The problem of jointly controlling Relative attitude and position of spacecraft in the presence of actuator fault is investigated in this paper. Following a description about drawbacks and limitations of the existing models and the control approaches based on them, a new formulation of the spacecraft Relative motion is provided. Subsequently, the subspace predictive control framework, which is a powerful model-free approach, is extended in several dimensions, that is, adaptive nonlinear control, tolerance against abrupt faults and control allocation. Based on this generalized framework, three distinct data-driven fault-tolerant controllers for coupled, nonlinear and time-variant plants are developed. From the viewpoint of fault diagnosis, the only requirement of the control structure is to detect the occurrence time of faults. Furthermore, an internal data-driven fault diagnosis capability is introduced, which makes the control structure completely self-sufficient. The three controllers are then designed to solve the aforementioned problem, and their efficiency are verified via a multidimensional simulation scenario.

In this paper an efficient dual time implicit approach is used to solve viscous laminar flow around a couple of bodies with general motion. The grid includes a background grid and two sets of grids around the moving bodies.Rotational and translational motions of the two bodies are managed separately in this grid arrangement. In this work the overset concept for hybrid grid is used and flow variables are interpolated implementing a simple method. The unsteady two dimensional Navier-Stokes equations are discretized using an implicit dual time stepping method. To accelerate convergence, the local pseudo-time stepping and implicit residual averaging are applied. To evaluate the present method, moving cases including rotational and translational motions are solved and the results are compared with experimental and numerical data.

Due to the importance of Tabriz in various historical periods after the Mongol’s invasion to the end of the Qajar period, as continuously being the capital city or the residence city of the prince, entrance to this city has been reflected in various reports. Most of the foreigners who entered Iran from European countries came from Caucasus Road to Tabriz and reported many buildings on their way. Moreover, this road was one of the most significant roadways for Caravans on the Silk Road, where various residential buildings have been constructed. Alaki caravansarai is one of the most important roadside accommodations in Northwest Iran, and so many reports about it and the quality of its façade decorations can be traced in the travelogues of foreigners who traveled to Iran. Its vastitude and elegant entrance gate nevertheless, this building has unfortunately been neglected and was about to be ruined in the 19th century and afterward. However, the beauty of its entrance gate has gained the attention of many people and has been reported in many sources. Based on the ornaments used, recent sources in the history of architecture have estimated its date to the 12th century and Ilkhanid Abū Saʿīd Bahādor Khan and the Timurid period. These sources based their estimation only on the type of ornaments used on its entrance gate and its probable that the existence of dated artworks of the Ilkhanid period nearby, such as the Mihrab of Marand’s Jame Mosque, has influenced this speculation. This article aims to meticulously study this building in various travelogues, al-Wqafīyya al-Rashīdīyya, and other sources in the history of architecture and discusses the ornament types used and their history. The detailed study of the documents and sources indicated that this building could belong to the presidency period of Ḵᵛāja Rašid-al-Din Fażl-Allāh, and based on his emphasis to establish this building, can be dated 1297-1309. The ornaments, moreover, indicate the transient period from brickwork to tilework which happened in the late 13th and early 14th centuries

The construction of urban infrastructure structures such as bridges, tunnels, etc. located on the fault line is inevitable in many cases. Therefore, various solutions have been proposed to reduce the damage to national vital arteries. In this research, grid caisson foundations have been used for the bridge foundation system to reduce the destructive effects of fault propagation. First, the three-dimensional finite element numerical model was validated using experimental models. By comparing the deformation of the ground surface due to normal fault between the numerical and laboratory models, a maximum difference of 5% was observed, which had a good agreement. Then, a parametric study was performed to influence the parameters such as foundation thickness, foundation stiffness, Relative position of the foundation Relative to the fault outcrop, and the connection of the bridge slab deck on the overall performance of the bridge. The results of numerical studies showed that mat foundation cannot meet the overall stability of the bridge under normal fault. The grid caisson system had better performance. This system was able to withstand large tectonic deformations. Indeterminate of the structure has caused negative effects on the elements of the structure. While reducing the degrees of structural indetermination, it reduces the stress on the pier members and the deck of the bridge slab. The use of loose sandy soils resulted in more contact of the foundation with the subsoil, and its differential settlement was less than in the case where dense sandy soils were used.

