Sharif Digital Repository

The numerical modeling of engineering contact problems is one of the most difficult and demanding tasks in computational mechanics. Frictional contact can be observed in many problems; such as: crack propagation, metal forming operation, drilling pile etc. In metal forming operations the required shape changes are obtained by either of forming process, such as pressing, hammering, rolling or extruding the material between the tools which are much stiffer than shaped material. Because of large difference between deformability of the tool and material, relative movements occur in contact area. These relative movements produce the normal and tangential stresses, which have important role on... 

In this thesis, arranged by [6], the multiplier method is used to solve the network problems with nonlinear constraints and the Newton-like methods are used for updating the required parameters. This method, recently proposed in the literature, is based on solving a sequence of nonlinear optimization subproblems, dependent on the main problem, such that sequence of solutions of these problems converge to the solution of the main problem. In fact, to obtain an acceptable approximation of the main solution, it is needed to solve just a finite number of nonlinear subproblems. The main idea of the multiplier methods is based on eliminating some constraints and adding a penalty term to the... 

In this thesis, Optimum Counterweight and Spring Balancing of a novel kind of mechanism called a general 3-RPS parallel robot in Dynamic Motion are investigated. Balancing is explained as the set of configurations on robot inertial and dimensional parameters which, when convinced, certify that the weight of the links produce less force at the actuators for any configuration of the robot, under dynamic or static behaviors. In the references, different procedures have been suggested for balancing that consisted of counterweights, springs, and other auxiliary equipments. Study represents the essential information for having optimum spring and counterweight balancing in a new (3RPS) robot using... 

Red Blood Cells (RBCs) are the main cells in human blood with a main role in mechanical properties of blood as a fluid. Several methods are developed to simulate the behavior of RBCs motion and deformation in micro-capillaries. Since in microscopic scales, using discrete models are more preferred than continuum methods, moving particle semi-implicit method (MPS) which is one of the recent innovative particle based methods, can simulate micro-fluidic flows based on Navier-Stocks equations. Although by the recent developments MPS method has turned into a considerable tool for modeling blood flow in micro-scales, but still some problems, such as commitment to use small time steps, restrict the... 

Shape optimization can be viewed as a part of the important branch of computational mechanics called structural optimization. In structural optimization problems one tries to set up some data of the mathematical model that describe the behavior of a structure in order to find a situation in which the structure exhibits a priori given properties. Nowadays shape optimization represents a vast scientific discipline involving all problems in which the geometry (in a broad sense) is subject to optimization. The problem has to be well posed from the mechanical point of view, requiring a good understanding of the physical background. Then one has to find an appropriate mathematical model that can... 

This thesis studies a brachiation robot that is a long armed locomotion similar to apes. The robot has 2 revolute joints but only one of them is actuated. In this thesis, after deriving dynamic model of the robot, the Controlled Lagrangian (CL) method is used for stabilization. The matching conditions satisfied for the controller are derived and the extended λ-method is used to solve PDE’s involved in the method of controlled lagrangian. Satisfactory controller’s gains are chosen by PSO algorithm. Feasibility of the developed controller is investigated by numerical simulations and finally, theoretical results are validated with experimental observations  

Motorcycle has one of the most complicated geometries and mechanisms and its kinematic, according to the articles surveyed, has always been expressed with approximation and simplification in the degrees of freedom and especially in the magnitude of the angles. Analyzing the dynamic model of bodies, using methods like Kane, Lagrange, Boltzmann-Hamel, Gibbs-Apple, Newton, Hamilton and Ross, lead to mechanism’s equations of motion. While the equations of motions, obtained from alternative methods, lead to the same result, but the number of differential equations and sometimes their order, are different in different methods, and therefore their numerical solving time for the body’s motion, are... 

