Sharif Digital Repository

Ferromagnetic shape memory alloys (FSMA) are new class of smart material and have been investigated for sensor and actuator and energy harvester applications.this paper presents the basis for a novel pressure sensor based on ferromagnetic shape memory alloys. Underlying mechanism for sensing applications is martensitic reorientation accompanied by a chang of magnetization of plate. When this alloy, is exposed in an external magnetic field or stress, has change of magnetization in result.the change in the magnetization of the alloy in accordance with the Faraday induction law, in the wires of the coil leads to the induction voltage. In this paper, a phenomenological constitutive structural... 

This article investigates the basis for pressure sensor application based on the magnetic shape memory effect in membranes. Von Karmans nonlinear terms are considered in strain–displacement relationships of thin films, and a new method is presented for solution of large deflections of thin films with arbitrary boundary condition. In this study, the equations of motion of magnetic shape memory alloys are extended. In pressurized membranes, the complex distribution of mechanical stress can cause the martensitic reorientation, which is the underlying mechanism for sensing applications in magnetic shape memory alloys. To examine the obtained model, the governing equations of magnetic shape... 

This article investigates the basis for pressure sensor application based on the magnetic shape memory effect in membranes. Von Karmans nonlinear terms are considered in strain–displacement relationships of thin films, and a new method is presented for solution of large deflections of thin films with arbitrary boundary condition. In this study, the equations of motion of magnetic shape memory alloys are extended. In pressurized membranes, the complex distribution of mechanical stress can cause the martensitic reorientation, which is the underlying mechanism for sensing applications in magnetic shape memory alloys. To examine the obtained model, the governing equations of magnetic shape... 

The main purpose of this paper is to design a decentralized controller for some car-like (wheeled) multi robots to follow and hunt a moving target. Considering geometric dimensions, mass and moment of inertia, robots are very similar to actual cars in which the outputs of the controller are steering and driving wheel torques. All robots are equipped with range and bearing sensors along with antenna, to communicate radio wave signals. A Kalman filter is implemented to estimate relative position, state variables of the target and state variables of other robots. The controller is designed to carry out the group maneuver of the system, based on the system dynamics analysis of inertial agents,... 

There are two different ways of using shape memory alloy (SMA) wire as an actuator for shape control of flexible structures: it can be either embedded within the composite laminate or externally attached to the structure. As the actuator can be placed at different offset distances from the beam, external actuators produce more bending moment and, consequently, considerabnle shape changes with the same magnitude of actuation force compared with the embedded type. Such a configuration also provides faster heat transfer rate owing to convection, which is very important in shape control applications that require a highfrequency response of SMA actuators. Although combination and physics-based... 

This paper focuses on developing a new configuration on magnetorheological (MR) brake damper as prosthetic knee. Knee uses magnetic fields to vary the viscosity of the MR fluid, and thereby its flexion resistance. Exerted transmissibility torque of the knee greatly depends on the magnetic field intensity in the MR fluid. In this study a rotary damper using MR fluid is addressed in which a single rotary disc will act as a brake while MR fluid is activated by magnetic field in different walking gait. The main objective of this study is to investigate a prosthetic knee with one activating rotary disc to accomplish necessary braking torque in walking gait via implementing of Newton's equation of... 

This paper focuses on developing a new configuration on magnetorheological (MR) brake damper as prosthetic knee. Prosthetic knee uses magnetic fields to vary the viscosity of the MR fluid, and thereby its flexion resistance. Exerted transmissibility torque of the knee greatly depends on the magnetic field intensity in the MR fluid. In this study a rotary damper using MR fluid is addressed in which a single rotary disc will act as a brake while MR fluid is activated by magnetic field in different walking gait. The main objective of this study is to investigate a prosthetic knee with one activating rotary disc to accomplish necessary braking torque in walking gait via T-shaped drum with arc... 

A Magneto rheological (MR) rotary brake as a prosthesis knee is addressed here. To the gait of the amputee, the brake, automatically adapts knee damping coefficient using only local sensing of the knee torque and position. It is difficult to design a model-based controller, since the MR knee system has nonlinear and very complicated governing mathematical equations. Hence, a Hybrid self-organizing fuzzy controller and multidimensional wavelet neural network (HSFCMWNN) is proposed here to control the knee damping coefficient using of the inverse dynamics of the MR rotary damper. A Self-organizing fuzzy controller (SOFC) is also proposed and during the control process, the SOFC continually... 

Accurate estimation of the capacity curve of offshore jacket structures to achieve performance levels and ductility is of great importance. Proper modeling of compressive members to correctly investigate global and local buckling is crucial in estimation of the capacity curve. Buckling modes and deformations due to local buckling can be considered, if the compressive braces are modeled by shell or solid elements. The purpose of this paper is to achieve the correct compressive behavior of braces with solid type elements and investigate the effects of five different parameters such as D/t, L/D, mesh size, mesh size ratio, and imperfections. ABAQUS FE software is used for this purpose. The... 

