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Rotational and Translational Dynamics of Silver and Titanium Dioxide Nanowires Suspended in Dielectric Media in Electric Fields
, Ph.D. Dissertation Sharif University of Technology ; Moshfegh, Alireza (Supervisor) ; Esfandiar, Ali (Co-Supervisor)
Abstract
Wide utilization of nanomanipulation as a promising approach in microorganisms, nanoelectromechanical systems (NEMS) and assembly of nanostructures remarks the importance of nanostructures’ motion in electric fields. Despite of many reports on manipulation and assembly of nanowires (NWs) in non-uniform and alternating electric fields by dielectrophoresis, and also rotation of NWs in rotating electric fields, there is still a lack of knowledge on rotational and translational dynamics of metallic and dielectric NWs in uniform static electric fields. In this dissertation, we study the dynamics of silver (Ag) and titanium dioxide (TiO2) NWs, with diameters and lengths in the range of 40 to 100...
Modeling, control and simulation of a new large scale cable-driven robot
, Article Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009 ; Volume 7, Issue PARTS A AND B , 2009 , p. 11-16 ; ISBN: 9780791849040 ; Behzadipour, S ; Ghahremani, F ; Alasty, A ; Vanini, S. A. S ; Sharif University of Technology
Abstract
In this paper, modeling and control of a new cable-driven robot is presented. In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motion. The mechanism has potentials for large scale manipulation and robotics in harsh environments. In this article kinematics and dynamics models for the proposed cable-driven architecture are derived. Additionally, Feedback linearization under input constraints is used for the control of the robot. The control algorithm ensures the cable tensions are positive while minimizing the sum of all the torques exerted by the actuators. Finally, the implementation of the proposed method is...
Dynamic analysis of an a-shaped piezo-actuated walking microrobot
, Article ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), 12 November 2010 through 18 November 2010, Vancouver, BC ; Volume 10 , 2010 , Pages 161-170 ; 9780791844472 (ISBN) ; Vossoughi, G ; Sharif University of Technology
2010
Abstract
In this paper, a novel, A-shaped microrobot with nanometric resolution for precision positioning applications is addressed. The locomotion concept of the mechanism is founded on the "friction drive principle". To achieve the translational motion, a stack piezoelectric actuates the microrobot near its natural frequency. The dynamic modeling of the mechanism is based on the assumptions of linear behavior of piezo stack actuator and Coulomb friction model at contact points. The suitability of three simple, friction-based locomotion modes for implementation on the proposed device is presented. Influences of different friction coefficients on the behavior of the microrobot, with respect to...
Modeling, control and simulation of a new large scale cable-driven robot
, Article Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009, 30 August 2009 through 2 September 2009 ; Volume 7, Issue PART A , August , 2010 , Pages 11-16 ; 9780791849040 (ISBN) ; Behzadipour, S ; Ghahremani, F ; Alasty, A ; Sadough Vanini, S. A ; The Design Engineering Division, ASME; The Computers and Information in Engineering Division, ASME ; Sharif University of Technology
2010
Abstract
In this paper, modeling and control of a new cable-driven robot is presented. In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motion. The mechanism has potentials for large scale manipulation and robotics in harsh environments. In this article kinematics and dynamics models for the proposed cable-driven architecture are derived. Additionally, Feedback linearization under input constraints is used for the control of the robot. The control algorithm ensures the cable tensions are positive while minimizing the sum of all the torques exerted by the actuators. Finally, the implementation of the proposed method is...
Translational and Rotational Dynamics and Control Of an All-Thruster Satellite Considering Fuel Slosh
, M.Sc. Thesis Sharif University of Technology ; Assadian, Nima (Supervisor)
Abstract
The purpose of the present study is to model and control a 6DOF satellite dynamics with a rigid body in the Earth’s orbit including the fuel slosh. The satellite manages and controls its attitude and position by twelve ON-OFF thrusters installed alongside the principal body axes. Moreover, due to using the liquid fuel to feed these thrusters, fuel slosh may have a strong dynamical effect on the satellite translational and rotational dynamics and control. The thrusters’ activation may result in fuel slosh and the impact of their frequent switching ON-OFF on fuel is considered in this study. The thrusters force magnitude, switching intervals, and their frequencies can affect the magnitude of...
