Sharif Digital Repository

Background: Small scale robotics have attracted growing attention for the prospect of targeting and accessing cell-sized sites, necessary for high precision biomedical applications and drug/gene delivery. The loss of controlled gene therapy, inducing systemic side effects and reduced therapeutic efficiency, can be settled utilizing these intelligent carriers. Methods: Newly proposed solutions for the main challenges of control, power supplying, gene release and final carrier extraction/degradation have shifted these smart miniature robots to the point of being employed for practical applications of transferring oligonucleotides (pDNA, siRNA, mRNA, etc.) in near future. Conclusion: In this... 

We consider magnetic actuation and control of a spherical neutrally buoyant magnetic microrobot via magnetic coil setups and seek to design an optimal controller to reduce the required energy and coils’ currents. We showed that in currently employed setups, where the actuation frequency is few tens of Hertz, the nonlinear dynamics of the system can be well approximated by a set of linear constrained ones. The approximated model is obtained by consciously overlooking the rotational dynamics and the inertia terms in translational dynamics. We acquired the linear quadratic regulation (LQR) controller for the approximated model which is a constrained time-varying system. Finally, 3D manipulation... 

With increasing importance of exoskeletons as rehabilitation apparatuses, suitable and delicate control strategies has received much attention. In order to control the exoskeleton, there should be a complete understanding of torques produced by the limb itself which makes the musculoskeletal modeling of the limb essential but also complex. In addition, the musculoskeletal model can be used to discover the user's desired movement to control the exoskeleton. In this paper a complete musculoskeletal model for the elbow with two degrees of freedom is developed and simulated. Next the model is used to determine user's desired movement. Finally based on this evaluation, an exoskeleton model is... 

In this paper, Lattice Boltzmann method (LBM) has been used to study the effects of permeability and tortuosity on flow through saturated particulate media and identify the relationships between permeability and tortuosity with other parameters such as particles diameter, grain specific surface, and porosity. LBM is a simple kinematic model that can incorporate the essential physics of microscopic and mesoscopic processes involved in flow through granular soils. The obtained results indicate that the 2D LB model, due to its inherent theoretical advantages, is capable of demonstrating that the porosity and specific surface are the most influential parameters in determining the intrinsic... 

Relative permeability curves have practical implications in petroleum reservoir simulations. Study of the effects of reservoir wettability, pore shape geometry, and viscosity ratio of flowing fluids on the relative permeabilities is of great importance in reservoir modeling. In this paper, lattice Boltzmann method (LBM) is employed for analyzing the two-fluid flow in rigid porous media. The developed LBM code proved to be a robust numerical tool for analyzing the factors that influence the relative permeabilities of two immiscible fluids flowing through porous media. The numerically derived relative permeability curves demonstrate that in neutrally wet reservoirs, the effect of viscosity... 

In this study, a coupled numerical approach based on Lattice Boltzmann Method (LBM) and Discrete Element Method (DEM) is employed for 2D simulation of fluid flow in porous media comprising of movable circular particles. The developed model is used for simulation of sand production which is one of the important problems in petroleum industry. The numerical tool has proved to have the capability of investigating the mechanisms involved in sand production problem. The results show that the rate of sand production is strongly affected by flow rate and confining pressure  

In this study, a coupled numerical approach based on Lattice Boltzmann Method (LBM) and Discrete Element Method (DEM) is employed for two-dimensional simulation of fluid flow in deformable particulate media comprising of movable circular particles. The developed LB-DE code is validated against the results of a bi-axial shear test as well as two well-known benchmark problems including settling of a circular particle under gravity force inside a viscous fluid, and motion of a neutrally buoyant particle released in a Poiseuille flow. The verified code is then utilized for simulation of "Sand Production" phenomenon which is of importance for oil producing wells in weakly cemented sandstone... 

Polymer concrete is well-known for quick repairing of concrete structures and pavement. However, there are relatively few studies on the durability of epoxy polymer concrete (EPC). This study aims to investigate the long-term environmental effects on the mechanical properties of EPC. Therefore, EPC and ordinary cement concrete (OCC) specimens were prepared and exposed to four chemical solutions with pH values of 2.5, 7, 12.5 and artificial seawater in intervals of 1, 3, 6, 9 and 12 months. Epoxy resin (10 and 12% by weight) and Portland cement were used as binder phase in EPC and OCC specimens, respectively. Scanning electron microscopy (SEM) was additionally applied to investigate the... 

Regarding increasing popularity of Ad hoc networks, the routing protocols employed in these networks should be validated before deployment. Formal methods are used nowadays to find defects in protocols specification. In this paper, we explain different methods of formal modeling and verification of routing protocols of ad hoc networks. We derive the key concepts that are vital in modeling ad hoc network protocols and then modify process algebra, appropriate for verifying protocols at network layer. This process algebra implements mobility behaviors of underlying infrastructure implicitly in the semantics of broadcasting. The semantics of broadcast communication also abstracts away the... 

In this paper, the tardiness flow shop models with intermediate due date were considered. The flow shop models consist of a set of jobs each having a number of operations, while each operation is performed in a single machine. All the jobs are considered having the same unidirectional precedence order. In the tardiness flow shop models with intermediate due date, which we call the generalized tardiness flow shop models, there exist a due date associated with the completion of each operation, and we want to find a schedule which minimizes the total tardiness of the jobs. This is a more general version of tardiness flow shop in the sense that, by assigning a large value to each of the... 

In this paper, the problem of scheduling commercial messages during the peak of viewing time of a TV channel is formulated as a combinatorial auction-based mathematical programming model. Through this model, a profitable and efficient mechanism for allocating the advertising time to advertisers is developed by which the revenue of TV channels is maximised while the effectiveness of advertising is increased. We developed a steady-state genetic algorithm to find an optimal or a near optimal solution for the proposed problem. A computational experiment was conducted for evaluating the efficiency of the proposed algorithm. A set of test problems with different sizes were generated, using the... 

In this study a new version of adjacency, which provides a more flexible layout design, is proposed. In the proposed version, departments which are nonadjacent yet close to each other are considered to be adjacent with a smaller adjacency rating. It is shown that the proposed adjacency is a generalized version of the traditional adjacency. A mathematical programming model is developed for the proposed facility layout problem. To show the flexibility and efficacy of the proposed model, a computational study is conducted. The solution of an illustrative example as well as the solutions of several test problems, reveal flexibility and efficacy of the proposed model  

In this manuscript, a vehicle allocation problem involving a heterogeneous fleet of vehicles for delivering products from a manufacturing firm to a set of depots is considered. Each depot has a specific order quantity and transportation costs consist of fixed and variable transportation cost. The objective is to assign the proper type and number of vehicle to each depot route to minimize the total transportation costs. It is assumed that the number of chartering vehicle types is limited. It is also assumed that a discount mechanism is applied to the vehicles renting cost. The discount mechanism is applied to the fixed cost, based on the number of vehicles to be rented. A mathematical... 

An effective facility layout implies that departments with high flow are laid adjacent. However, in the case of a very narrow boundary length between the neighbouring departments, the adjacency would actually be useless. In traditional layout design methods, a score is generally assigned independent of the department’s boundary length. This may result in a layout design with a restricted material flow. This article proposes a new concept of adjacency in which the department pairs are laid adjacent with a wider path. To apply this concept, a shop with unequal rectangular departments is contemplated and a mathematical programming model with the objective of maximizing the sum of the adjacency...