Sharif Digital Repository

In this paper, a nonlinear adaptive impedance controller is proposed for UAVs equipped with a robot manipulator that interacts with environment. In this adaptive controller, by considering the nonlinear dynamics model of the UAV plus the robot manipulator in Cartesian coordinates, all of model parameters are considered to be completely uncertain and their estimation is updated using an adaptation law. The objective of the proposed adaptive controller is the control of manipulator's end-effector impedance in Cartesian coordinates to have a stable physical interaction. The adjustable Cartesian impedance is a desired dynamical relationship between the end-effector motion in Cartesian... 

In this paper, the three-dimensional adaptive finite element modeling is presented for cohesive fracture analysis of non-planer crack growth. The technique is performed based on the Zienkiewicz-Zhu error estimator by employing the modified superconvergent patch recovery procedure for the stress recovery. The Espinosa-Zavattieri bilinear constitutive equation is used to describe the cohesive tractions and displacement jumps. The 3D cohesive fracture element is employed to simulate the crack growth in a non-planar curved pattern. The crack growth criterion is proposed in terms of the principal stress and its direction. Finally, several numerical examples are analyzed to demonstrate the... 

A nonlinear robust adaptive sliding mode admittance controller is proposed for exoskeleton rehabilitation robots. The proposed controller has robustness against uncertainties of dynamic parameters using an adaptation law. Furthermore, an adaptive Sliding Mode Control (SMC) scheme is employed in the control law to provide robustness against disturbances (non-parametric uncertainties) with unknown bounds. For this purpose, another adaptation law is defined for the variation of the SMC gain. The proposed scheme is augmented with an admittance control method to provide the patient with compliance during interaction with the rehabilitation robot. The stability of the proposed controller and the... 

Considering the interaction of flexural moment and shear force in the steel frames with haunch or intermediate beam length and eccentrically braced frames with intermediate link length is a major concern of the structural analysis and design. This article contains two stages. In the first stage, to investigate the moment–shear interaction for the highly ductile steel I-sections, a study is carried out using finite element analysis and a simple and practical relationship is developed. In the second stage, a simple approach based on virtual work method for assemblage of interconnected rigid bodies is employed to consider collapse mechanisms with mixed hinges. Using this approach, the... 

Considering the interaction of flexural moment and shear force in the steel frames with haunch or intermediate beam length and eccentrically braced frames with intermediate link length is a major concern of the structural analysis and design. This article contains two stages. In the first stage, to investigate the moment–shear interaction for the highly ductile steel I-sections, a study is carried out using finite element analysis and a simple and practical relationship is developed. In the second stage, a simple approach based on virtual work method for assemblage of interconnected rigid bodies is employed to consider collapse mechanisms with mixed hinges. Using this approach, the... 

Hepatitis is one of the most perilous viral infectious diseases and many people suffer from it all around the world. In particular, hepatitis B is a terribly dangerous disease which may cause severe liver damage or cancer if it is not treated. Recently, several dynamic models have been developed from experimental studies for describing such diseases mathematically. The certainty of these dynamics models is questionable in realistic treatment processes. Thus, the modeling uncertainties should be considered in the dynamics, which necessitates employing robust control strategies capable to overcome these uncertainties. Accordingly, in this research, a control strategy is developed in order to... 

Interaction between rock-fluid and fluid-fluid can have a significant effect on oil recovery. Changing the wettability of reservoir rock toward more water-wet or less oil-wet state is one of the expected mechanisms during low salinity water injection (LSWI). pH and salinity are of the most eminent factors of injection water controlling the wettability state of a crude oil/brine/rock system during any waterflooding operation. A small change in pH can affect the surface charges at the rock/water and oil/water interfaces leading to wettability alteration in a porous medium. In this study, the synergic effect of salinity and pH on the wettability state of carbonate rocks is evaluated through... 

A new algorithm named random particle optimization algorithm (RPOA) for local path planning problem of mobile robots in dynamic and unknown environments is proposed. The new algorithm inspired from bacterial foraging technique is based on particles which are randomly distributed around a robot. These particles search the optimal path toward the target position while avoiding the moving obstacles by getting help from the robot's sensors. The criterion of optimal path selection relies on the particles distance to target and Gaussian cost function assign to detected obstacles. Then, a high level decision making strategy will decide to select best mobile robot path among the proceeded particles,... 

The performance of perturbation method in nonlinear analyses of plates subjected to mechanical, thermal, and thermo-mechanical loadings is investigated. To this end, cylindrical bending of FG plates with clamped and simply-supported edges is considered. The governing equations of Mindlin's first-order shear deformation theory with von Kármán's geometric nonlinearity are solved using one- and two-parameter perturbation methods and the results are compared with the results of an analytical solution. The material properties are assumed to vary continuously through the thickness of the plate according to a power-law distribution of the volume fraction of the constituents. It is shown that the... 

In naturally fractured reservoirs, modeling of mass transfer between matrix blocks and fractures is an important subject during gas injection or contaminant transport. This study focuses on developing an exact analytical solution to transient tracer transport problem along a discrete fracture in a porous rock matrix. Using Gauss-Legendre quadrature, an expression was obtained in the form of a double integral which is considered as the general transient solution. This solution has the ability to account the following phenomena: advective transport in fractures and molecular diffusion from the fracture to the matrix block. Certain assumptions are made which allow the problem to be formulated... 