Identifying the constraining factors of production and yield gap is very important. Therefore; this research was performed to identify the production constraining factors of local rice cultivars. All management practices from nursery preparation to harvesting stages for 100 paddy fields of local rice cultivars were recorded through field studies, in Sari, from 2015-2016. In the CPA, the actual and calculated potential yield were 4495 and 5703 kg/ha, respectively and the gap was 1221 kg/ha. The yield gap caused by number of top-dressing variables was 324 kg/ha, equal to 27% of the total yield gap. The yield gap related to previous year of legumes cultivation was 218 kg ha-1, equal to 18% of the total yield variation. Among the 10 variables entered in the CPA model, the effects of top-dress fertilizer application and its application frequency and foliar application were remarkable, which could compensate a significant part of the yield gap (444 kg/ha, 37% of total) in the farmers’ fields by managing these variables. According to boundary line analysis (BLA) finding, actual yield mean on the basis of optimal limit related to 12 variables under study was 5369 kg/ha, with 881 kg/ha yield gap . Mean Relative yield and Relative yield gap for 12 variables (transplanting date, seedling age, number of seedlings per hill, planting density, nitrogen and phosphorous per hectare, nitrogen before transplanting, harvesting date, lodging problem, pest problem, diseases problem and weeds problem) were 83.64 and 16.35 kg/ha, respectively. Based on the finding, it can be stated that the model precision is appropriate and can be applied for both estimation of the quantity of yield gap and determining the portion of each restricting yield variables.

The communities of the Kura- Araxes cultural complex with their highly distinctive cultural and economic features represent the occupation of some parts of the Near East and Caucasia during the Bronze Age.  Generally, the origin of this culture is sought in the Southern Caucasus. In Iran, the spread of this cultural tradition represents not only a rupture in the cultural development of the Mesopotamian traditions. Environmental changes linked to Rapid Climate Change (RCC) also forced the population to develop new economic strategies. Until about two decades ago, knowledge of the flourishing Kura Araxes occupation was limited to the north-west of the country and to some parts of the Central Zagros, but recent research in the zones south and north of the Alborz Mountain Range, on the northern edge of the Central Plateau allows by now to present a more detailed picture of the Kura Araxes occupation in both diachronic and synchronic perspective. Recent archaeological excavations in the two sites of Qaleh Tepe and Ali Yourd Tepe revealed some important new data from Kura-Araxes settlements in the corridor of the north Central Plateau and northwestern Iran. The two sites are located in the eastern Zanjan Province in the Abhar Rood Basin. This paper aims to update the chronology of the Kura-Araxes culture based on the radiocarbon dates from the two sites of Qaleh Tepe and Ali Yourd Tepe. The stratigraphy and radiocarbon dates of the two sites reveal the beginning of the Kura-Araxes culture in the region from c. 2900 BCE, followed by a quick extension into the northern Central Plateau, where it is represented by sites such as Shizar, Doranabad, Ostur, and Barlekin. Similarity and diversity characterize the Kura-Araxes cultural complex.  However, based on the current data, the ceramic style represents a common feature, but also the architectural remains indicate a common cultural tradition during the first quarter of the third millennium BCE in the Central Zagros, northwestern Iran, and on the Central Plateau

The geometric method is one of the nonlinear methods of large-scale Relative motion that is used for all the eccentricity and Relative distances. In this paper, the Relative motion equations for perturbed orbits are developed in the presence of third body. The purpose of this paper is to design a control law to track and control the Relative attitude of one satellite in the presence of position dynamics and uncertainty of the moment of inertia. For the orientation of satellite, it is first necessary through the theory of Relative motion, to obtain some Relative parameters such as position and Relative velocity, and so on. The geometric method is used to obtain Relative parameters. After obtaining Relative parameters, we must track and control the dynamic equations for the target trajectory. Due to the uncertainty in the dynamics of the system, a robust controller must be used to obtain control law. Sliding mode control theory is used to obtain control law. The uncertainty in the satellite inertia is considered due to fuel sloshing during this maneuver. Finally, an appropriate control law is designed that is resistant to uncertainties and has good accuracy.

