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Passive dynamic object manipulation: preliminary definition and examples
, Article Zidonghua Xuebao/Acta Automatica Sinica ; Volume 36, Issue 12 , 2010 , Pages 1711-1719 ; 02544156 (ISSN) ; Meghdari, A ; Sohrabpour, S ; Sharif University of Technology
2010
Abstract
In this work, we introduce a category of dynamic manipulation processes, namely passive dynamic object manipulation, according to which an object is manipulated passively. Specifically, we study passive dynamic manipulation here. We define the main concept, discuss the challenges, and talk about the future directions. Like other passive robotic systems, there are no actuators in these systems. The object follows a path and travels along it under the effect of its own weight, as well as the interaction force applied by each manipulator on it. We select some simple examples to show the concept. For each example, dynamic equations of motion are derived and the stability of the process is taken...
Bacteriorhodopsin as a superior substitute for hydrazine in chemical reduction of single-layer graphene oxide sheets
, Article Carbon ; Volume 81, Issue 1 , 2015 , Pages 158-166 ; 00086223 (ISSN) ; Sharif University of Technology
Elsevier Ltd
2015
Abstract
Bacteriorhodopsin (bR) molecules were utilized as light-driven proton pumps for green as well as effective reduction of single-layer graphene oxide (GO) sheets. The bR molecules and graphene sheets were separated from each other in an aqueous environment by using a polytetrafluoroethylene membrane filter, in order to prevent their direct interactions (including attachment of the bR molecules onto the GO). Although reduction of GO using hydrazine or bR showed similar deoxygenation levels (based on X-ray photoelectron spectroscopy), the former resulted in formation of CAN bonds which can substantially decrease the electrical conductivity of the reduced sheets. The electrical characteristics of...
Analysis and Synthesis of Distributed Consensus-Based Controllers in Cooperative Systems
, Ph.D. Dissertation Sharif University of Technology ; Haeri, Mohammad (Supervisor)
Abstract
Cooperative control of autonomous multi-agent systems is one of the challenging problems in control theory. According to existing enhancements in communication networks and broad application of multi-agent systems in various engineering fields, coordinated motion control in multi-agent systems has been attracted the attention of researchers in control science. In this thesis, flocking algorithms in multi-agent systems with undirected interactions (bidirectional information flow) is considered and new convergence results and final characteristics are obtained. Also, geometric optimization methods are used to propose a new optimization problem to reduce the number of informed agents of the...
Atorvastatin treatment softens human red blood cells: an optical tweezers study
, Article Biomedical Optics Express ; Volume 9, Issue 3 , 2018 ; 21567085 (ISSN) ; Babaei, M ; Azadbakht, A ; Pazoki Toroudi, H ; Mashaghi, A ; Moosavi Movahedi, A. A ; Seyed Reihani, .N ; Sharif University of Technology
OSA - The Optical Society
2018
Abstract
Optical tweezers are proven indispensable single-cell micro-manipulation and mechanical phenotyping tools. In this study, we have used optical tweezers for measuring the viscoelastic properties of human red blood cells (RBCs). Comparison of the viscoelastic features of the healthy fresh and atorvastatin treated cells revealed that the drug softens the cells. Using a simple modeling approach, we proposed a molecular model that explains the drug-induced softening of the RBC membrane. Our results suggest that direct interactions between the drug and cytoskeletal components underlie the drug-induced softening of the cells. © 2018 Optical Society of America