The performance of perturbation method in nonlinear analyses of plates subjected to mechanical, thermal, and thermo-mechanical loadings is investigated. To this end, cylindrical bending of FG plates with clamped and simply-supported edges is considered. The governing equations of Mindlin's first-order shear deformation theory with von Kármán's geometric nonlinearity are solved using one- and two-parameter perturbation methods and the results are compared with the results of an analytical solution. The material properties are assumed to vary continuously through the thickness of the plate according to a power-law distribution of the volume fraction of the constituents. It is shown that the... 

This article has been retracted: please see Elsevier Policy on Article Withdrawal (https://www.elsevier.com/about/our-business/policies/article-withdrawal). This article has been retracted at the request of the Editors. Some parts of this paper are similar to the following previously-published paper, but do not include appropriate citation: Amin Sharifi Haddad, Hassan Hassanzadeh, Jalal Abedi; Advective-diffuse mass tranfer in fractured porous media with variable rock matrix block size; Journal of Contaminant Hydrology, Volume 133, 15 May 2012, Pages 94–107. DOI: 10.1016/j.jconhyd.2012.02.008. The Authors apologise unreservedly for this violation of publishing policies, and for any... 

In this paper, a nonlinear adaptive control method is presented for the treatment of the Hepatitis B Virus (HBV) infection. Nonlinear dynamics of the HBV, modeling uncertainties and three state variables (the numbers of uninfected and infected cells and free viruses) are taken into account. The proposed control law is designed for the antiviral drug input such that the number of free viruses and consequently the number of infected cells decrease to the desired values. An adaptation law is also presented to overcome modeling uncertainties by updating estimations of the system parameters during the treatment period. The stability of the process and convergence to desired state values are... 

A stable robust adaptive impedance control strategy is introduced here as a model-based low-level control scheme for active ankle prostheses. The effects of amputee-prosthesis and prosthesis-environment interactions are included in the controller design. An interesting feature of the proposed controller is that only shank and ankle angles and angular velocities, and ground reaction forces are required to implement the control law. In other words, no feedback from amputee-prosthesis interaction forces and moment, global or local positions, and accelerations of amputated place is required. Using a Lyapunov analysis, exponential convergence characteristics of the proposed controller are proven.... 

A new robust adaptive controller is developed for the control of the hepatitis B virus (HBV) infection inside the body. The non-linear HBV model has three state variables: uninfected cells, infected cells and free viruses. A control law is designed for the antiviral therapy such that the volume of infected cells and the volume of free viruses are decreased to their desired values which are zero. One control input represents the efficiency of drug therapy in inhibiting viral production and the other control input represents the efficiency of drug therapy in blocking new infection. The proposed controller ensures the stability and robust performance in the presence of parametric and... 

Abstract: Well testing is one of the important methods to provide information about the reservoir heterogeneity and boundary limits by analyzing reservoir dynamic responses. Despite the significance of well testing data, misinterpreted data can lead us to a wrong reservoir performance prediction. In this study, we focus on cases ignoring the adjacent well’s production history, which may lead to misinterpretation. The analysis was conducted on both homogeneous and naturally fractured reservoirs in infinite-acting and finite-acting conditions. The model includes two wells: one is “tested well” and the other is “adjacent one.” By studying different scenarios and focusing on derivative plots, it... 

In this paper, a novel robust model reference adaptive impedance control (RMRAIC) scheme is presented for an active transtibial ankle prosthesis. The controller makes the closed loop dynamics of the prosthesis similar to a reference impedance model and provides asymptotic tracking of the response trajectory of this impedance model. The interactions between human and prosthesis are taken into account by designing a second-order reference impedance model. The proposed controller is robust against parametric uncertainties in the nonlinear dynamic model of the prosthesis. Also, the controller has robustness against bounded uncertainties due to unavailable ground reaction forces and unmeasurable... 

In recent years, robotic rehabilitation has been utilized in treatment and recovery of patients with disabilities. In this paper, a novel design and kinematic analysis of a 4-DOF robot for upper-limb rehabilitation are proposed. The main novelty of this design is its mechanism for wrist and fingers motions which is added to the shoulder and elbow mechanism without any noticeable weight increase in the moving parts of the robot. For this purpose, a cable driven mechanism is implemented at the robot end-effector to move the wrist and fingers parts, and the corresponding actuators are placed at the base of the robot. © 2018 IEEE  

The redundancy allocation is one of the most important and useful problems in system optimization, especially in electrical and mechanical systems. The object of this problem is to maximize system reliability or availability within a minimum operation cost. Many works have been proposed in this area so far to draw the problem near to real-world situations. While in classic models the system components are assumed to have two states of working and failed, in this paper, parallel components of serial sub-systems are considered to work in three states, each with a certain performance rate. The component states are classified into two working states of working with full performance and working... 

In multi-state systems (MSS) reliability problems, it is assumed that the components of each subsystem have different performance rates with certain probabilities. This leads into extensive computational efforts involved in using the commonly employed universal generation function (UGF) and the recursive algorithm to obtain reliability of systems consisting of a large number of components. This research deals with evaluating non-repairable three-state systems reliability and proposes a novel method based on a Markov process for which an appropriate state definition is provided. It is shown that solving the derived differential equations significantly reduces the computational time compared...