In this study, a robust H_2/H_∞ multi-objective state-feedback controller and tracking design are presented for a mobile two-wheeled inverted pendulum (MTWIP). The proposed control has to track the desired angular velocity while keeping the mobile two-wheeled inverted pendulum balanced. First, error of output states are added to the dynamic of system for better tracking control. And uncertainties of parameters are defined by affine parameters. Next, Takagi-Sugeno (T-S) fuzzy model is used for estimating the uncertainty of nonlinear model parameters. Robust H_2/H_∞ controller is designed and analyzed for each local linear subsystem of mobile two-wheeled inverted pendulum by using a linear matrix inequalities method. To sum up, in order to calculate the whole dynamic of system from each local linear subsystem, weight average defuzzifer method is used and the total controller is designed and analyzed according to parallel distribute compensation. The simulation indicate that the proposed scheme has high accuracy, robustness, good tracking, fast transient responses and lower control effort for a mobile two-wheeled inverted pendulum despite the uncertainties and external disturbance.

Intracytoplasmic sperm injection (ICSI) is one of the most successful techniques of Assisted Reproductive Technology (ART) and is mostly in use for the treatment of infertility with male factors. In this method, before injecting sperm into the intracytoplasmic of the oocyte, cumulus cells around the oocyte must be stripped to facilitate the injection process. To achieve this, both enzymatic and mechanical methods are used in embryological laboratories for denudation, which has major deficiencies, including the possibility of damaging the oocyte prior to the injection process. In this research, a microfluidic-based device is introduced for the separation of cumulus cells around the oocyte with minimum manual operations. The results prove high efficiency, and non-destructive denudation of the oocyte with the reduced amount of culture medium leads to the low-cost preparation process of oocytes. The process can also be integrated with ICSI chips under development and will be reported shortly.

Objective (s): Maintaining and enhancing the health levels of employees within organizations is considered one of the most essential prerequisites for the survival and development of any organization. Health data is among the most essential and valuable assets globally, and the design of efficient occupational health assessment systems is an inevitable necessity. In this regard, the present study was conducted with the aim of designing a health assessment model for members of the Academic Center for Education, Culture and Research (ACECR). Methods: This qualitative study was carried out through a review of documents, international reports, national records, and semi-structured interviews with experts in the field of occupational health. Data analysis was performed using qualitative content analysis. Results: The study results led to the development of a conceptual model for occupational health assessment, the identification of key occupational health indicators, the establishment of assessment tools, and the formulation of an executive guideline. Conclusion: The proposed model can serve as a strategic framework for assessment the health of human resources in academic institutions. It is recommended that the necessary infrastructure for collecting health-related data be strengthened to facilitate the implementation of this model.

The Navy's core concerns and concerns have urged commanders and authorities to reform the educational system. One of the most important factors in reforming the system is the existence of a desirable curriculum model used to design curricula. In this regard, the researchers, in light of their knowledge of this field, sought to resolve the vacuum of a desirable pattern in the organization. The present study was carried out with the aim of achieving a patterned curriculum using exploratory method through the "whole number" method. The content validity of the researcher-made questionnaire was based on the opinions of 14 experts and the calculation of Lusheh coefficient was about 0.9 and the reliability of the questionnaire was confirmed based on the views of 30 sample subjects with 0.77 Cronbach's alpha coefficient. The total number of samples was 110. Data analysis was done using the SPSS and PLS software. The obtained data based on the findings showed that the final model includes the basics, approaches and guidance of the curriculum, the need for resources, design and compilation, elements of drawing up and designing a curriculum, producing teaching materials, implementing and evaluating and reviewing the curriculum, and the final model has a high degree of robustness for assessing the IRI Navy's curriculum.

