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Dynamic modeling and analysis of the human jumping process
, Article Journal of Intelligent and Robotic Systems: Theory and Applications ; Volume 37, Issue 1 , 2003 , Pages 97-115 ; 09210296 (ISSN) ; Aryanpour, M ; Sharif University of Technology
2003
Abstract
Humanoid robots have recently been the subject of many new and interesting fields both in robotics research and industry. The wide variety of their applications in civic and hostile environments demand developing approperiate theoretical models for analysis. A dynamical model was developed to study the human jumping process, and the effect of factors like joint speeds and hand motion in jumping. An experiment was designed and setup to compare the theoretical model with experimental observations. Time histories of vertical force, mass center velocity and driving torques were also obtained. Using dynamical equations, the effect of joint speeds on the maximum values of these quantities is...
Dynamical modeling and analysis of the human jumping process
, Article ASME International Mechanical Engineering Congress and Exposition, Proceedings ; 2002 , Pages 453-461 ; 0791836290 (ISBN); 9780791836293 (ISBN) ; Aryanpour, M ; Sharif University of Technology
American Society of Mechanical Engineers (ASME)
2002
Abstract
A dynamical model was developed in order to study the jumping process in human, and the effect of factors like joint speeds and hand motion. An experiment was designed and setup to compare the theoretical model with the experimental observations. Time histories of vertical force, mass center velocity and driving torques were obtained too. Using dynamical equations, the effect of joint speeds on the maximum values of these quantities is discussed. It is shown that reducing the joint speeds of a body can lead to an unsuccessful jump in which the body does not enter the flight phase. An increase in speed reduces the take-off time (the time necessary for the body to leave the ground) and...
Coupled ionic-electronic equivalent circuit to describe asymmetric rise and decay of photovoltage profile in perovskite solar cells
, Article Scientific Reports ; Volume 9, Issue 1 , 2019 ; 20452322 (ISSN) ; Aryanpour, M ; Mohammadpour, R ; Taghavinia, N ; Sharif University of Technology
Nature Publishing Group
2019
Abstract
In this research, we employed transient photo-voltage rise and decay measurements to investigate the origin of slow unsymmetrical rise and decay profiles in single and triple cation perovskite solar cells. Drastic changes in photo-voltage decay profile were observed upon insertion of Br−, Cs+ and FA+ ions into perovskite structures. In order to explain our observations, the activation energy for ionic defects was measured and an equivalent circuit model was proposed containing both electrical and ionic components. The electrical branch consists of a diode, the bulk capacitance and resistances for charge transport and recombination. In parallel we introduced an ionic branch describing the...