According to Allamah Tabatabai, action (to do) and affection (to suffer) are identical with motion. Nevertheless, motion in terms of its relation to agent is action, but in terms of its relation to passive nature is affection. Allamah Tabatabai criticized this view. In Mulla Sadra’s view motion in the category of action requires motion within motion which is impossible. This view of Mulla Sadra also was criticized by Tabatabai. According to Tabatabai, all category of accident following the motion of substance, sensible motion in four categories of quantity, place, and position are motion within motion.

The transfer of solid particles in fluid flow has been a common phenomenon in nature. The threshold of movement of sediments from the physical dimension is mixed with both deterministic and random characteristics. Certainty in the movement threshold is caused by the average flow rate, while its randomness is caused by the turbulence of the flow. The initial movement of sediment is the beginning of scouring process in natural streams. The sedimentation threshold is the condition where the destabilizing forces equal the stabilizing forces and the sediment particle is on the verge of experiencing primary motion. Two common sedimentation threshold parameters, Shields parameter and moving number, have been studied by different researchers. The initial movement of bed sediments is an important component for various researches such as sustainable waterway design, river management, sediment transport and sedimentation prevention. The beginning of the movement of sedimentary particles is called the threshold of movement and the conditions in which the particles are on the threshold of movement are called threshold or critical conditions. In low-speed flows, the substrate particles do not have any movement and are fixed in their place, but with the increase in the flow speed, the substrate particles start to move. This movement is initially in the form of up and down of the particle without transfer, but gradually the movement The particles start downstream. Methods: In the current research, the criterion of the threshold of particle movement is the beginning of non-stop movement of particles that are set in motion in the model and move along the flume to the downstream side of the flume as the threshold of particle movement. During the test, the flow rate of the model and the upstream water level are controlled several times so that there may be no change. From dividing the flow rate, leading to the movement threshold by the flow section, the critical speed or the movement threshold speed is determined. To find the threshold speed of movement of a sediment sample in a specific slope of the channel, each experiment is repeated several times and the results are averaged. After finishing the test, the remaining sediment on the metal plate is removed. Some of the sediments have also entered the tank, and after collecting the sediments, they are dried and prepared for the next stage of tests. After the completion of each test, the slope of the channel is changed so that the main section is placed in another slope. Then all the steps mentioned above are repeated again. It seems that the Shields diagram is the reference point for all the research done in the field of sediment transport. Due to the fact that no research has been done on the effect of temperature on the Shields diagram, the present study aims to investigate the sediment movement threshold using the effect of temperature on the Shields parameter and shear stress in a laboratory model with three slopes of 0. 005, 00. 1 and 0. 05 at four temperatures of 8, 12, 20, and 40 degrees Celsius and three flow rates. In the current research, the criterion of the threshold of particle movement is the beginning of non-stop movement of particles that are set in motion in the model and move along the flume to the downstream side of the flume as the threshold of particle movement. Results: In this research, using the physical model and dimensional analysis, the condition of movement threshold in open channels with rectangular section was investigated. The results showed that with the increase of Relative roughness (ds/y) regardless of the temperature variable, the stability number of the particle at the movement threshold (SN) decreases and the influence of the slope on these two parameters is not noticeable. Also, in the condition of constant slope and Relative roughness (ds/y), with increasing temperature, the value of particle stability at the movement threshold (SN) decreases. Changes in particle stability number at the threshold of movement (SN) have an upward trend with respect to temperature, and with increasing temperature, the number of particle stability at the threshold of movement (SN) increases. In addition, the changes of the Relative roughness parameter (ds/y) with respect to temperature are associated with a downward trend, and with the increase in temperature, the Relative roughness parameter (ds/y) decreases. In addition, as the slope increases, the particle stability parameter decreases. This result can be extended to different seasons of the year so that the threshold of sediment movement and sedimentation in seasonal and permanent rivers is lower than in cold seasons in hot seasons. Comparing the results of the current research with the results of other researches, there is a very small difference between the results of this research and the results of other researchers. The main reasons for these differences are the different definitions of movement threshold among researchers, the different flow conditions and test conditions.