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In this paper, behavior of teleoperation systems with modeling error and delay time error in Smith predictor is discussed. In teleoperation systems, modeling error is inevitable. This paper discusses stability of teleoperation systems with modeling error. First, error of delay time in teleoperation systems by using of Internet as communication channel is considered and the performance of Smith predictor in teleoperation systems with delay time error is discussed. Next, a new structure for teleoperation system is proposed. An adaptive filter is integrated into the new structure for determination of delay time in communication channel. The new structure augments wave variables and Smith predictor to provide an effective method for teleoperation systems. Along with the adaptive filter, this new structure is shown to overcome instability due to the variability of the delay times. Simulations results show significant improvements in the system performance.

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Studying the perception of time in everyday life of Iranian actors is the purpose of this article. Sociological studying makes the basis of our analysis of time. Thus, we believe that the perception of time and the way the actors face it in their everyday life are formed socially and take different patterns in social interactions. The main purpose of this paper is to present a sociological analysis about one of the everyday life realities, “the perception of time” or more precisely “the awareness” that exists around the time in everyday life and conducts their actions.The grounded theory was used for this research and the research samples were chosen from among urban and rural men and women.  The research findingd indicated the “fluidity of time perception” and that the perception of time like other knowledge categories has horizon or background by which individuals confirm it.The findings confirm that benefiting of such fields as urban or rural, or living in society with special stage of development makes special kind of awareness about time acceptable for individuals who expose to it.The gender creates different cognition over time and leads men and women to have more coexistence with specific dimentions of time. Also the actors see such variations different with respect to the specific way of living, life cycle social roles and social disorders. Under these conditions, they choose special strategies for controlling and managing the time; delaying and scrutinizing strategies are the most important of them.  

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Increasing real time services in multimedia environments has initiated a new phenomenon in data communication. This paper analyzes delay in multimedia environments focusing on multi-point to point communication [1]. We separate the playtime delay in a point-to-point transmission and propose an optimization scenario for each part. It is proved that sum of the normalized path delay for point-to-point connections is invariant and based on this property, the playtime for delay-sensitive media has been minimized. We have shown that in transmission media, priority queuing is an effective solution where in the receiver side, waiting time for playtime scheduling and queuing discipline are two main factors. It is shown that there is a compromise between packet loss and packet departure time in the receiver side where the acceptable packet loss can adjust the playtime delay adaptively. Theoretical analysis for priority assignment, queuing technique and performance evaluation in different classes of queuing with different playtime scheduling are given.

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According to the additional clause (1997) of Article 1082 in Iranian Civil Code and drawing upon the new legal form of observation of inflation indices, the Mahr can be estimated in terms of the current rate. Of course this form is different from other justifications such as delayed payment penalty and stipulations. This distinction is shown by introducing and comparing these forms together. In the same way estimating Mahr in terms of the current rate needs fulfilling some formal and essential legal conditions which are discussed in this paper as the main aim of the present article. So, a number of vage issues and questions are raised and efforts are made to explain and answer them according to the legal historical ground, theoretical foundation and general rules of interpretation of laws.

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In this paper, the problem of decentralized model reference adaptive control (MRAC) for a class of large scale systems with time varying delay in interconnected term and input and state delays is studied. To compensate the effect of input delay indirectly, a Smith predictor built on. To handle the effects of the time delays in input, the adaptive controller part includes two auxiliary dynamic filters with time varying gains. Under a usual assumption that the interconnections are assumed to be Lipschitz in its variables and uniformly in time with unknown Lipschitz gains, the difficulties from unknown interconnections are dealt. A generalized error is defined and by a suitable Lyapunov function, an adaptive controller is designed to stabilize it. Decentralized adaptive feedback controller can render the generalized error system uniformly ultimately bounded stable is designed. Finally, a numerical example is given to demonstrate the feasibility and effectiveness of the proposed design techniques. 
 



 

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Rutilus frisii kutum is one of the most important and economic fish in our country. Since the passage of time and temperature on the quality of fish caught continuous reduced, so decreasing the temperature by ice storage, immediately after fishing, is a good methodto avoid loss of quality fall. Inthisstudy change of some quality parameters of R. frisii kutum during ice storage for 16 days such as expressible moisture, pH, thiobarbituric acid, total volatile nitrogen, free fatty acid, psychrotrophic count and total viable count to assessment the effects of delay of putting ice on fish caught and loss in quality product was measured. According to these results, the chemical and bacterial indicators were increased significantly during the storage in ice. Delayed icing caused the higher degree of oxidation. Furthermore, delayed icing, lack of attention to correct method of storage, and ice storage for a long time can decrease the quality of meat. It is better that fish be ice storage after fishing immediately. Shorten the shelf life of the product on the ice and accelerate cooling, helps to increase the shelf life of the product.  

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Elastic optical network has recently raised immense research efforts to serve as a highly-flexible and scalable platform required by the emerging on-demand cloud applications. Besides, virtual network embedding on top of elastic optical network has been introduced as a promising solution to fine-grain sharing of node processing and optical bandwidth resources. Owing to the diverse delay sensitivity requirements of heterogeneous cloud applications, an efficient double queue scheduler is presented, to deliver differentiated setup delay embedding in a fair manner.  Extensive numerical simulations carried out over two prototype substrate networks, demonstrated that our proposed scheme can concomitantly enhance blocking and fairness performance of the single queue scheduler over wide range of offered traffic loads.

