Sharif Digital Repository

The robots that can move on rough terrains are very important especially in Rescue operation, exploration, etc. In this research, a mechanism is introduced for a ring-like robot with a flexible body. This robot is moved by arms which are placed radially and have Reciprocating motion in this direction. By controlling the contraction and the extension of the arms which contact lhe ground, the robot will be forced to move which is called rolling-creeping motion. The robot is stable in stationary state.; also the maximum angle which it can be stable is determined. Considering the speed of contracted arm is the input parameter, the speed of the extended arm for locomotion of the robot has been... 

For distribution grids connected wind power generation, voltage quality is an important issue for the system planning purpose. The operation of wind turbines in the distribution networks may affect the voltage quality offered to the consumers. One of the most important considerations is the effect on the voltage profile, i.e. the induced slow voltage variations, which are the subject of this paper. The wind turbines can be operated in two modes: constant-speed and variable-speed. Each one of these cases has different impact on steady state voltage of distribution grids. For evaluation of these impacts, we have simulated SCIG generator that works in constant-speed operation and DFIG generator... 

In a multi-robot system, a number of autonomous robots would sense, communicate, and decide to move within a given domain to achieve a common goal. In the pursuit-evasion problem, a polygonal region is given and a robot called a pursuer tries to find some mobile targets called evaders. The goal of this problem is to design a motion strategy for the pursuer such that it can detect all the evaders. In this paper, we consider a new variant of the pursuit-evasion problem in which the robots (pursuers) each moves back and forth along an orthogonal line segment inside a simple orthogonal polygon P. We assume that P includes unpredictable, moving evaders that have bounded speed. We propose the... 

The aim of this research is to conduct atomistic investigations of physical interaction analysis of nanoscale objects manipulation. The system consists of tip, particle and substrate. The manipulation tool moves with a constant speed while pushing the particle in a desired direction. The focus of the research is on ultra-fine metallic nanoparticles. To perform this research, Nose-Hoover dynamics and Sutton-Chen interatomic potential will be used to investigate the behavior of the aforementioned system which is made from different transition metals. The effects of size, material type and temperature on the success of the process have been investigated by planar molecular dynamics. © 2008 IEEE... 

In this study, the energy method has been used to develop a finite-element code for studying the effects of loose rotating discs on the rotor-bearing systems' response. A mathematical model of the loose disc has resulted in terms similar to unbalance and gyroscopic effects in the equation of motion of the system. Results of this study show that rotor response and beating phenomena are a function of measurement location, loose disc mass and inertia, ratio of rotating speed to the speed of loose disc, and clearance between the loose disc and shaft considering constant speed for loose disc and shaft. The developed finite-element model can numerically give the response of rotors with any number... 

The globular structure of M2 high speed steel in the rolled - annealed and as cast conditions was investigated in the semisolid state. Metallographic observations resulted in globular austenite particles that were surrounded by a liquid phase. Dissolution of various carbides in the austenite phase at semisolid temperatures led to grain boundary liquation and formation of near-spherical solid grains in a liquid matrix. Therefore, at the semisolid state, the solid particles were free from carbides. MC-type and M6C-type eutectic carbides re-precipitated at the grain boundaries during cooling of the samples from the semisolid temperature. The variation of shape factor versus holding time and...