Sharif Digital Repository

Tolerance analysis is a key analytical tool for estimation of accumulating effects of the individual part tolerances on the design specifications of a mechanical assembly. This paper presents a new feature-based approach to tolerance analysis for mechanical assemblies with geometrical and dimensional tolerances. In this approach, geometrical and dimensional tolerances are expressed by small degrees of freedom (SDOF) of geometric entities (faces, feature axes, edges, and features of size) that are described by tolerance zones. The uncertainty of dimensions and geometrical form of features due to tolerances is mathematically described using modal interval arithmetic. The two concepts of modal... 

This paper presents a novel model to simulate the flow-current characteristic curve of an electro-hydraulic servo valve in steady state condition. This characteristic curve has three major zones: dead zone, linear zone and saturation zone. By using the presented approach, we can simulate the behavior of all types of valves including under lapped, critical center (zero lapped) and over lapped valves. A hydraulic tester has been designed and constructed for validation of the results. It can test the performance of flow-current and some other properties of the valve. Comparison of experimental and simulated curves describes that the model has an acceptable accuracy in determining the four... 

This paper presents a new experimental-numerical method for deriving the transfer functions of a half-automobile model, containing: chassis, body, engine, engine mount and steering wheel, with five degrees of freedom. In this method different parts of system are not required to be disassembled from the main system and the transfer functions of subsystem are obtained through testing of the whole system. This method is based on the experimental results and does not need a mathematical model of the half-automobile. In this method, transfer functions of various parts of chassis are calculated through obtaining the response of secondary elements mounted on the chassis to the displacement input... 

This paper presents a kinematics and workspace analysis of cable-suspended manipulators with elastic cable. The mechanics of extensible cable with a deflection to its selfweight are studied. The problem of evaluating the workspace is approached by using a modified formulation for a deformable cable. The proposed algorithm for testing whether a given configuration lies within the reachable workspace is applied. Starting with a general statement of the kinetic equations of the elastic cable and incorporate cable flexibility into workspace generation. This algorithm is verified through simulation results of various cable-suspended robots. © 2008 IEEE  

Effective and rapid mixing is crucial for chemical and biological processes. The purpose of the current study is to investigate the effect of steady and varying magnetic field on the mixing of a water-based ferrofluid and two streams of deionized water inside a microchannel for Lab-on-Chip applications. To this end, the nonlinear governing equations, the momentum equation, the continuity equation, the mass transport equation and the Maxwell-Ampere equations are numerically solved. A commercial code based on the finite-element method is used and the numerical simulations are validated by the experimental results in the literature. To augment the mixing performance, the effects of influencing... 

Energy-efficient mixing is vital for chemical and fuel processes. To this end, a flow-focusing configuration is proposed to investigate the effect of a uniform magnetic field on the mixing of a water-based ferrofluid with two streams of deionized water. An external and varying magnetic field is imposed on a straight microchannel, and the mixing between the ferrofluid and deionized waters is qualitatively and quantitatively measured. A commercial code based on the finite-element method is used, and the simulations are validated by two experimental studies in the literature. For a magnetic flux density of 10 mT, a signal frequency of 1 Hz, a duty cycle of 0.3, an inlet velocity of 500 µm/s,... 

Fast locking PLL-based wide-band frequency synthesizers used in high performance RF transceivers often require multi-band voltage controlled oscillator (VCO). These types of frequency synthesizers employ both discrete and continuous tuning mechanisms to satisfy wide frequency range and low VCO tuning gain simultaneously. To facilitate discrete tuning mechanisms, an auxiliary digital loop is required in order to select proper band of VCO. This digital loop is called adaptive frequency calibration (AFC). In this paper two methods of previous AFC architectures are discussed and improved to gain the minimum possible lock time of PLL. Then, these two methods are simulated and implemented over... 

Unmanned helicopters have gained great importance during recent years due to their special abilities such as hover flight, vertical take-off and landing, maneuverability and superior agility. The advances in electronic devices technologies lead to more powerful and lighter processors to be used in avionic systems which have attracted more attention to these UAVs. The first steps of utilizing an unmanned helicopter are dynamic modeling, control system design and performing model-in-the-loop (MIL) and hardware-in-the-loop (HIL) tests which are presented in this paper. In this research, MIL and HIL tests of an unmanned helicopter are done using novel Linux-based flight control system built on... 

In recent years, unmanned aerial systems have attracted great attention due to the electronic systems technology advancements. Among these vehicles, unmanned helicopters are more important because of their special abilities and superior performance. The complex nonlinear dynamic system (caused by main rotor flapping dynamics coupled with the rigid body rotational motion) and considerable effects of ambient disturbance make their utilization hard in actual missions. Attitude dynamics have the main role in helicopter stabilization, so implementing proper control system for attitude is an important issue for unmanned helicopter hovering and trajectory tracking performance. Besides this,... 

