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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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Here, the efficiency of the non-destructive Break-Off (BO) test was investigated for assessing the in-place compressive strength of steel fiber reinforced concrete (SFRC). SFRC was studied due to its advantages in increasing toughness and tensile and flexural strength in particular. To provide a through and comprehensive database, 24 mix designs were selected with cement contents of 400, 450 and 500 kg/m3 with constant water/cement ratio of 0.4 for all mixes, two maximum aggregate sizes of 12.5 and 25 mm along with steel fiber volume fractions of 0%, 0.33%, 0.67% and 1% for ages of 14, 28 and 90 days. A total of 360 BO tests and 216 standard cube tests were carried out in this investigation.Then, effective parameters of SFRC and BO test results were evaluated. In the BO method, the force required to break off an in-place concrete cylinder of 55 mm in diameter and 70 mm long, is related to the compressive strength of the concrete from a predetermined calibration curve developed for concrete mix.The studies showed that volumetric percentage and features of steel fibers had a significant influence on concrete properties as well as BO test results. According to the experimental results it could be generally concluded that the influencing factors, namely, SFRC properties due to presence of steel fibers and BO test significantly affect the results as follows: Generally, for a constant W/C ratio, it can be concluded that raising the cement content increase the mean values of BO strength. It can be stated that the maximum aggregate size within the range of 12.5–25 mm has a negligible effect on the BO test results for SFRC with 1% steel fiber volume fractions as the average value of BO strength for 25 mm aggregate concrete was significantly more than the corresponding value for 12.5 mm aggregate size for plain concrete. Moreover, the improving trend the BO strength with age is observed to be similar for all different concretes. Furthermore, increase of BO strength of SFR concretes respect to corresponding plain value is observed as concrete grows older. In addition, results showed that strength estimation based on a single general calibration curve is not feasible. Therefore, a specific calibration curve for each SFRC should be represented for a realistic assessment and interpretation of results. The coefficient of variation of the BO strength was in range of 4– 11%. The higher values are for concretes with higher amounts of fibers, especially at early ages. The reliability of the method seems to be good in which the coefficient of variation for each group of BO tests are below 11%. It should be noted that even under ideal conditions with a specific calibration it is unlikely that 95% confidence limits of better than ±15% can be achieved for an absolute prediction of concrete compressive strength. The findings show that higher values are not only due to the lack of precision of the test procedure, but also due to the intrinsic heterogeneity of granular materials like concrete, particularly in presence of higher amounts of fibers.

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Pesticides are one of the major pollutants in the environment. The residue of pesticides has been reported to be at a critical level in agricultural crops, especially in greenhouse crops. Tomato is considered as an important vegetable in Iranian food basket and is produced in fields and greenhouses. So, the current study aimed to assess diazinon and oxydemeton-methyl levels in tomatoes sampled from five Kerman greenhouses. The extraction of these pesticides was carried out by mixture of dichloromethane and acetone. The extracts were cleaned up according to solid-phase extraction method. The pesticide residue was then determined by capillary gas chromatography and through nitrogen-phosphorus detection. The obtained results showed that the recovery level was estimated at 86.7 and 84.3% with RSD≤ 16.0%, the limit of detection was estimated at 0.026 and 0.035 mg kg^-1, limits of quantification stood at 0.091 and 0.115 mg kg^-1, and linearity r²= 0.997 and r²= 0.989 for diazinon and oxydemeton-methyl, respectively, in tomato samples. The mean of diazinon residue was calculated at 0.276 mg kg^-1, which was 5.52 times the national Maximum Residue Limit (MRL= 0.05 mg kg^-1), and the mean of oxydemeton-methyl was 1.624 mg kg^-1, being 1.624 times the MRL (1 mg/kg).

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Pistachio is one of the important and strategic crops in Iran. The objective of this study was to investigate the impact of soil properties on the yield and selected morphological properties of pistachio in Faizabad area, in northeastern Iran. For this purpose, in an area of 20,000 hectares, four geomorphic surfaces were recognized at the margin of Bajestan playa. In each geomorphic surface, three good, medium, and poor quality orchards were identified. A representative soil profile in each orchard was described and sampled. Yield, height, leaf nutrient elements, and morphological properties of three pistachio trees were measured in each orchard. The highest yield (24.5 kg tree^-1) was observed in the good orchard in non-saline clay flat geomorphic surface and the lowest (5.2 kg tree^-1) was observed in the poor orchard of alluvial fan-clay flat geomorphic surface. Morphological characteristics were in suitable conditions in the good orchard with non-saline clay flat geomorphic surface. The results of correlation and multivariate regression showed that soil salinity (EC), clay content, and soil boron concentration had a significant negative impact on the yield, morphological characteristics, and leaf nutrient elements.

