Sharif Digital Repository

Present study concerns the safety evaluation of SefidRud dam's block No. 18 regarding probable crack propagation in the foundation gallery under a MCE record. Accordingly, a 3D finite element model of the block in companion with the reservoir and the foundation is modeled. All the associated thermal and structural parameters are derived via calibration with the records of thermometers and pendulums installed inside the dam body. The origination of the cracks and their whereabouts are determined by primary thermal and static analyses and through a linear dynamic analysis the potential failure zone and their extent and level are studied. The foundation gallery is the most probable zone among... 

Cavity quantum electrodynamics of multipartite systems are studied in depth, which consists of an arbitrary number of emitters in interaction with an arbitrary number of cavity modes. The governing model is obtained by taking the full field-dipole and dipole-dipole interactions into account, and is solved in the Schrödinger picture with assumption of vanishing field and dipole interactions at high energies. An extensive code is developed that is able to solve the system and track its evolution in time, while maintaining sufficient degrees of arbitrariness in setting up the initial conditions and interacting partitions. Using this code, we have been able to numerically evaluate various... 

The configuration of landmarks is an important issue in minimizing the target registration error (TRE). In this paper the effect of different landmark configurations on the accuracy of pedicle screw placement during image guided spine surgery (IGSS) is investigated. Since the spine is deformed in intra-operative conditions compared to the preoperative situation, an accurate alignment of each vertebra is crucial to compensate for the deformation. CT compatible markers are placed over anatomical landmarks which are feasible and routinely used in surgical procedures. The TRE is obtained directly for the markers which are placed on the right and left pedicle of the vertebra. The estimated TRE... 

This paper considers flocking to the virtual leader in network of agents with double-integrator. A locally linear algorithm is employed which guarantees exponential flocking to the virtual leader. A lower bound for flocking rate is calculated which is independent of the initial conditions. Simulations are provided to validate the result and it is shown that the calculated rate is not over bound the actual convergence rate. The effect of coefficients of algorithm is investigated and it is shown that the similar results can be inferred from the calculated formula for the convergence rate. Copyright  

In this study, we deal with passive dynamic object manipulation. During passive dynamic object manipulation, a passive object is manipulated using passive manipulators. 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. The objects are not necessarily rigid, but we manipulate passive multibody objects as well as rigid ones. Thus, for a passive walking system, we assume that the passive walker is a multibody object and is manipulated by the ground (zero degree-of-freedom manipulator). As an example, we show that a... 

This paper studies undamped oscillations generated by marginally stable fractional order linear time invariant (LTI) systems. In this study, an analytical approach is proposed to be used for harmonic analysis of such oscillations in marginally stable commensurate order LTI systems. Also, it is shown that the Q-semi norm of the limit sets for a trajectory of these systems can be analytically determined based on the Q-semi norm of the initial condition, where Q is a specific matrix. Moreover, this result is extended to the wider class of rational order systems. Finally, some numerical examples are presented to demonstrate the use of the paper results  

This paper is devoted to analysis of undamped oscillations generated by fractional order linear time invariant (LTI) systems. At first, the trajectories of marginally stable commensurate order systems are investigated. It is verified that we can not use the time-independent phase flow concept for this kind of systems. Also, the differences with the integer order case are highlighted. Then, it is shown that we can determine the Q-norm of the limit sets of a trajectory for these systems based on the Q-norm of the initial condition. Some numerical examples are brought to confirm the achievements of the paper  

Recently, it has been proved that a different switching surface can preserve the walking trajectory while varying the walking stability [1], [2]. In this paper, by employing the simplest passive dynamic biped, we optimize the switching surface to maximize the robot's stability. Here, the stability measure is preferably the size of the basin of attraction, i.e. the collection of all possible initial conditions leading to the system's equilibrium point. Numerical investigations indicate that the maximum stability is obtained for neither the highest nor the lowest walking speed  

In this paper based on the sliding mode concept, a nonlinear delayed feedback control is proposed for stabilizing the unstable periodic orbits (UPOs) of chaotic systems. It is assumed that the period of the desired UPO is known, but its time series and the initial conditions generated the UPO are not available. The ability of the proposed control method in stabilizing the UPO of the chaotic systems is analytically proved and the effectiveness of the method is numerically examined by applying it to the chaotic Duffing system. © 2007 Elsevier Ltd. All rights reserved  

A local radial basis function (RBF) meshless method is applied for solution of the Burgers' equation with different initial and boundary conditions of various complexities. Local-RBF collocation is employed for discretization in space, whilst the unsteady term is handled via a simple explicit time discretization. Moreover, in case of non-smooth initial conditions with high Reynolds numbers, a treatment is proposed for inability of local-RBF methods to solve such problems. The scheme is validated over a variety of benchmark problems and very good agreement is found with existing analytical and numerical solutions  

In this paper, the gravitational effect of a fourth body on the resonance orbit defined in the restricted three-body problem (RTBP) is considered. In this regard, Resonance Hamiltonian of the RTBP and the Hamiltonian associated with the fourth gravitational body that perturbs the resonance orbit are computed. The Melnikov approach is utilized as a mean for the detection of chaos in resonance orbit under the influence of the fourth gravitation body. In addition, the numerical simulation of RTBP and bicircular four-body model, time-frequency analysis (TFA), and fast Lyapunov indicator (FLI) are performed to verify the results of the Melnikov approach. The results indicate that for the (2:1)... 

