Sharif Digital Repository

In General, there are two methods to analyse the inverse kinematic of manipulators, one of which can be selected with respect to the conditions and the type of the manipulator. One of the methods is the closed solution which is based on the analytical expressions or forth degree or less polynomial solution in which the calculations are non-repetitive. The other method is the numerical solution. In the numerical solutions, the numbers are repeated and generally it is much slower than the closed solutions. The slowness of this method is so noticeable in such a way that principally there is no interest to use the numerical solutions to solve kinematic equations. The purpose of the present paper... 

Recently, a renewed interest arises in the application of nanotechnology for the upstream petroleum industry. In particular, adding nanoparticles to fluids may drastically benefit enhanced oil recovery (EOR) and improve well drilling, by changing the properties of the fluid, rocks wettability alteration, advanced drag reduction, strengthening the sand consolidation, reducing the interfacial tension and increasing the mobility of the capillary trapped oil. In this study, we focus on roles of clay nano-particles on polymer viscosity. Polymer-flooding schemes for recovering residual oil have been in general less than satisfactory due to loss of chemical components by adsorption on reservoir...