Sharif Digital Repository

Today, many surgical procedures such, gallbladder, gastric bypass, placement of a ring around the stomach, partial removal of colon, removal of tumors use laparoscopic techniques. In this surgery, a variety of tools to capture and remove the internal organs can be used. Sometimes the surgeon selects the proper tools and replacement during surgery, so the surgeon had to do different things with the operation. These tools generally cannot be used because of the large internal organs device is small and does not have enough degrees of freedom. In laparoscopic surgery, the surgeon operate in the abdominal cavity using a thin instrument that is inserted through the trocar hole would do. If... 

Since the beginning of human civilization, improving the methods of measuring and identifying changes in order to improve the level of comfort and safety of human civilization is inevitable. The intrinsic property of high sensitivity to system conditions in chaos phenomena has led some researchers to use this feature for purposes of identifying and measuring changes. The most important bugs of previous researches in this area are the complexity, lack of coherence and dependence on the nominal parameters. By analyzing the effect of the type and magnitude of the initial deviation in a system parameter on all the characteristics of the Duffing system response in the chaotic regime, was observed... 

With intensified concerns of rising fuel vehicles that reduce fossil fuel globally and also prescript strict rules by standard institutes, vehicle manufacturers try to find a way for reducing the fuel of their products. One these methods use a continuously variable transmission (CVT) instead of manual and automatic gearboxes. Various CVT’s have been proposed in recent year.
One of the proposed systems is traction infinitely variable transmission (TIVT) that is type of traction drive continuously variable transmission and has been presented in 2007. Research on this system showed that average efficiency is about 96% that is high efficiency. Completed research in 2011 showed that despite...