Sharif Digital Repository

In this paper a novel non-rotating space tethered configuration is introduced which its relative positions controlled using electromagnetic forces. The attitude dynamics is controlled by three reaction wheels in the body axes. The nonlinear coupled orbital dynamics of a dumbbell tethered satellite formation flight are derived through a constrained Lagrangian approach. These equations are presented in the leader satellite orbital frame. The tether is assumed to be mass-less and straight, and the J2 perturbation is included to the analysis. The forces and the moments of the electromagnetic coils are modeled based on the far-filed model of the magnetic dipoles. A guidance scheme for generating... 

In this paper, a nonlinear model reference adaptive impedance controller is proposed and tested. The controller provides asymptotic tracking of a reference impedance model for the robot end-effector in Cartesian coordinates applicable to rehabilitation robotics or any other human-robot interactions such as haptic systems. The controller uses the parameters of a desired stable reference model which is the target impedance for the robots end-effector. It also considers uncertainties in the model parameters of the robot. The asymptotic tracking is proven using Lyapunov stability theorem. Moreover, the adaptation law is proposed in joint space for reducing the complexity of its calculations;... 

Flow hydrodynamics of laminar falling film of aqueous Li Br solution (Li Br - H2O) on a horizontal elliptical tube has been investigated in this research. The film velocity distribution and film thickness, namely, the flow characteristics are determined by solving analytically simultaneous simplified Navier - Stokes equations and continuity equation in polar and Cartesian coordinates. The analysis is based on steady state laminar flow of falling liquid film of Li Br - H2O on a horizontal elliptical tube in polar model and Cartesian model (CM), for cases in which traction on the film surface is considered negligible. Models are compared with each other in three cases of aspect ratios (Ar),... 

A bilateral nonlinear adaptive impedance controller is proposed for the control of multi-degrees-of-freedom (DOF) teleoperation systems. In this controller, instead of conventional position and/or force tracking, the impedance of the nonlinear teleoperation system is controlled. The controller provides asymptotic tracking of two impedance models in Cartesian coordinates for the master and slave robots. The proposed bilateral controller can be used in different medical applications, such as telesurgery and telerehabilitation, where the impedance of the robot in interaction with human subject is of great importance. The parameters of the two impedance models can be adjusted according to the... 

In this paper, the modeling and impedance-control of a one link flexible robot is presented. The concept of impedance control of flexible link robots is rather new and is being addressed for the first time. The control algorithm is valid for both constrained and unconstrained maneuvers. First, equations of motion and the associated boundary conditions are derived using Hamilton's principle. A linear finite dimensional model is, then, generated in the Cartesian coordinates, using the assumed mode method and by introduction of a proper coordinate transformation. The target impedance is, then, introduced in the Cartesian coordinate system and a control law is designed to realize the proposed... 

The effects of particle size on the solid flow pattern in gas-solid bubbling fluidized beds were investigated numerically using two-fluid model based on the kinetic theory of granular flow. In this regard, the set of governing equations was solved using finite volume method in two-dimensional Cartesian coordinate system. Glass bead particles with mean sizes of 880. μm, 500. μm, and 351. μm were fluidized by air flow at excess gas velocities of 0.2. m/s and 0.4. m/s. For particle diameters of 880 and 351. μm, the predicted characteristic times for solid dispersion were 0.14. s and 0.15. s, respectively, while characteristic times for solid diffusivity were 1.68. ms and 0.75. ms in the same... 

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, a 2D boundary element approach able to model viscoelastic functionally graded materials (FGM) is presented. A numerical implementation of the Somigliana identity for displacements is developed to solve 2D problems of exponentially graded elasticity. An FGM is an advanced material in which its composition changes gradually resulting in a corresponding change in properties of the material. The FGM concept can be applied to various materials for structural and functional uses. Our model needs only the Green's function of nonhomogeneous elastostatic problems with material properties that vary continuously along a given dimension. We consider the material properties to be an... 

In this paper, free vibration analysis of thin symmetrically laminated skew plates with fully clamped edges is investigated. The governing differential equation for skew plate which is a fourth order partial differential equation (PDE) is obtained by transforming the differential equation in Cartesian coordinates into skew coordinates. Based on the multi-term extended Kantorovich method (MTEKM) an efficient and accurate approximate closed-form solution is presented for the governing PDE. Application of the MTEKM reduces the governing PDE to a dual set of ordinary differential equations. These sets of equations are then solved with infinite power series solution, in an iterative manner until... 

This paper presents a novel Gait Pattern Generator ((IPC) developed for the "Alice" social humanoid robot, which up to now lacked an appropriate walking pattern. Due to t he limitations of this robot, the proposed gate pattern generator was formulated based on a nine-mass model to decrease the modeling errors and t he inverse kinematics of the whole lower-body was solved in such a way that the robot remained statically stable during t he movements. The main challenge of this work was to solve t he inverse kinematics of a 7-link chain with 12 degrees of freedom. For this purpose, a new graphical-numerical technique has been provided using the definition of the kinematic equations of the robot... 

This paper presents a novel Gait Pattern Generator ((IPC) developed for the "Alice" social humanoid robot, which up to now lacked an appropriate walking pattern. Due to t he limitations of this robot, the proposed gate pattern generator was formulated based on a nine-mass model to decrease the modeling errors and t he inverse kinematics of the whole lower-body was solved in such a way that the robot remained statically stable during t he movements. The main challenge of this work was to solve t he inverse kinematics of a 7-link chain with 12 degrees of freedom. For this purpose, a new graphical-numerical technique has been provided using the definition of the kinematic equations of the robot... 

Nonlinear ultrasound modeling is finding an increasing number of applications in both medical and industrial areas where due to high pressure amplitudes the effects of nonlinear propagation are no longer negligible. Taking nonlinear effects into account makes the ultrasound beam analysis more accurate in these applications. One of the most widely used nonlinear models for propagation of 3D diffractive sound beams in dissipative media is the KZK (Khokhlov, Kuznetsov, Zabolotskaya) parabolic nonlinear wave equation. Various numerical algorithms have been developed to solve the KZK equation. Generally, these algorithms fall into one of three main categories: frequency domain, time domain and...