Accurate estimation of the capacity curve of offshore jacket structures to achieve performance levels and ductility is of great importance. Proper modeling of compressive members to correctly investigate global and local buckling is crucial in estimation of the capacity curve. Buckling modes and deformations due to local buckling can be considered, if the compressive braces are modeled by shell or solid elements. The purpose of this paper is to achieve the correct compressive behavior of braces with solid type elements and investigate the effects of five different parameters such as D/t, L/D, mesh size, mesh size ratio, and imperfections. ABAQUS FE software is used for this purpose. The... 

Accurate estimation of the capacity curve of offshore jacket structures to achieve performance levels and ductility is of great importance. Proper modeling of compressive members to correctly investigate global and local buckling is crucial in estimation of the capacity curve. Buckling modes and deformations due to local buckling can be considered, if the compressive braces are modeled by shell or solid elements. The purpose of this paper is to achieve the correct compressive behavior of braces with solid type elements and investigate the effects of five different parameters such as D/t, L/D, mesh size, mesh size ratio, and imperfections. ABAQUS FE software is used for this purpose. The... 

Recently, Shape Memory Alloys (SMAs) have been receiving more attention and further study, due to their ability to develop extremely large, recoverable strains and great forces. In this paper, three major models of SMA behavior, used in the literature, for studying the static performance of SMA components attributed to Tanaka, Liang and Rogers, and Brinson, have been analyzed and compared. The major differences and similarities between these models have also been emphasized and presented in this paper, based on the experimental data of the shape memory and superelastic behavior of an SMA wire. It is shown that these models all agree well in their prediction of the superelastic behavior of... 

In this paper a fuzzy control strategy of autonomous multiagent systems is presented. The main purpose is to obtain an improvement on the results of designed sliding mode controllers in previous articles using supervisory fuzzy controller. Similarly, a quasi-static swarm model in ndimensional space is introduced wherein the inter-individual interactions are based on artificial potential functions; and the motions of members are in direction with the negative gradient of the combined potentials which are the result of a balance between inter-individual interactions and the simultaneous interactions of the swarm members with their environment. Then a general model for vehicle dynamics of each... 

Trimaran vessels are developed for different applications and hydrodynamic behavior of such vessels is different than usual mono-hulls. In this paper hydrodynamic resistance and maneuvering of a trimaran with Wigley body form are investigated. The effects of outriggers position in four different longitudinal and two transverse locations are studied. For hydrodynamic simulations a CFD code has been developed and used. This code is capable for simulating three dimensional, time dependent, two phases, viscous flow coupled with rigid body motion. Formulation and solution algorithm are described in detail. Different case studies have been performance and numerical results have shown good... 

Minimum cost of energy is the main goal of a wind farm layout optimization. This is achieved by maximizing the total energy while minimizing the total costs of the farm. In this study, two sizes of commercial turbines were considered to investigate the effect of a non-homogenous farm on the layout optimization process. A cost model consisting of turbines, cable, transformers, foundation, and service vehicle routes was developed. Using Genetic Algorithm and Artificial Neural Network, first the superiority of the new algorithm in turbines and cable layout was verified versus previous studies. Next, two cases were investigated, i.e. (1) a farm populated with identical turbines and (2) a farm... 

This article presents a model to simulate the behavior of a magnetic shape memory alloy while harvesting vibratory energy. In this type of energy harvester, magnetic shape memory alloy element is placed in the air gap of a ferromagnetic core which conducts the magnetic flux. Two apparent coils are wound around a ferromagnetic core: one to produce bias magnetic field by passing a rectified electric current and the other to serve as an energy pickup coil. Applying compressive time-variant strain field to magnetic shape memory alloy element changes its dimensions and magnetic properties as well. Presence of the bias magnetic field returns magnetic shape memory alloy element to its initial state... 

This paper attempts to give a perspective on decentralized formation control of multiple car-like mobile robots using local information and formation changes in a dynamic environment having several obstacles. In addition, for every mobile robot, it takes physical dimensions, mass, moment of inertia, movement constraints, and saturation of actuators into account. This study makes use of Input/Output Feedback Linearization Method to control each robot. Hence, hierarchical leader-follower based algorithm is employed to control the group formation. To avoid collision between robots and obstacles, and of robots with each other, local artificial potential fields are addressed. The group can change... 

Preisach model is a well-known hysteresis identification method in which the hysteresis is modeled by linear combination of hysteresis operators. Although Preisach model describes the main features of system with hysteresis behavior, due to its rigorous numerical nature, it is not convenient to use in real-time control applications. Here a novel neural network approach based on the Preisach model is addressed, provides accurate hysteresis nonlinearity modeling in comparison with the classical Preisach model and can be used for many applications such as hysteresis nonlinearity control and identification in SMA and Piezo actuators and performance evaluation in some physical systems such as... 

In systems with hysteresis behavior like Shape Memory Alloy (SMA) actuators and Piezo actuators, an accurate modeling of hysteresis behavior either for performance evaluation and identification or controller design is essentially needed. One of the most interesting hysteresis none-linearity identification methods is Preisach model which the hysteresis is modeled by linear combination of hysteresis operators. In spite of good ability of the Preisach model to extract the main features of system with hysteresis behavior, due to its numerical nature, it is not convenient to use in real time control applications. In this paper a novel artificial neural network (ANN) approach based on the Preisach...