@article { author = {Korayem, M. H. and Bani Rostam, T.}, title = {Experimental Analysis for Measuring Errors in Wheeled Mobile Robots (RESEARCH NOTE)}, journal = {International Journal of Engineering}, volume = {18}, number = {2}, pages = {115-133}, year = {2005}, publisher = {Materials and Energy Research Center}, issn = {1025-2495}, eissn = {1735-9244}, doi = {}, abstract = {This paper presents experimental analysis of wheeled mobile robots. Mathematical modelling of the mobile robot is presented. The mobile robots consist of an omni-directional and three differential drive mobile robots are tested and moved in given trajectories and the systematic errors of the robots are determined. A new method for omni-direction mobile robot was introduced in which the robot was programmed to move in direction of each wheel shaft. Finally, the mobile robot is moved in given trajectories and the systematic errors of the robot are determined.}, keywords = {Measurement,Mobile Robot,Test,Experimental analysis}, url = {https://www.ije.ir/article_71579.html}, eprint = {https://www.ije.ir/article_71579_8818d7ac150a448d0f3e44396fdc898b.pdf} } @article { author = {Bagheri, Ahmad and Khoobkar, A. R. and Siavash, A. S. and Narimanzadeh, N.}, title = {GMDH Type Neural Networks and Their Application to the Identification of the Inverse Kinematics Equations of Robotic Manipulators (RESEARCH NOTE)}, journal = {International Journal of Engineering}, volume = {18}, number = {2}, pages = {135-143}, year = {2005}, publisher = {Materials and Energy Research Center}, issn = {1025-2495}, eissn = {1735-9244}, doi = {}, abstract = {}, keywords = {GMDH,Neural Networks,Inverse Kinematics,Puma760}, url = {https://www.ije.ir/article_71580.html}, eprint = {https://www.ije.ir/article_71580_46742999d47467426b4a21609879f0f8.pdf} } @article { author = {Najafpour, Ghasem and Younesi, H.}, title = {Dynamic Model For Production of Biohydrogen Via Water- Gas Shift Reaction (RESEARCH NOTE)}, journal = {International Journal of Engineering}, volume = {18}, number = {2}, pages = {145-152}, year = {2005}, publisher = {Materials and Energy Research Center}, issn = {1025-2495}, eissn = {1735-9244}, doi = {}, abstract = {In design of anaerobic bioreactor, rate equation is commonly used. Mathematical model was developed at steady state condition, to project concentration of gaseous substrate and product in biological oxidation of carbon monoxide with water to produce hydrogen and carbon dioxide. The concept of bioconversion was based on transport of CO from gas phase to liquid phase, as the CO consumption was instantaneous and the moles of CO in liquid phase was oxidized to CO2, and H2 was liberated from water. The moles of produced H2 were identical to the moles of CO transported to the fermentation media. The data was experimentally obtained in a continuous stirred tank bioreactor. A photosynthetic bacterium, Rhodospirillum rubrum, was used as biocatalyst to facilitate the oxidization of carbon monoxides via water-gas shift reaction. The rate of CO consumption and hydrogen production were projected based on dynamic model at steady state condition. The experimental data were fitted to a few rate models and the best suitable dynamic model for hydrogen production was obtained. The model was used for scale up calculation and dependency of the rate equation and the model to a few process variables were analyzed. The liquid phase medium was supplied for microbial growth with initial concentration of 4. The media flow rate to the reactor space time (F/VL) was 0.2 h-1. At the steady state condition, the concentration of acetate was independent of the dilution rate and it was approximated about 1.5 g/l.}, keywords = {CO transport Model,Steady State Mass Transfer,Continuous Bioreactor,Photosynthetic Bacteria,hydrogen,Rhodospirillum rubrum}, url = {https://www.ije.ir/article_71581.html}, eprint = {https://www.ije.ir/article_71581_f33468188ee677b688d92d5c3af201e0.pdf} } @article { author = {Najafpour, Ghasem and Kamaruddin, A. H. and Dahlan, Irvan}, title = {Citronellyl Butyrate Synthesis in Non-Conventional Media Using Packed-Bed Immobilized Candida Rugosa Lipase Reactor}, journal = {International Journal of Engineering}, volume = {18}, number = {2}, pages = {153-164}, year = {2005}, publisher = {Materials and Energy Research Center}, issn = {1025-2495}, eissn = {1735-9244}, doi = {}, abstract = {The synthesis of citronellyl butyrate by direct esterification reaction catalyzed by immobilized lipase from Candida rugosa was studied in a continuous packed bed reactor using n-hexane as organic solvent. Parameters such as residence time, temperature, and pH were examined. The optimum conversion was obtained at a flow rate of 1 ml/min (residence time 8 min), temperature of 50 °C, and pH 7.5. At high temperature, biocatalyst was rapidly deactivated with respect to time. The immobilized lipase was stable at pH range of 6 to 9. The deactivation of biocatalyst was increased at pH of immobilized lipase 4 and 10 in comparison with pH range from 5 to 9. The esterification reaction in packed-bed reactor was modeled by ping pong model and ping pong with product inhibition model. The observed kinetics behaviour of esterification reaction was found to follow a ping pong with product inhibition model. In this study, the conversion of butyric acid and stability of immobilized lipase was higher in the system with molecular-sieve than in the system without molecular-sieve.}, keywords = {Citronellyl Butyrate,Flavor,Esterification,Immobilized lipase,Non,Conventional Media,Packed,Bed Reactor,Ping Pong Model}, url = {https://www.ije.ir/article_71582.html}, eprint = {https://www.ije.ir/article_71582_19542bd53c3183b40d8c48e19d9ca9c1.pdf} } @article { author = {Rashtchian, D. and Kashi, E. and Shahraki, F.}, title = {Hydrogen Distribution in Refinery with Nonlinear Programming}, journal = {International Journal of Engineering}, volume = {18}, number = {2}, pages = {165-176}, year = {2005}, publisher = {Materials and Energy Research Center}, issn = {1025-2495}, eissn = {1735-9244}, doi = {}, abstract = {}, keywords = {hydrogen,optimization,Non,Linear Programming,Refinery}, url = {https://www.ije.ir/article_71583.html}, eprint = {https://www.ije.ir/article_71583_3247a193e78687098c264942d1c48cef.pdf} } @article { author = {Alamdar Yazdi, A.}, title = {Shearing Properties of the Skewed Woven Fabrics (RESEARCH NOTE)}, journal = {International Journal of Engineering}, volume = {18}, number = {2}, pages = {177-185}, year = {2005}, publisher = {Materials and Energy Research Center}, issn = {1025-2495}, eissn = {1735-9244}, doi = {}, abstract = {}, keywords = {Skewness,Shear rigidity,Concentrated loading method,KES method,Fabric Deformation}, url = {https://www.ije.ir/article_71584.html}, eprint = {https://www.ije.ir/article_71584_85d2c0bfb5d06b86cb8491e6bdfb236c.pdf} } @article { author = {Bagheripour, M.H. and Movahed Asl, R. and Safapour, P. and Marandi, Seyed Morteza}, title = {Two and Three-Dimensional Seepage Analysis of Earth Dams Considering Horizontal Filter Blanket Effects (RESEARCH NOTE)}, journal = {International Journal of Engineering}, volume = {18}, number = {2}, pages = {187-195}, year = {2005}, publisher = {Materials and Energy Research Center}, issn = {1025-2495}, eissn = {1735-9244}, doi = {}, abstract = {}, keywords = {Measurement,Mobile Robot,Test,Experimental analysis}, url = {https://www.ije.ir/article_71585.html}, eprint = {https://www.ije.ir/article_71585_7d22ad32c6e6f87b95b5a68ba78d7602.pdf} } @article { author = {Mirzaei, A. and Moallem, M. and Mirzaeian, B.}, title = {Designing a Genetic-Fuzzy Anti-Lock Brake System Controller (RESEARCH NOTE)}, journal = {International Journal of Engineering}, volume = {18}, number = {2}, pages = {197-205}, year = {2005}, publisher = {Materials and Energy Research Center}, issn = {1025-2495}, eissn = {1735-9244}, doi = {}, abstract = {}, keywords = {anti,lock braking system (ABS),Genetic,Fuzzy controller,vehicle model}, url = {https://www.ije.ir/article_71586.html}, eprint = {https://www.ije.ir/article_71586_66cce9d5571121c4b55e8666f37a0e6f.pdf} } @article { author = {Khademi, M. and Akbarzadeh-T, M. R. and Torabi-M, M.}, title = {Cooperative Co-Evolving Neural Networks for Robosoccer Simulation}, journal = {International Journal of Engineering}, volume = {18}, number = {2}, pages = {207-218}, year = {2005}, publisher = {Materials and Energy Research Center}, issn = {1025-2495}, eissn = {1735-9244}, doi = {}, abstract = {}, keywords = {Cooperative Co,evolution,Neural Networks,Weight Optimization,Structure Optimization,Genetic Algorithms,Back Propagation}, url = {https://www.ije.ir/article_71587.html}, eprint = {https://www.ije.ir/article_71587_2f4053025a4ab654300a9a662d9270b5.pdf} }