In this paper a saturable absorber medium is employed as an optical limiter to reduce the spot size to the range of several tens of nanometres. The characteristics of a Gaussian beam are theoretically analysed upon propagation through the saturable absorber medium. Based on Maxwell equations a system of coupled nonlinear ordinary differential equations for intensity, beam radius and beam curvature is obtained. Theoretical analyses and numerical results show that the behaviour of a Gaussian beam in a saturable absorber medium strongly depends on the initial characteristics of the laser beam. Numerical results indicate that, depending on the initial conditions and a suitable saturable absorber... 

In this paper, we propose a new one-dimensional, two-segmental nonlinear map by combining tent, triangle and parabola curve functions. We call the proposed map, Mehrab map since its return maps shape is similar to an altar (which we call it "Mehrab"). Definition and properties of Mehrab map along with orbit diagrams, Lyapunov exponents, and its histograms are considered. To generate more uniform density function maps, two modified versions of the proposed Mehrab map are also defined. In the first modification of Mehrab map (FMM), vertical symmetry and transformation to the right are used. Sensitivity to initial condition and total chaotic range of FMM are medium. Probability density function... 

The Differential Transfer Matrix Method is extended to the complex plane, which allows dealing with singularities at turning points. The results for real-valued systems are simplified and a pair of basis functions are found. These bases are a bit less accurate than WKB solutions but much easier to work with because of their algebraic form. Furthermore, these bases exactly satisfy the initial conditions and may go over the turning points without the divergent behavior of WKB solutions. The findings of this paper allow explicit evaluation of eigenvalues of confined modes with high precision, as demonstrated by few examples  

In this work, the absorption process of carbon dioxide is performed in a custom designed high pressure experimental setup in which the gas and nanofluid are in direct contact at static state in a closed vessel. The initial condition of the tests are set at 20, 30, and 40 bar and 308 K. Nanoparticles of SiO2, Al2O3, Fe3O4, and carbon nanotubes (CNTs) are dispersed in pure water to form nanofluids at concentrations of 0.02, 0.05, and 0.1 wt %. Also, CNT nanoparticle has been dispersed in methyldiethanolamine and diethanolamine aqueous solutions at the concentration of 0.02 wt %. The absorption performances of different nanofluids are compared with the base solutions and with other nanofluids... 

In the field of mobile robotics, legged locomotion plays an essential role in transporting robots over various terrain types. A significant portion of research on legged robots has been focused on one-legged robots. In contrast with different types of locomotion of multi-legged robots, one-legged robots have only one type of motion, called hopping. Hopping motion, as a type of hybrid behavior, is generally comprised of flight and stance phases. Dynamic stabilizing of hopping motion provides a challenging control problem because of its nonlinear and hybrid behavior. The majority of one-legged hopping robots investigated so far are only capable of hopping with one side of their leg. In this... 

In this study, the dynamics of the accelerated and steady-state motion of a single bubble in a quiescent highly viscous Newtonian liquid was investigated theoretically and experimentally. The presented mathematical model was based on Newton's second law of motion and a balance of buoyancy, drag, history, and added-mass forces. Due to the presence of non-linear terms in the equation of motion, homotopy perturbation method was used as a powerful analytical method to calculate the velocity analytically. To obtain accurate results in the experiments, a high-speed camera was used to record the bubble motion from the moment of detachment to the time at which the terminal velocity is reached.... 

This paper introduces a class of time-varying controllers for Euler-Lagrange systems such that the convergence occurs at an arbitrary finite time, independently of initial conditions, and free of chattering. The proposed controller is based on a mapping technique and is designed in two steps: First, a conventional (obstacle avoidance) asymptotically stable controller is specified for the nominal system; then, by a simple substitution, a prescribed-time (obstacle avoidance) controller is achievable for the perturbed system. It is proved that the proposed scheme is uniformly prescribed-time stable for unperturbed systems and prescribed-time attractive for perturbed systems as it rejects... 

In this note we extend the Differential Transfer Matrix Method (DTMM) for a second-order linear ordinary differential equation to the complex plane. This is achieved by separation of real and imaginary parts, and then forming a system of equations having a rank twice the size of the real-valued problem. The method discussed in this paper also successfully removes the problem of dealing with essential singularities, which was present in the earlier formulations. Then we simplify the result for real-valued problems and obtain a new set of basis functions, which may be used instead of the WKB solutions. These basis functions not only satisfy the initial conditions perfectly, but also, may... 

In this work, softening kinetics after cold rolling has been simulated using a coupled finite element-cellular automata model. Firstly, a two-dimensional rigid plastic finite element analysis has been developed to assess strain field and the stored energy accumulation during cold rolling as well as the initial condition of the mesoscopic model. Then, the cellular automata scheme has been employed to calculate the progress of static recrystallization at a given temperature while a dislocation-base model was simultaneously utilized to consider the effect of recovery on static softening process and final microstructures. The model has been examined on isothermal annealing of cold rolled AA5052...