Sharif Digital Repository

Limit cycle walkers are known as a class of walking robots capable of presenting periodic repetitive gaits without having local controllability at all times during motion. A well-known subclass of these robots is McGeer’s passive dynamic walkers solely activated by the gravity field. The mathematics governing this style of walking is hybrid and described by a set of nonlinear differential equations along with impulses. In this paper, by applying perturbation method to a simple model of these machines, we analytically prove that for this type of nonlinear impulsive system, there exist different switching surfaces, leading to the same equilibrium points (periodic solutions) with different... 

Inverted pendulum (IP) has been broadly used to model locomotor systems. In this paper, we demonstrate that an IP-like model could simulate stable periodic handspring maneuvers with passive flight phases. The model is a 2-D symmetric rigid body which is merely controlled during the contact phase. To benefit from an open-loop sensorless strategy, the control policy is implemented only by an unvaried torque input. The system's dynamics is an example of nonlinear impulsive systems studied and analyzed by the Poincaré section method. The numerical results reveal that the stable periodic solutions are sufficiently robust for a broad range of the parameter space. © 2020 Elsevier Ltd  

Recently, it has been proved that a different switching surface can preserve the walking trajectory while varying the walking stability [1], [2]. In this paper, by employing the simplest passive dynamic biped, we optimize the switching surface to maximize the robot's stability. Here, the stability measure is preferably the size of the basin of attraction, i.e. the collection of all possible initial conditions leading to the system's equilibrium point. Numerical investigations indicate that the maximum stability is obtained for neither the highest nor the lowest walking speed  

Inspired by the effects of a switching surface on the stability of passive dynamic walking (Safa and Naraghi in Robotica 33(01):195–207, 2015; Safa et al. in Nonlinear Dyn. 81(4):2127–2140, 2015), this paper suggests a new control strategy for stabilization of dynamic bipedal locomotion. It verifies that the stability improvement of a dynamic walking system is feasible while preserving the speed, step-length, period, natural dynamics, and the energy effectiveness of the gait. The proposed control policy goes behind the three primary principles: (i) The system’s switching surface has to be replaced by a new one if an external disturbance is induced. (ii) The new switching surface has to be... 

Inspired by the effects of a switching surface on the stability of passive dynamic walking (Safa and Naraghi in Robotica 33(01):195–207, 2015; Safa et al. in Nonlinear Dyn. 81(4):2127–2140, 2015), this paper suggests a new control strategy for stabilization of dynamic bipedal locomotion. It verifies that the stability improvement of a dynamic walking system is feasible while preserving the speed, step-length, period, natural dynamics, and the energy effectiveness of the gait. The proposed control policy goes behind the three primary principles: (i) The system’s switching surface has to be replaced by a new one if an external disturbance is induced. (ii) The new switching surface has to be... 

The main focus of this paper is on how the biped robot has a stable passive gait cycle as well as going through a stable journey on a level ground merely with push-off actuation. During recent years humanoids have been in the center of attention due to several reasons some of which are: compactness of the structure, low energy consumption, humanoid behavior and last but not least being of great use in medical field. In this paper, equations of motion regarding the passive phase as well as push-off are simulated in MATLAB software. For the next step, a comparison between these two stable gait cycles is made so as to figure out the difference between energy injected to the system by push-off... 

The stability analysis of cantilevered curved microtubules in axons regarding various size elements and using the generalized differential quadrature method for solving equations is reported. The impacts of covering MAP Tau proteins along with cytoplasm are taken into account as the elastic medium. Curved cylindrical nanoshell considering thick wall is used to model the microtubules. The factor of length scale (l/R = 0.2) used in modified couple stress theory would result in more accuracy when it comes to comparison with experiments, while alternative theories presented in this paper provide less precise outcomes. Due to the reported precise results, at the lower value of the time-dependent... 

The stability analysis of cantilevered curved microtubules in axons regarding various size elements and using the generalized differential quadrature method for solving equations is reported. The impacts of covering MAP Tau proteins along with cytoplasm are taken into account as the elastic medium. Curved cylindrical nanoshell considering thick wall is used to model the microtubules. The factor of length scale (l/R = 0.2) used in modified couple stress theory would result in more accuracy when it comes to comparison with experiments, while alternative theories presented in this paper provide less precise outcomes. Due to the reported precise results, at the lower value of the time-dependent... 

Due to the remarkable progress in the field of the manufacturing process, smart composites have become the desired target for high-tech engineering applications. Accordingly, for the first time, thermal buckling, critical voltage and vibration response of a thermally affected graphene nanoplatelet reinforced composite (GPLRC) microdisk in the thermal environment are explored with the aid of generalized differential quadrature method (GDQM). Also, the current microstructure is coupled with a piezoelectric actuator (PIAC). The extended form of Halpin-Tsai micromechanics is used to acquire the elasticity of the structure, whereas, the variation of thermal expansion, Poisson’s ratio, and density... 