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The purpose of this study was to investigate the effect of chitosan coating and Ferulago angulate essential oil on button mushroom (Agaricus Bisporous) shelf life. Therefore, Ferulago angulate essential oil was extracted by clevenger method and whit different concentrations of chitosan (control sample without chitosan and essential oil, with 0.5% chitosan, chitosan with two different concentrations of 100 and 150 ppm) were used to coating the mushroom samples. After packing, the samples were stored in the refrigerator at 4°C for 15 days and samples were evaluated for physicochemical, structural and sensory tests every 3 days. With increasing shelf life, the hardness of all coated samples decreased and addition of chitosan to samples could have a positive effect on increase the hardness of the samples during storage, which was significantly increased by adding Ferulago angulate essential oil. All color parameters were significantly retained (P<0.05) By adding chitosan which the addition of essential oils exacerbated these conditions. Using the chitosan significantly (p<0.05) reduced the weight loss of samples, but the addition of essential oil had no significant effect on reducing weight loss changes. The use of chitosan significantly (p <0.05) prevented the growth of total count of microorganism and molds and yeasts, and the addition of essential oil to chitosan as a preservative compound also exacerbated the inhibition of microorganism growth. Similar results were also true for color and appearance evaluation. Chitosan structure, antimicrobial properties and phenolic compounds in essential oils were the main reason for maintaining the quality of mushroom samples during storage.
 

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Microwave radiation (MW) is an environmentally friendly technology and a physical method to enhance and modify the properties of flour. Dietary fiber-rich compounds in flour composition, such as date seed powder and wheat bran, can contribute to the health-promoting effects of the resulting flour and its derived products, such as bread. The present study aims to evaluate the impact of microwaves (750 watts for 120 seconds) on the combination of wheat bran and date seed powder (WB-DSP) and investigate the effects of its substitution on the physicochemical characteristics of wheat flour. To achieve this, wheat bran at various levels (3%, 6%, and 9%) and date seed powder (2%, 4%, and 6%) were combined (WB-DSP) and treated with microwave (WB-DSP_MW). These mixtures were then substituted with wheat flour in proportions of 5%, 10%, and 15%. The produced flour samples were assessed for their physicochemical properties, color parameters (L*, a*, b*), and overall color difference (ΔE) compared to wheat flour as the control sample. The results revealed that microwave treatment led to lower moisture content and higher levels of ash and protein in the combination of wheat bran and date seed powder. Flour samples containing WB-DSP_MW and WB-DSP showed higher water absorption capacity than the control sample (p < 0.05). Substituting WB-DSP combination with wheat flour significantly reduced L* and b* values and increased ΔE in flour samples compared to the control (p < 0.05). Based on the obtained results, it can be concluded that microwave application and substitution of wheat bran-date seed powder mixture with wheat flour plays a significant role in altering the physicochemical properties of wheat flour. Furthermore, further research is necessary to examine changes in other properties, such as functional properties and nutritional value of the resulting flour.

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Ascorbyl palmitate is a fat-soluble ester of vitamin C and palmitic acid, which is used to increase the oxidative stability of oils. In this study, in order to increase its stability to the environmental conditions of heat, humidity, oxidation and light, encapsulation technologies (nanoliposome) were used in refined soybean oil without antioxidants. In this regard, in this study, 5 concentrations of nanoliposomes containing ascorbyl palmitate (0, 50, 100, 200 and 500 ppm) were used to increase the oxidative stability of soybean oil stored at 63°C (electric oven) for a period of 16 days. Tests such as acidity, peroxide, conjugated dienes, anisidine and oxidative stability were performed on those oils. The results showed that acidity, conjugated dienes and anisidine increased with increasing storage time, but with increasing concentration of nanoliposome containing ascorbyl palmitate, the increase in these characteristics was less intense. By increasing the storage time until the 12th day, the amount of peroxide in the samples increased and then decreased, and with the increase in the antioxidant concentration, the amount of peroxide in the samples decreased. On the other hand, it was shown that increasing the concentration of nanoliposome from zero to 500 ppm in soybean oil increases the oxidative stability by about 96%. Finally, it was found that increasing the concentration of nanoliposomes containing ascorbyl palmitate in soybean oil reduces oil oxidation.
 

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Dates are nutritionally rich and commercially important. Various solutions have been implemented to increase the shelf life of the product, allowing it to be available to consumers for a longer period. This study aims to use a chitosan-gelatin edible coating containing natural orange peel extract on stored dates at 4 and 25 °C for 90 days. Physical and chemical tests (weight loss, pH, acidity, moisture, reducing sugars, soluble solids, and texture) and sensory evaluations were conducted to assess the treatments over the storage period. The lowest weight loss occurred in the sample treated with the chitosan-gelatin coating containing orange peel extract on day 90 at both temperatures. Results indicated that with increased storage time and temperature, pH and moisture decreased while acidity, soluble solids, reducing sugars, and texture increased significantly. Additionally, a decrease in sensory attributes was observed with increased storage time and temperature, with samples treated with chitosan-gelatin coating containing 4 and 10 mg/ml orange peel extract showing the highest preference in sensory properties for the dates. Based on the findings, the chitosan-gelatin edible coating containing orange peel extract can be introduced as the best formulation for increasing the shelf life of dates for up to 90 days.