The numerical modeling of engineering contact problems is one of the most difficult and demanding tasks in computational mechanics. Frictional contact can be observed in many problems; such as: crack propagation, metal forming operation, drilling pile etc. The thermodynamic coupling problems arise naturally in many industrial processes, such as thermal protection structures ,nuclear fuel elements, layerd structures , heat exchanger as well as metal forming. In these situations predicting temperature field as well as the stress field is of considerable applied importance. When two or more bodies are forced to contact whit each other as a result of thermal or/and mechanical load thermodynamic... 

In this study pollution generated by a electronic cigarette in a bus is observed. Resultant smoke from these products consist of different components which may endanger health and one should make sure them amount in general transport vehicles like bus are in permissible limit. These components are initially in liquid shape and evaporate. Tracking liquid particles are done with the aim of Lagrangian approach. For this the geometry is generated at first. Then structured mesh was generated with ICEM CFD which is a powerful mesher. Different conditions of smoking source and bus doors were studies and results were compared.Change of pollutant concentrations is strictly depend on position of... 

One of the most significant aerial vehicles which has been subject of study of so many engineers and students is quadrotor or quadcopter, which is a cross sectional configuration of motors and propellers. This aerial robot is controlled through slight differences between the angular velocities of the four motors, and robot dynamics is completely nonlinear, thus sophisticated control algorithms are needed. The aim of this project consists of design, fabrication and control of a quadrotor capable of stable hovering. First, some preliminary decisions about general charachteristics of the robot were made. According to these decisions, other mechanical parts were designed and fabricated. Then,... 

The prediction of deposition efficiency of submicron particles in the pulmonary alveoli has received special attention due to its importance for drug delivery systems, and for assessing air pollutants health risks. In this work, the pulmonary alveoli of a healthy human are idealized by a three dimensional honeycomb like configuration and a fluid-structure interaction analysis is performed to study the normal cyclic breathing hydrodynamics. A viscoelastic model is used for the mechanical behavior of alveolar wall tissue. In contrast to previous works in which the inlet flow rate is predefined, in this model a negative pressure is imposed on the outside surface of the alveolus which causes air... 

The aim of this thesis is describes the method a variational piecewise constant level set method for solving elliptic shape and topology optimization problems. The original model is approximated by a two-phase optimal shape design problem by the ersatz material approach. Under the piecewise constant level set framework, we first reformulate the two-phase design problem to be a new constrained optimization problem with respect to the piecewise constant level set function. Then we solve it by the projection Lagrangian method. A gradient-type iterative algorithm is presented. Comparisons between our numerical results and those obtained by level set approaches show the effectiveness, accuracy... 

Quadrotors are one of the most popular unmanned aerial vehicle (UAVs) that has been subject of extensive research in recent years. One of the most important applications of these aerial vehicles is transporting a cable-suspended payload from one point to another. The major challenge in modeling of this system is dynamic coupling which exist between all components of the system i.e. payload, cable and quadrotor. The purpose of this research is mathematical modeling and dynamic analysis of the system in presence of this dynamic coupling and considering the effects of cable's flexibility. In this regard, it is assumed that the payload has variable mass. In this thesis, in the first step, by... 

Stabilized sequential quadratic programming (sSQP) methods for nonlinear optimization generate a sequence of iterates with fast local convergence regardless of whether or not the activeconstraint gradients are linearly dependent. Here, we are concerned with the local convergence analysis of an sSQP method, recently introduced in the literature, that uses a line search with a primal-dual augmented Lagrangian merit function to enforce global convergence. The method is provably well-defined and is based on solving a strictly convex quadratic programming subproblem at each iteration. It is shown that the method has superlinear local convergence under assumptions that are not stronger than those... 

Using unmanned aerial vehicles in aerial payload carrying leads many changes requiring significant study and research. In recent years, there has been considerable maturation in Micro Aerial Vehicles (MAV) developement especially quadcopters. In addition to the endurance restriction, considerations on volume and weight that can be carried, and safety issues are also obstacles to the development of unmanned aerial payload carrying in urban environments. One of the ways to make a quadcopter more agile while carrying a load is to hang the cargo from the quadcopter via a cable. In this way, it is possible that quadcopters carry the cargo in a cooperative way, which if properly arranged,...