javad sharifi

The Grey Wolf Optimization (GWO) algorithm, a computational optimization method inspired by the social behavior of wolves, has recently been effectively used to solve optimization and routing problems. This paper proposes a metaheuristic approach named Grey Wolf Optimization (GWO) inspired by grey wolves. Four types of grey wolves, namely alpha, beta, delta, and omega, are employed to simulate the leadership hierarchy. Additionally, three main stages of hunting—searching for prey, encircling prey, and attacking prey—are implemented. Overall, this paper examines how the combination of the chessboard method and the Grey Wolf Optimization algorithm can optimize the path planning of a mobile robot in both static and dynamic environments. The objective of this research is to shorten the path, minimize the final position to the target, avoid collisions, and prevent local minima. This paper investigates the Grey Wolf Optimization algorithm as an effective method for solving the routing problem. Simulation results demonstrate that using this algorithm leads to significant improvements in the robot's efficiency and enhanced path-planning performance in complex and dynamic environments

Here, we are going to design a stabilized controller for the Stewart platform. A new model of the Stewart platform will be presented which has many applications in the industry. The dynamics of the Stewart platform are presented in two separate systems. One system for the linear motion of the Stewart platform and another system for its angular moment. In addition, we use a quaternion-based method to analyze the dynamics of the Stewart platform. The 6-DOF Stewart-Platform dynamics is nonlinear, then at first by using the feedback linearization method we convert the nonlinear dynamics in new space as a linear state-space. Then we design an -stabilized controller for this platform in linear space. A linear controller for linear motion systems will be designed but for the second system, it must first be linearization and then design controller for it. After design of stabilized-LQR controller for linearized space system, we convert our design to original nonlinear space and exert on system for simulations. The simulations results show that we will succeed to design a controller for the Stewart platform.

Here, we are going to design a stabilized controller for the Stewart platform. A new model of the Stewart platform will be presented which has many applications in the industry. The dynamics of the Stewart platform are presented in two separate systems. One system for the linear motion of the Stewart platform and another system for its angular moment. In addition, we use a quaternion-based method to analyze the dynamics of the Stewart platform. The 6-DOF Stewart-Platform dynamics is nonlinear, then at first by using the feedback linearization method we convert the nonlinear dynamics in new space as a linear state-space. Then we design an -stabilized controller for this platform in linear space. A linear controller for linear motion systems will be designed but for the second system, it must first be linearization and then design controller for it. After design of stabilized-LQR controller for linearized space system, we convert our design to original nonlinear space and exert on system for simulations. The simulations results show that we will succeed to design a controller for the Stewart platform.

In this article, we introduce a new model of the Stewart Platform robot with rotary servo motors that is very cheap to build. First of all, studied a kinematic of the Stewart Platform, and then, with a simple geometric analysis, we’ll find the angles of servo motors for a specified position. Because of using the angular or rotational Servo motors in this model, sensitivity analysis is a crucial point. After sensitivity analysis of the model, we show the sensitivity level of a type of rotary servo in different coordinates x, y, and z.

Some models of linear control system schemas are developed here for quantum linear systems. The most important linear devices in quantum optics are introduced with their differential equations. These linear quantum systems are zero-order and first-order transfer functions with one pole and one zero. We mathematical compute transfer function of different interconnections by using zero-order and first-order systems. for instance, by designing series and feedback interconnection, we will obtain higher-order quantum linear systems. Also, we will analyze a closed-loop feedback of a first-order linear quantum system containing a gain in feedback path

Modeling and identification of the system of Iranian cars is one of the most basic needs of automotive and consumer groups and has a broad role for safe driving. It has happened with speed increasing or changing of shift gear, effects on water temperature or the car's torque has been observed, but how much and how intensely and with what algorithm this effect is identifiable, can be modeled and controlled, because up to now an algorithm that can show these effects during driving has not existed that what reaction should be made by the vehicle when it occurs untimely. Identification of each automobile sector lonely has been considered in recent decades, and in some cases, some relationships have been investigated, but from a control point of view, the lack of comprehensive effects of all parts of a car on the other parts is to get an identification algorithm in the automotive industry, and it requires more in-depth studies, because the complexity of the behavior of different parts of the car has made many attempts not fully understandable. Hear it's supposed to control different parameters of Iranian vehicles by using LS estimation and fuzzy logic controller and the simulation is done in Matlab software by storing and validating data of a Dena vehicle through CAN network.