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This paper addresses robust state estimation problem for Genetic Regulatory Networks (GRNs). A delay-dependent robust                          filter is designed for a realistic nonlinear stochastic model of GRN. The model provided is the most complete model used in the literature so far, in the sense that delays are time-varying, parameter uncertainties (time-varying and norm-bounded) are considered, stochastic noises appear at the state equations as well as the measurement equations. Besides, stochastic noise and disturbance are considered simultaneously in this model. Using a proper Lyapunov-Krasovskii functional based on delay decomposition approach, sufficient conditions for the existence of the filter are derived in terms of linear matrix inequality (LMI). These conditions ensure robust asymptotic mean square stability of the filtering error dynamics with a prescribed  disturbance attenuation level. By use of delay decomposition approach and using a lemma containing a stochastic integral inequality, the obtained conditions are delay-dependent and have less conservativeness. The filter parameters are determined then, as the solution of another LMI. A simulation study is also given to show the effectiveness of the proposed filter design procedure.

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The aim of this research is to study effective parameters of incompressible, viscous and unsteady flow in Turbomachinary cascades using the Spalart-Allmaras (SA) RANS-Based Delayed Detached Eddy Simulation method. Detached Eddy Simulation is a hybrid RANS-LES method that was purposed in order to reduce LES computational cost. In this method, near wall, in boundary layer, RANS turbulence model is used and away from the wall, method automatically switches to LES. To develop original DES method (DES97), DDES was purposed to solve modeled stress depletion problem. A new function is introduced to the DDES model to make the transition from RANS to LES grid cell size independent. The numerical method that is used for discretization is staggered finite-volume and the grid is Cartesian. Also hybrid differencing scheme (the scheme compound of central differencing scheme and upwind scheme) to discretization of convection terms in Navier-Stokes is used. The results of this study compared with the results of simulation with SA turbulence model.

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A robust delayed plant-input mapping methodology is proposed to control of industrial plants through wireless communication networks. In this way, firstly a robust classic controller is designed for original continuous-time system according to a predefined uncertainty bound. Then compensation of the destabilizing effects of a constant delay is then concerned. For this purpose, a digital controller is designed using D-K iteration method. Finally this algorithm is modified to overcome the wireless network effects, e.g. random network delay, packet loss and packet disordering. Simulation studies on two benchmark industrial problems demonstrate the effectiveness of the proposed method for uncertain plants.

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There are several direct and indirect methods to estimate in-situ stress. Generally in all methods rock breaking is required for in-situ stress determination in which broken rock response is due to displacement/strain or hydraulic pressure. Hydraulic fracture, Relief method, Jacking method, Strain Recovery method and borehole breakout method are known as direct methods. On other hand, the indirect methods estimation is based on changing of some physical or other properties of rock which represent from applying stress. Even though, these methods are also laboratory methods, however, indirect techniques are non destructive, low cost and simple for estimation of in-situ stress. This is the reason which has motivated rock mechanics researchers to use Acoustic Emission (AE) and Deformation Rate Analysis (DRA) methods. Results aaccuracy of the methods are affected by rock texture, cracks type and delay time. The delay time means that time between coring in field and test time for stress measuring. The capability of AE and DRA methods in stress estimation have been assessed in this research and the effect of delay time on estimated stress are worked out. AE and DRA tests were carried out on the samples for estimation of in-situ stress. Stress has a nature tensor with 9 components, in which six of them are independent components and the rest (3 components) are dependent components. Each component of tensor need to be determined with a total of six tensors which required six tests in six different orientations. Six series of samples with different delay times (4 series with 20 days as delay time and 2 series with 5 years as delay time) were obtained from abutments of Seyamreh dam (South-West of Iran). AE and DRA tests were carried out. The values obtain from these AE and DRA tests were compared with result of Hydraulic Fracturing (HF) method which carried out at the same locations. The comparison shows a good conformity between the result of AE and DRA methods with those of HF method for horizontal stresses where as there are variations noticed for vertical stress values. This may be due to this fact that in the HF method assumes the vertical stress is equal to overburden weight which is not correct assumption. The other result of this assumption is that the others two principal stresses are horizontal. It is obvious if one of principal stresses would be vertical the two other have to be horizontal. Furthermore, this investigation infers that delay time is very important parameter on the results obtained by AE & DRA methods. Thus better accuracy can be computed when the delay time is minimized.