Unmanned helicopters have gained great importance during recent years due to their special abilities such as hover flight, vertical take-off and landing, maneuverability and superior agility. The advances in electronic devices technologies lead to more powerful and lighter processors to be used in avionic systems which have attracted more attention to these UAVs. The first steps of utilizing an unmanned helicopter are dynamic modeling, control system design and performing model-in-the-loop (MIL) and hardware-in-the-loop (HIL) tests which are presented in this paper. In this research, MIL and HIL tests of an unmanned helicopter are done using novel Linux-based flight control system built on... 

The reliability of data driven prognostics algorithms severely depends on the volume of data. Therefore in case of limited data availability, life estimations usually are not acceptable; because the quantity of run to failure data is not sufficient to train prognostics model efficiently. To board this problem, a life clustering prognostics (LCP) framework is proposed. LCP regenerates the train data at different ages and outcomes to increment of the training data volume. So, the method is useful for limited data conditions. In this research, initially LCP performance is studied in normal situation is; successively robustness of the framework under limited data conditions is considered. For... 

Background: Performance indices provide quantitative measures for the quality of motion, and therefore, assist in analyzing and monitoring patients' progress. Measurement of performance indices requires costly devices, such as motion capture systems. Recent developments of sensors for game controllers, such as Microsoft Kinect, have motivated many researchers to develop affordable systems for performance measurement applicable to home and clinical care. In this work, the capability of Kinect in finding motion performance indices was assessed by analyzing intra-session and inter-session test-retest reliability. Method: Eighteen stroke patients and twelve healthy subjects participated in this... 

In this study, the morphological, rheological, and mechanical properties of PP/HDPE blend compatibilized with poly (propylene-g-maleic anhydride) were studied. Necessary blends were prepared using a counter current twin-screw extruder. The blend composition ranged from 10 to 50 wt% of dispersed phase (HDPE) and compatibilizer (MAPP) with two Concentration ranges 10, 20 wt% were used for PP/HDPE (80/20) blend with respect to the dispersed phase (HDPE). The results of morphological studies shows a droplet dispersion morphology in the composition to 50wt% HDPE content, which indicates that HDPE forms a dispersed phase and PP forms a continuous phase in these composition region. Addition of the... 

An integrated procedure for mathematical modeling and power control balance for a SPA (Split Parallel Architecture) hydraulic hybrid vehicle is presented in this paper. Dynamic mathematical model of the powertrain is constructed firstly, which includes five modules: diesel engine, traction motor, starter, loading pump and accumulator. Based on the mathematic model of control modes a stability analysis is done. For some control modes a Sliding Mode Control is designed, which uses full-states closed-loop feedback. The paper finally illustrates and discusses the results of simulation. The results show that the performance and stability of control modes are proper and a power control strategy... 

Rhythmic activities such as swimming stroke in the human body are learnable through conscious trainings. Inspiringly, the main objective of this study is to develop a control framework to reproduce the described functionality in the imitating robots. To do so, a two layer supervisory controller is proposed. The high-level controller, which acts as the conscious controller during trainings, is a supervisory dynamic-based controller and uses all system sensory data to generate stable rhythmic movements. On the other hand, the low-level controller in this structure is a distributed trajectory-based controller network. Each node in this network is an oscillatory dynamical system which has the... 

Animal walking is one of the most robust and adaptive locomotion mechanisms in the nature, involves sophisticated interactions between neural and biomechanical levels. It has been suggested that the coordination of this process is done in a hierarchy of levels. The lower layer contains autonomous interactions between muscles and spinal cord and the higher layer (e.g. the brain cortex) interferes when needed. Inspiringly, in this study we present a hierarchical control architecture with a state of the art intrinsic online learning mechanism for a dynamically walking 5-link biped robot with compliant knee joints. As the biological counterpart, the system is controlled by independent control... 

Games and their use in rehabilitation have formed a new and rapidly growing area of research. A critical hardware component of rehabilitation programs is the input device that measures the patients' movements. After Microsoft released Kinect, extensive research has been initiated on its applications as an input device for rehabilitation. However, since most of the works in this area rely on a qualitative determination of the joints' movements rather than an accurate quantitative one, detailed analysis of patients' movements is hindered. The aim of this article is to determine the accuracy of the Kinect's joint tracking. To fulfill this task, a model of upper body was fabricated. The... 

Correlation functions of logarithmic conformal field theory is investigated using the ADS/CFT correspondence and a novel method based on nilpotent weights and 'superfields'. Adding an specific form of interaction, we introduce a perturbative method to calculate the correlation functions. © 2004 Elsevier B.V. All rights reserved  

Logarithmic conformal field theory is investigated using the ADS/CFT correspondence and a novel method based on nilpotent weights. Using this device we add ghost fermions and point to a BRST invariance of the theory. © 2001 Elsevier Science B.V. All rights reserved  

We study logarithmic conformal field theories (LCFTs) through the introduction of nilpotent conformal weights. Using this device, we derive the properties of LCFTs such as the transformation laws, singular vectors and the structure of correlation functions. We discuss the emergence of an extra energy momentum tensor, which is the logarithmic partner of the energy momentum tensor. © 2001 Elsevier Science B.V