Due to the remarkable progress in the field of the manufacturing process, smart composites have become the desired target for high-tech engineering applications. Accordingly, for the first time, thermal buckling, critical voltage and vibration response of a thermally affected graphene nanoplatelet reinforced composite (GPLRC) microdisk in the thermal environment are explored with the aid of generalized differential quadrature method (GDQM). Also, the current microstructure is coupled with a piezoelectric actuator (PIAC). The extended form of Halpin-Tsai micromechanics is used to acquire the elasticity of the structure, whereas, the variation of thermal expansion, Poisson’s ratio, and density... 

This is a fundamental study on the nonlinear vibrations considering large amplitude in multi-sized hybrid Nano-composites (MHC) disk (MHCD) relying on nonlinear elastic media and located in an environment with gradually changed temperature feature. Carbon fibers (CF) or carbon nanotubes (CNTs) in the macro or nano sizes respectively are responsible for reinforcing the matrix. For prediction of the efficiency of the properties MHCD's modified Halpin-Tsai theory has been presented. The strain-displacement relation in multi-sized laminated disk's nonlinear dynamics through applying Von Karman nonlinear shell-theory and using third-order-shear-deformation-theory (TSDT) is determined. The energy... 

Two types of unfunctionalized and functionalized multi-wall carbon nanotubes (MWCNTs) were prepared to be applied in fabrication of MWCNT-ZnO nanocomposite thin films with various MWCNT contents. X-ray photoelectron spectroscopy indicated formation of functional groups on surface of the functionalized MWCNTs in the MWCNT-ZnO nanocomposite. Formation of the effective carbonaceous bonds between the ZnO and the MWCNTs was also investigated through photoinactivation of Escherichia coli bacteria on surface of the both unfunctionalized and functionalized MWCNT-ZnO nanocomposites. The functionalized MWCNT-ZnO nanocomposites showed significantly stronger photoinactivation of the bacteria than the... 

A novel implementation of a membrane bioreactor (MBR) has been studied in this paper. It is utilised as combination of rotating biological contractor (RBC) and an external membrane for oily wastewater treatment. The performance of MBR was compared with the standalone RBC. The RBC used in this investigation is the same one combined with the membrane to form the MBR. Wastewater biodegradability has been evaluated by two factors: chemical oxygen demand (COD) and total petroleum hydrocarbon (TPH). They are both compared together for different hydraulic retention times (HRTs) and petroleum pollution concentrations in RBC and MBR. The ratio of TPH to COD of molasses has been varied between 0.2 to... 

By employing a few simple models of passive dynamic walking mechanism, we have shown the possibility of extending the boundaries of the maximum stable speed of these autonomous robots merely by changing their terrain. The replaced terrain consists of a series of parallel local slopes and is recognized as a general form of a ramp-stair surface. Although here, the mechanism of stabilization of the unstable locomotion patterns is not clearly known, the technique is quite simple and works effectively. The merit to the method over other strategies, could be described in two separate aspects: First, it is still completely passive; so we do not need any external energy to control the robot. Second,... 

Various morphologies of CuO/Cu(OH)2 nanostructures with different adsorbed -OH contents were synthesized on an acid-treated Cu foil through variation of NaOH concentration from 0 to 50 mM with an in situ oxidation method. X-ray diffractometry and X-ray photoelectron spectroscopy (XPS) indicated formation of CuO on the Cu(OH)2 crystalline phase at a growth temperature of 60°C for 20 h. Antibacterial activity of the nanostructures against Escherichia coli bacteria was studied in the dark and under light irradiation. The nanostructures grown at a NaOH concentration of 30 mM showed the highest surface area and the strongest antibacterial activity among the samples. After elimination of the... 

Carbon nanotube (CNT)-doped TiO2 thin films with various CNT contents were synthesized by sol-gel method for visible light photoinactivation of Escherichia coli bacteria. Post annealing of the CNT-doped TiO2 thin films at 450 °C resulted in anatase TiO2 and formation of Ti-C and Ti-O-C carbonaceous bonds in the film. By increasing the CNT content, the thin films could further inactivate the bacteria in the dark. Meanwhile, as the CNT content increased from zero to 40 wt% the effective optical band gap energy of the CNT-doped TiO2 thin films annealed at 450 °C decreased from 3.2-3.3 to less than ∼2.8 eV providing light absorption in the visible region. Concerning this, visible light... 

Control charts are useful tools of monitoring quality characteristics. One of the problems of employing a control chart is that the time it alarms is not synchronic with the time when assignable cause manifests itself in the process. This makes difficult to search and find assignable causes. Knowing the real time of manifestation of assignable cause (change point) helps to find assignable cause(s) sooner and eases corrective actions to be taken. In this paper, a probabilistic neural network (PNN)-based procedure was developed to estimate the variance change point of a normally distributed quality characteristic. The PNN was selected based on trial and error among different types of... 

Given the evolution of an arbitrary open quantum system, we formulate a general and unambiguous method to separate the internal energy change of the system into an entropy-related contribution and a part causing no entropy change, identified as heat and work, respectively. We also demonstrate that heat and work admit geometric and dynamical descriptions by developing a universal dynamical equation for the given trajectory of the system. The dissipative and coherent parts of this equation contribute exclusively to heat and work, where the specific role of a work contribution from a counterdiabatic drive is underlined. Next we define an expression for the irreversible entropy production of the...