Seismic technologies have been recently evolved into a central position in reservoir characterization and monitoring with the recent improvements and its cost efficiency. In this regards rock physics play an essential role by connecting seismic data to the presence of in-situ hydrocarbons. Modeling the effects of pore fluids on rock velocity and density is an essential part which normally is used to detect the influence of pore fluids on seismic signature. In recent years, one of the most important developments in rock physics has been the fast progress toward quantifying the relations between geologic processes and geophysical signatures. This quantification is normally done through application of different types of rock physics models: theoretical, empirical and hybrid models. However, fluid substitution methods make it possible to predict the elastic response of a rock saturated with one type of fluid from the elastic response of the same rock saturated with another fluid. This infers that seismic wave velocity could be predicted in geological formations for any possible hydrocarbon signature based on the measured velocities in the counterpart water-saturated formations. Therefore, fluid substitution is an important part of any seismic rock physics analysis (e.g., amplitude versus offset and time lapse studies), and can provides an efficient tool for fluid identification and quantification in a given reservoir. Fluid substitution commonly performed by using Gassmann’s equation which has already being discussed frequently. In general, Gassmann applicability is questionable in carbonates as it can under-predict, over- predict or even correctly predict seismic velocity changes by changing pore fluids. This is normally attributed to the violation of some of the Gassmann assumptions like their pore space connectivity in carbonates. The goal of this study is to perform fluid substitution and seismic modelling of one of the Iranian carbonate oil field to investigate validity of Xu and Payne (2009) for the carbonate field. This model generally emphasizes the behavior of rocks related to different pore types. Fluid substitution results are then compared and verified with the laboratory measurements of core sample taken from the same reservoir intervals. The final output of fluid substitution is saturated bulk modulus, shear modulus and density for either of the defined saturation scenarios. Our results show that Xu and Payne (2009) can be used on the studied reservoir. Also, the obtained results were confirmed using other source of information like ultrasonic measurements. Furthermore, this model was used to model frame bulk modulus as an input into the fluid substitution purposes. The results of the fluid substitution confirm the applicability of the introduced approach to discriminate different fluid responses in this field.

The present study was carried out in Roein River of Esfarain, North of Khorasan Province, to investigate the effect of salmon farm wastewater on water quality indices. Sampling in two warm and cold seasons from July 2016 to March 2017 was carried out by measuring some of the physicochemical parameters of water including temperature, pH, EC, BOD, TDS, NO3, PO4 and NH4 as well as total microbial load. According to the results of this study, the parameters NH4, BOD, PO4 and microbial load after reaching their maximum level after the second station, had a decreasing trend, which according to the expected chart, with increasing distance from the fourth station They will reach their initial value. NO3 and PH were similar to the same, with the difference that their maximum value was at the second station, and then fell to their initial value. In other words, the river has a positive impact on the reduction of the above-mentioned physicochemical factors. The TDS and the EC, though the process of modifying it was incremental, it did not seem to be a limiting factor by looking at their changes in their magnitude, even at a distance from the fourth station. Temperature was the only factor that its changes did not correlate with the river and it was 100% dependent on the temperature of the environment, which increased in summer and decreased in the winter, and based on the results, it was found that the decrease in temperature was greater than its increase and the increase in the distance from the farm has had a negative impact on it.

Nowadays, cleanrooms have become impartible parts of an industry with sensitive products. Sources of contamination in cleanrooms are impaired performance and quality sensitive products in the cleanrooms .The aim of this study was to evaluate the efficiency of HEPA filter and check the concentration and number of airborne particles in cleanrooms for pharmaceutical industry.
This study an experimental study that was conducted at 2015 in the pharmaceutical industry. The method of this study investigated the HEPA filter leakage test and number concentration of particles in the cleanroom according to the ISO 14644 – 3 standards .17 HEPA filters were studied for cleanroom with cleanliness class B, C and D. The leakage filters using aerosol photometer, aerosol generator and Positive injection pump and the Particle Counter was used to measure the concentration of particles.
In HEPA filter leakage test, 17 filters have been tested and only 3) 18 %( filters indicate leakage and had an efficiency lower than standard limits. Other filters had a no leakage and show acceptable results (99.99%). The results show that with increasing velocity, permeability and pressure drop in the range of particle size increased and decreased quality factor. In addition, the measurement results show that the concentration of particles in the cleanroom the average density of particles pollution in the cleanliness class B, C and D of the ISO-14644 standard limits was lower.
the study showed that the airborne particles concentration are lower than the permissible limits which determined by ISO 14644 standards. Interestingly in this study, the impact of high air quality cleanroom was a good performance HEPA filters.

Nowadays, many modern industries require an environment with no contamination by particles and bacteria. An enclosed clean room environment is a place where parameters such as airborne particles, temperature, humidity, air pressure and air flow pattern is controlled. The aim of this study was to evaluate functional parameters of a clean room in a selected pharmaceutical industry.
Material and This study was an experimental study conducted in 2015 in a pharmaceutical industry. The air flow rate and flow rate with airflow capture hood was used and multi sensor devices for measuring temperature, humidity and pressure of multi-sensor device. HEPA filter leakage test and counting concentration of particles in the cleanroom was done according to the ISO 14644 – 3(2005) standards using aerosol photometer and aerosol generator. In this study, 6 clean room relating to the 3 cleanliness classes B, C and D (in accordance with standard EU GMP) were evaluated. Meanwhile, both the 2 and 3-dimensional flow model using Computational Fluid Dynamics Software was simulated in this study.
Measuring the parameters flow rate and air velocity, temperature (average temperature 20 ° C), relative humidity (below 50%), pressure (pressure less than 15 psi) for every three classes of cleanliness are all acceptable and less than the proposed standard. Furthermore, the results of modelling showed that the pattern of air flow in the room is correct paths in circulation. In the case of leakage test filters, the filter 29 filters tested 5 was leaking and ultimately determine the HEPA filters remove particles that average efficiency is 99.99%.
This study showed that the high volume and good quality of air entering the clean room affect the optimal efficiency and air flow rate, pressure drop and air penetration of the HEPA filters Also, the results of study show that the concentration of airborne particles in clean room is depend on the air flow rate and speed and adopting a good air flow pattern will affect the particle concentration.