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In this paper, the effect of passengers on the chaotic vibrations of the full vehicle model is investigated. The vehicle system is modeled as a full nonlinear seven-degrees of freedom with an aditional one -degree of freedom for each passenger. Four passengers are added sequentially to the vehicle that produces eight, nine, ten and eleven degrees of freedom models, respectively. The effect of passengers on the chaotic vibrations of vehicle is studied for the above mentioned cases. The nonlinearities of the system is due to the nonlinear springs and dampers that are used in the suspension and tires. Roughness of the road surface is considered as sinusoidal waveforms with time delay for tires. The governing differential equations are extracted by Newton-Euler laws and are solved numerically via forth-order Runge-Kutta method. The analysis is conducted first by detecting the unstable regions of the system and then followed by a specific excitation frequency, where there is possibility of chaos. The dynamic behavior of the system is investigated by special nonlinear techniques such as bifurcation diagram, power spectrum, pioncare section and maximum lyapunov exponents. The obtained results represents different types of nonlinear dynamic absorbers in the vehicle with and without passengers. Consideration the passengers and increasing the mass of the system can resultes in a significant changes in the dynamic behavior where improves the chaotic vibration of the vehicle.

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The sixth section of chapter V of the UN's convention of contracts for international sale of goods which deals with effects of sale under preservation of goods title, contains an article that permits resale of goods. In Iranian law, we cannot find any provision that explicitly contains authority to resell goods such as the Article 88 of UN's convention. Therefore, studying in Iranian law the possibility of resale of goods is scientifically useful. Then, we selected three titles in Iranian positive law and Islamic jurisprudence, namely ''Khiyar e takhir e saman" (Option of delayed payment), "hagh e habs" (Carrier's right to sell the goods) and finally "Taghas" (Retaliation) to make closer the national law to the right of resale of goods in international area and compare with it. According to the author's opinion, the possibility of resale in UN's convention is based on the essays of goods processor to determe his duties and prevent further damages. We can see some aspects of these purposes in our positive law and Islamic jurisprudence.

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In case of damage in air transportation, the person entitled to delivery, must complain to the carrier forthwith after the discovery of the damage within the conventional stipulated time periods. The conventions prohibit suits against the carrier for damage or delay unless a timely written notice is given to the carrier. This article considers such issues as the person entitled to delivery, the necessity of notifying the carrier in complete and partially lost goods, contractual time limitation and damage due to delay. The article will finally discuss the exception to the notice requirements.

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This paper investigates the robust finite time stability and finite time stabilization for a class of uncertain switched systems which have time delay. The emphasis of the paper is on the cases where uncertainties are time varying and unknown but norm bounded. By using the average dwell time approach and multiple Lyapunov like functions, delay dependent sufficient conditions for finite time stability of uncertain switched systems with time delay in terms of a set of the linear matrix inequalities are presented. Then, the corresponding conditions are obtained for finite time stabilization of uncertain switched time delay systems via a state feedback controller. The controller is designed by virtue of the linear matrix inequalities and the cone complement linearization method. We solved the problem of uncertainty in uncertain switched time delay systems by resorting to Yakubovich lemma. Finally, numerical examples are provided to verify the effectiveness of the proposed theorem.
 

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Reaction wheels are angular momentum exchange devices used to stabilize the position of the satellite and maneuvering. This actuator can change the momentum of the satellite to change the attitude of the system. During the process of operation, noise and disturbances arisen from the unbalancing of the wheels lead to inconvenient performance of the reaction wheels. Several works have been presented for active noise cancelation in these devices. But, the practical tools of signal processing such as filter banks and wavelets which used for offline de-noising are samples of very useful noise cancellation methods. If these toolboxes are employed for online de-noising these signal processing approaches are applicable for noisy systems such as reaction wheels. The main challenge of this strategy is delay arisen from the signal processing and this is inevitable. In this paper, a strategy of online wavelet de-noising is designed and proposed for noise cancellation in a reaction wheel. In this regards, for considering the delay compensation the method of Smith predictor is used to lead the delay of the process out of the closed loop control system. The accuracy of this algorithm requires an estimate of the system dynamics and the understanding of the delay system. According to the use of the FIR filter delay can be fully calculated. The recursive least squares used for identification reaction wheel as an estimate of the system.

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In this paper, a novel methodology is proposed to improve performance of the Networked Control System (NCS) in the face of random time-delays, using Model Predictive Controller (MPC) approach. For this purpose, a new state-feedback MPC structure is developed to cope with random network time-delays when the system is subjected to uncertainties with state and control constraints. The main idea is to reduce the disturbing effect of random network time-delays on regulatory performance of the NCS using a new robust formulation in MPC design. A terminal penalty constraint has been added to the finite horizon objective function to guarantee the stability of the system stability. Finally, applicability of the presented method is evaluated in a real pilot plant within a NCS configuration, being realized by an industrial Ethernet and Foundation Fieldbus technology. It is demonstrated that the proposed online methodology is effective to provide a better performance, having faster response, smaller overshoot and stronger robustness compared to the conventional MPC method with less aggressive control actions.  

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High blood glucose levels in the body named diabetes can increase damage in kidneys, eyes, heart and etc. In this investigation, a novel TS fuzzy static output feedback control structure is proposed to regulate the blood glucose level in the pre-defined desired values for type 1 diabetes using exogenous intra-venous insulin delivery rate. To this end, a nonlinear delay differential equation framework is considered to model the blood glucose/insulin endocrine metabolic regulatory system. The governing equations of the blood glucose/insulin model are approximated by a TS fuzzy model and then the proposed static output feedback controller is designed for this TS model.