One of the issues of reliable performance in the power grid is the existence of electromechanical oscillations between interconnected generators. The number of generators participating in each electromechanical oscillation mode and the frequency oscillation depends on the structure and function of the power grid. In this paper, to improve the transient nature of the network and damping electromechanical fluctuations, a decentralized robust adaptive control method based on dynamic programming has been used to design a stabilizing power system and a complementary static var compensator (SVC) controller. By applying a single line to ground fault in the network, the robustness of the designed control systems is demonstrated. Also, the simulation results of the method used in this paper are compared with controllers whose parameters are adjusted using the PSO algorithm. The simulation results show the superiority of the decentralized robust adaptive control method based on dynamic programming for the stabilizing design of the power system and the complementary SVC controller. The performance of the control method is tested using the IEEE 16-machine, 68-bus, 5-area is verified with time domain simulation.

The fields of Psychology - in general – and Educational Psychology - in particular - have a great deal to offer architectural educa-' tors and students in their search for training and becoming a better problem-solver and designer. Understanding the human nature of thinking and reasoning mechanisms, as the central issue of the design process, makes the major content in this article. This article reviews the subject of "thinking" and all related categories of: "types", "modes", and "styles" of thinking with respect to design. The subject of "interactive" model of thinking and design process, as the most comprehensive model of thinking, has been introduced in this article. For this purpose, the Iowa State University's "Complex Thinking Processes" model - which defines an interaction between "Content/Basic", "Critical", and "Creative" thinking - is integrated with a proposed model for design methodology - which introduces an interaction between three stages of "Understanding", "Idealizing", and "Presenting". At the end, some educational recommendations have been made in an attempt to set an educational methodology for Architectural Design education.

Plant development can be defined as a programmed qualitative change in plant form, which leads plant to maturity, and researchers call it as phasic development or phenology. Recognizing the timing of occurring each development stage is necessary for managing system in order to yield increment. The timing of occurring development stages depend on climate, genotype specifications and sowing date then determination of these times in different regions is difficult and it is only possible through the using of crop simulation models which can predict the timing of occurrence each development stage by integrating effective factors. The model was constructed based on linear equation of plant temperature response. In order to model evaluation two experiments were carried out in agricultural and natural resources research center of Khuzistan in 2003-2004 and 2004-2005 cropping years. Wheat development stages were determined based on Kirby and Appleyard’s scale by stereoscopic microscope and required GDD for each development stage as well. The constructed model was calibrated and run for simulation. Comparison of simulated and observed data showed that the model can strongly predict wheat development stages.

Non-cooperative intelligent control agents (ICAs) with dedicated cost functions, can lead the system to poor performance and in some cases, closed-loop instability. A robust solution to this challenge is to place the ICAs at the feedback Nash equilibrium point (FNEP) of the differential game between them. This paper introduces the designation of a robust decentralized infinite horizon LQR control system based on the FNEP for a linear time-invariant system. For this purpose, two control strategies are defined. The first one is a centralized infinite horizon LQR (CIHLQR) problem (i.e. a supervisory problem), and the second one is a decentralized control problem (i.e. an infinite horizon linear-quadratic differential game). Then, while examining the optimal solution of each of the above strategies on the performance of the other, the necessary and sufficient conditions for the equivalence of the two problems are presented. In the absence of the conditions, by using the least-squares error criterion, an approximated CIHLQR controller is presented. It is shown that the theorems could be extended from a two-agent control system to a multi-agent system. Finally, the results are evaluated using the simulation results of a Two-Area non-reheat power system.

The researcher attempts to provide media manager competency model and use competency models, plans of key competencies by using Media Manager to identify competency model. To determine the suitability of managers media from referring to the expert's approach has been used. Fits with the approach, grounded theory approach is used in this article. Researcher using a qualitative methodology that is grounded, no default, and the model provides field data. The three-stage analysis of interview data encryption Strauss and Kerbyne used, including open coding, axial and selective.After a final coded data and theoretical refinement semi-structured interviews with the director of media and the academia in the field of media management and communications that have been collected through snowball sampling and reach a consensus model is offered Which contains three categories of mental competence, merit media recognition, knowledge and management competencies that each of these sub-categories that merit has gathered around this core competencies.