Sharif Digital Repository

The Dual-Arm Cam-Lock robot is a reconfigurable manipulator formed by two parallel cooperative arms. Based on the application, these arms may loose some degrees of freedom by locking into each other. However, they are considered as redundant arms when operating without any locked joints/links. In this paper, a method is introduced to find the optimal configuration of this manipulator. The objective is to find the configuration in which maximum cooperative force is exerted to an object in a specific direction. The dynamics of the robot is parametrically formulated for different configurations, and by considering the geometrical constraints optimization is performed using fine-mesh and genetic... 

The surface plasmon effect of Au nanostructures placed on the surface of hematite has recently been used to enhance light absorption within its carrier collection distance of 10 nm from the water-hematite interface. Despite significant narrow band absorption enhancements in the visible region, the reported enhancements in the overall performance of the cell under standard AM1.5 sunlight illumination are not significant. We numerically design an array of Au stripes on the surface of an extremely thin layer of hematite to maximize the number of charge carriers that can reach the hematite-water interface and explore the optical processes involved. The lateral dimensions and in particular the... 

Conductive cooling of a rectangular chip heated from the bottom surface and connected to a heat sink is studied. Different configurations of a highly conductive material embedded in the chip are investigated and an optimal configuration for transferring heat to the heat sink is achieved. Our results indicate that the optimal configuration can be obtained by using side branches, parallel with the main channel, and also increasing the thickness of the main channel. Many complex configurations are checked and it is shown that these structures do not provide better performance  

In this paper obtaining the optimal configuration of the dual-arm cam-lock (DACL) robot at a specific point is addressed. The objective is to optimize the applicable task-space force in a desired direction. The DACL robot is a reconfigurable manipulator formed by two parallel cooperative arms. The arms normally operate redundantly but when needed, they can lock into each other in certain joints in order to achieve a higher stiffness, while losing some degrees of freedom. Furthermore, the dynamics of the DACL robot is discussed and parametrically formulated. Considering the geometrical constraints at a given point in the robot's workspace, the optimum configuration for maximizing the... 

Considerable attention has been devoted recently to vibration control using intelligent materials as sensor/actuator. An intelligent control technique using a neural network is proposed for vibration control of micro-cantilever beam with bonded piezoelectric sensor and actuator. Structure modal characteristic analysis is done to determine the optimal configuration of piezoelectric sensor and actuator. With the piezoelectric elements are surface-bonded near the same position to the fixed end of micro-cantilever beam, an optimal controller, linear quadratic Gaussian (LQG), and an intelligent strategy based on neural network are investigated. Finally, the simulation results are given to... 

Multi-turn resolvers are proposed to be used in high accuracy, high-reliability applications that need to have the benefits of absolute measurement and high accuracy, simultaneously. In this paper, the influence of different arrangements of rotary transformer (RT) and resolvers' core on the accuracy of a multi-turn wound rotor (WR) resolver is discussed. Then, an optimal configuration with the aim of reducing the total cost, and the total volume of the sensor is proposed. All the analysis is done using 3-D time-variant finite element method (3-D TVFEM) and the optimal structure is built for experimental tests. Finally, experimental measurements are employed to verify the simulation results.... 

The Dual-Arm Cam-Lock (DACL) robot manipulators are reconfigurable arms formed by two parallel cooperative manipulators. Some of their joints may lock into each other. Therefore, the arms normally operate redundantly. However, when higher structural stiffness is needed these two arms can lock into each other in specific joints and loose some degrees of freedom. In this paper, the dynamics of the DACL robot is discussed and parametrically formulated. On the other hand, the criteria and implementation of genetic algorithm (GA) to optimize the configuration of DACL robot manipulators at a specific point with the objective to maximize the cooperatively applicable task-space force in a desired... 

Cooperative systems have been extensively investigated in literature. Herein the criteria and implementation for finding the optimal configuration of the Dual-Arm Cam-Lock (DACL) robot manipulators at a specific point with the objective to optimize the applicable task-space force in a desired direction are addressed. The DACL robot manipulators are reconfigurable arms formed by two parallel cooperative manipulators. Some of their joints may lock into each other. Therefore, the arms normally operate redundantly. However, when higher structural stiffness is needed these two arms can lock into each other in specific joints and loose some degrees of freedom. The dynamics of the DACL robot is...