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In this paper, an adaptive robust tracking control system for an unmanned quadrotor is designed .Quadrotor placed in category of rotary wing aerial vehicle, and it is an under actuated and inherently unstable system. Also the dynamic model of system is nonlinear and along with the Uncertainty, therefore it is required to design a robust control system for stabilization and tracking the desired path. This system must be capable to retain the quadrotor balance in the presence of the disturbance, undesired aerodynamical forces and Measurement error of constant parameters. The suggested controller in this paper consists of two inner and outer control loops. Inner loop controls the Euler angles and outer loop is for control the quadrotor position and translational motion, and calculating the desired angles for trajectory tracking. In this paper by utilizing the adaptive sliding mode, the controller has been designed which is no need to be given the uncertainty range and the upper bound of it will be estimated as a scalar number. In order to prevent from diverging adaptive parameters, the sigma-modification is used in adaption laws and also to achieve suitable performance in various load, the total mass is estimated adaptively. The control design is based on the Lyapunov theory and the robust stability of system in the presence of the disturbance have been shown.

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This study, deals with the investigation of the accuracy and performance of a novel method for simulation of oscillating wave surge converter (OWSC). The OWSC is an instrument with one degree freedom mounted in near shore areas which oscillates back and forth. This device is used to harvest sea wave energy. The developed model is based on the well-known volume of fluid (VOF) method. Due to the nature of the OWSC motion, the VOF method in conjunction with unstructured dynamical grid mesh has been used in the literature. But in this study, a structured grid mesh is employed which facilitates the numerical preparation and the speed of simulation process. The results are compared with the experimental data and the results of numerical method in the literature by dynamical grid mesh. This comparison shows the high accuracy of the developed model in this study. The model validation is performed in an extreme condition with steep waves which need an accurate numerical scheme. The external forces including power take off (PTO) forces are also simulated. The capture factor, energy absorption condition and the effect of PTO on angle, angular velocity and slamming of the OWSC are also investigated. Finally, the effect of wave height and the PTO stiffness on the capture factor and absorbed energy by the OWSC for waves with a specific period are investigated.

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Nowadays, gums are used in cereal and flour products to replace gluten by optimizing physicochemical and rheological properties. In this study, with the aim of improving the rheological properties of the dough compared to the control sample, the effect of different concentrations of guar gum, xanthan and pectin gums (0.3, 0.6 and 0.9%) in terms of weight / weight percentage based on rice flour of Nemat  and Neda cultivars was examined. Based on the results of the viscosity properties, the highest Peak viscosity is in Nemat and Neda cultivars with the addition of guar (0.9%) and the lowest Peak viscosity is in Nemat cultivar without adding gum or control sample. The results show that with increasing guar and increasing the concentration of added guar, the tendency to absorb water increases and the volumetric expansion of the dough will increase. The greatest effect on the rate of breakdown viscosity was observed in Nemat cultivar with the addition of xanthan gum and the highest rate of breakdown viscosity was observed in Neda cultivar with increasing guar (0.9%). Due to the decreasing trend on the rate of breakdown, we find that xanthan is not a suitable hydrocolloid to improve the rheological properties of rice flour paste of Nemat cultivar. The highest rate of setback viscosity was observed in both Nemat and Neda cultivars with an increase of 0.3% and the lowest rate was in the control sample. Comparison of the average of statistical data shows that the highest final viscosity in both Nemat and Neda cultivars with an increase in guar 0.9% and the lowest in the control sample. It can be concluded that increasing the gums used in this study increases the tendency of the final product or product to dry after cooling.