest value of discharge coefficient and mass flow rate.

Keywords: cavitation, diesel fuel, CFD, real size nozzle, discharge coefficient

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Authors: Javad Karimi, Prashanth Konda Gokuldoss

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Microstructural inhomogeneity in additively manufactured materials affects the material properties. The present study aims in minimizing such microstructural inhomogeneity in Ti6Al4V alloy fabricated using selective laser melting (SLM) from the gas atomized powder. A detailed and systematic study of the effect of remelting on the microstructure and mechanical properties of Ti6Al4V manufactured by SLM was compared with electron beam melting and spark plasma sintering.

Keywords: additive manufacturing, selective laser melting, Ti6Al4V, microstructure

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Authors: Navid Zarif Karimi, Giangiacomo Minak, Parnian Kianfar

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Drilling is one of the most frequently used machining process for glass fiber reinforced polymer composites due to the need for structural joining. In drilling of composite laminates, interlaminar cracking, or delamination, has a detrimental effect on the compressive strength of these materials. The delamination can be controlled by adopting proper drilling condition. In this paper, the effect of feed rate, cutting speed and drill point angle on delamination and residual compressive strength of drilled GFRPs is studied. The objective is to find optimal conditions for maximum residual compressive strength.

Keywords: composite material, delamination, drilling, residual compressive strength

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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

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Authors: Mohammadreza Nezamirad, Nasim Sabetpour, Azadeh Yazdi, Amirmasoud Hamedi

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In this study OpenFOAM 4.4.2 was used to investigate flow inside the coronary artery of the heart. This step is the first step of our future project, which is to include conjugate heat transfer of the heart with three main coronary arteries. Three different velocities were used as inlet boundary conditions to see the effect of velocity increase on velocity, pressure, and wall shear of the coronary artery. Also, three different fluids, namely the University of Wisconsin solution, gelatin, and blood was used to investigate the effect of different fluids on flow inside the coronary artery. A code based on Reynolds Stress Navier Stokes (RANS) equations was written and implemented with the real boundary condition that was calculated based on MRI images. In order to improve the accuracy of the current numerical scheme, hex dominant mesh is utilized. When the inlet velocity increases to 0.5 m/s, velocity, wall shear stress, and pressure increase at the narrower parts.

Keywords: CFD, simulation, OpenFOAM, heart

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Authors: Zahra Karimi

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The purpose of this paper is to investigate the role and importance of accounting for the implementation of the VAT system in the country. For this purpose, after the evaluation of specifications and important advantages of the VAT and the experience of other countries, important role of accounting in the precise determination of taxes, strategies to prevent escape of tax and realization of tax revenues of government, necessary control to increase the efficiency and accuracy of the calculations discussed. High-dependence of government to borrowing from the banking system and inflation tax and a low general ratio of tax revenues to GDP, indicating the inadequacy of the country's tax system. It can be said that being of a proper accounting system consider as a prerequisite for successful implementation of VAT in the country. So it's crucial for accountants with responsibility announce its full fitness to meet the requirements. For successful implementation of VAT as such a multi-stage sales tax and the tax on the price.

Keywords: accounting, tax reform in Iran, Value Added Tax (VAT), economic

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Authors: Seyed Reza Mirdehghan, Mohammad Reza Haeri Yazdi

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In this paper, the stability and the performance of a two-degree-of-freedom robot under an interaction with a unknown environment has been investigated. The time when the robot returns to its initial position after an interaction and the primary resistance of the robot against the impact must be reduced. Thus, the applied torque on the motor will be reduced. The impedance control is an appropriate method for robot control in these conditions. The stability of the robot at interaction moment was transformed to be a robust stability problem. The dynamic of the unknown environment was modeled as a weight function and the stability of the robot under an interaction with the environment has been investigated using the robust control concept. To improve the performance of the system, a force controller has been designed which the normalized impedance after interaction has been reduced. The resistance of the robot has been considered as a normalized cost function and its value was 0.593. The results has showed reduction of resistance of the robot against impact and the reduction of convergence time by lower than one second.

Keywords: impedance control, control system, robots, interaction

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Authors: Seyed Amin Vakili, Sahar Sadat Vakili, Seyed Ehsan Vakili, Nader Abdoli Yazdi

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The aim of this paper is to examine the behavior of elastic stability of reinforced and composite concrete struts with axial loads. The objective of this study is to verify the ability of the Modified Newmark Method to include geometric non-linearity in addition to non-linearity due to cracking, and also to show the advantage of the established method to reconsider an ignored minor parameter in mathematical modeling, such as the effect of the cracking by extra geometric bending moment Ny on cross-section properties. The purpose of this investigation is not to present some new results for the instability of reinforced or composite concrete columns. Therefore, no kinds of non-linearity involved in the problem are considered here. Only as mentioned, it is a part of the verification of the new established method to solve two kinds of non-linearity P- δ effect and cracking together simultaneously. However, the Modified Newmark Method can be used to solve non-linearity of materials and time-dependent behavior of concrete. However, since it is out of the scope of this article, it is not considered.

Keywords: stability, buckling, modified newmark method, reinforced

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