Cancer is one of the leading causes of human death. The discovery of new generations of low-cost anticancer drugs with high efficacy and low toxicity is necessary, and is only possible by screening medicinal plants with prior knowledge.
In this study, the bioactivities of three medicinal plants from India, including Alstonia scholaris, Alstonia venenata, and Moringa oleifera, were investigated.
From each plant, hexane, benzene, isopropanol, methanol, and water extracts were prepared. Cytotoxicity assays were determined by Trypan blue exclusion, MTT, and apoptotic methods. Antioxidant activities were assayed by superoxide scavenging, hydroxyl radical scavenging, and lipid peroxidation.
Among the extracts tested for cytotoxicity on DLA cells, the most active extracts from A. scholaris and A. venenata were selected (extracts from M. oleifera did not show 100% cytotoxicity even at a dose of 500 µg/mL, so it was not considered for determining EC50 value), and their EC50 values were determined. Among the extracts of A. scholaris, hexane extract of stem bark showed an EC50 value of 68.75 µg/mL, while n-hexane extract of the leaves showed a higher EC50 value of 118.75 µg/mL. A. venenata showed significant in vitro superoxide scavenging activity, superior to that of quercetin. A. venenata showed less superoxide scavenging activity. The IC50 values of hexane extract (A. scholaris), isopropanol extract (A. venenata), and quercetin were 90.5 ± 6.2, 7.5 ± 1.2, and 31.5 ± 2.5 µg/mL, respectively.
The hexane extract of stem bark from A. scholaris and isopropanol extract of leaves from A. venenata are candidate materials for the discovery of a new generation of anticancer drugs to combat diseases such as lymphoma and leukemia. These can also be used as antioxidants in dietary supplements.

Nowadays more than half of the populations in the world are suffering from dandruff. Malassezia fungus is an important factor in causing dandruff as it may stimulate cytokine production by keratinocytes (epidermal cells that synthesize keratin) and inflammatory pathways. As dandruff is a hurting issue for people, a lot of efforts are being done for treatment. Many reports based on medicinal plants, seem to be more effective in curing mentioned concern. The aim of this research was to investigate a clinical trial for dandruff therapy by Zinc L-pyrrolidone carboxylic acid (Zinc-PCA) and pirocton olamine in combination with six medicinal plant extracts.Patients and In this study, the combination of Punica granatum L, Rosmarinus officinalis L, Matricaria chamomilla L, Urtica dioica L, Mentha piperita L., and Salvia officinalis L. methanolic extracts with Pirocton Olamine and Zinc-PCA in the shampoo form were tested on 30 patients with dandruff on hair within a period of two months. Chronic dandruff of 15 patients were highly removed in the second week, 12 other patients suffering from dandruff were seen with dandruff removal after 28 days, while remaining sufferers expressed satisfaction at the end of the fifth week. Based on the results, medicinal plant extracts have marvelous effects on dandruff removal with fewer side effects, though it takes long time to treat the mentioned concern. The results show that applying the combination of medicinal plant extracts and natural ingredients with chemical compounds in pharmaceutical industry can optimize treatment.

Viruses are one of the major reasons of gastrointestinal disease worldwide, and commonly infect children less than five years of age in developing countries. The current study aimed to determine the frequency of adenoviruses, rotaviruses and noroviruses among diarrhea samples collected from infants of Zabol, south-east of Iran. This study is the first investigation of adenoviruses, rotaviruses and noroviruses among diarrhea samples in Zabol.Patients and In this study, eighty-two diarrhea stool samples were collected from infants aged < 1 to 12 months admitted to the hospital, internal laboratory and central laboratory of Zabol, Iran. All samples were subjected to the rapid immunochromatography assay. The results showed that the frequency of rotaviruses, adenoviruses and noroviruses among infants with diarrhea were 70.20%, 20.30% and 9.50%, respectively. There were 50 subjects aged one to five months and 2 subjects aged nine to twelve months. The results of geographical distribution showed that the number of infants living in rural and urban areas with these viruses were 50 and 32, respectively. Rotaviruses were most common in rural and urban infants with 42 and 10 cases, respectively. Regarding the feeding patterns of infants with diarrhea, mixed feeding and breast feeding were found in 51 and 31 cases, respectively. In conclusion, the results of our study showed that the major viral pathogens that caused infantile diarrhea in Zabol city were rotaviruses followed by adenoviruses and noroviruses. The results of our study can useful for prosperous control of infantile diarrhea.