Design of a large-scale cable-driven robot with translational motion
, Article Robotics and Computer-Integrated Manufacturing ; Vol. 27, Issue 2 , April , 2011 , Pages 357-366 ; ISSN: 07365845 ; Behzadipour, S ; Alasty, A ; Sadough Vanini, S. A ; Sharif University of Technology
Abstract
The design of a new cable-driven robot for large-scale manipulation is presented with focus on the tension condition in the cables. In this robot, the arrangement of the cables is such that the moving platform has three translational motions. The robot has potentials for large-scale robotic manipulations, machining of large parts and material handling. The design analysis presented here is towards the synthesis of the robot as well as the sizing of the actuators and cables. The synthesis of this robot is dependent on the results of the tensionable workspace analysis previously published by the Alikhani et al. [6]. The analysis of the cable forces is presented in detail, which is then used to...
Locomotion modes of a novel piezo-driven microrobot: Analytical modeling and performance evaluation
, Article Mechanism and Machine Theory ; Volume 52 , 2012 , Pages 248-266 ; 0094114X (ISSN) ; Vossoughi, G. R ; Sharif University of Technology
2012
Abstract
This paper presents a novel, sliding, A-shaped microrobot with nanometric resolution for precision positioning applications. The microrobot is actuated near its natural frequency using a piezoelectric stack actuator to produce translational motion. The dynamic modeling of the mechanism is based on the assumptions of the linear piezoelectric behavior and the Coulomb friction model. Using this model the required condition for generating net motion is found. The suitability of three simple, friction-based locomotion modes for implementation on the proposed device is addressed. Influences of some important configuration parameters on the behavior of the microrobot, based on defined criteria, are...
Diffusive motion of C60 on a graphene sheet
, Article Physical Review E - Statistical, Nonlinear, and Soft Matter Physics ; Volume 82, Issue 5 , November , 2010 ; 15393755 (ISSN) ; Abedpour, N ; Rasuli, S. N ; Naji, A ; Ejtehadi, M. R ; Sharif University of Technology
2010
Abstract
The motion of a C60 molecule over a graphene sheet at finite temperature is investigated both theoretically and computationally. We show that a graphene sheet generates a van der Waals laterally periodic potential, which directly influences the motion of external objects in its proximity. The translational motion of a C60 molecule near a graphene sheet is found to be diffusive in the lateral directions, while in the perpendicular direction, the motion may be described as diffusion in an effective harmonic potential which is determined from the distribution function of the position of the C60 molecule. We also examine the rotational diffusion of C 60 and show that its motion over the graphene...
Modeling, control and simulation of a new large scale cable-driven robot
, Article Proceedings of the ASME Design Engineering Technical Conference, 30 August 2009 through 2 September 2009 ; Volume 7, Issue PARTS A AND B , 2009 , Pages 11-16 ; 9780791849040 (ISBN) ; Behzadipour, S ; Ghahremani, F ; Alasty, A ; Sadough Vanini, S.A ; Sharif University of Technology
Abstract
In this paper, modeling and control of a new cable-driven robot is presented. In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motion. The mechanism has potentials for large scale manipulation and robotics in harsh environments. In this article kinematics and dynamics models for the proposed cable-driven architecture are derived. Additionally, Feedback linearization under input constraints is used for the control of the robot. The control algorithm ensures the cable tensions are positive while minimizing the sum of all the torques exerted by the actuators. Finally, the implementation of the proposed method is...
Investigation into thermally activated migration of fullerene-based nanocars
, Article Scientia Iranica ; Volume 25, Issue 3F , 2018 , Pages 1835-1848 ; 10263098 (ISSN) ; Meghdari, A ; Nejat Pishkenari, H ; Sohrabpour, S ; Sharif University of Technology
Sharif University of Technology
2018
Abstract
The rotational and translational motions of nanocars and nanotrucks as well as their motion regimes at different temperatures are investigated. In recent years, few similar types of molecular machines have been simulated. In contrast to previous studies, which have used the Rigid-Body Molecular Dynamics (RBMD) method, an all-atom model and classic atomistic dynamics have been employed in this paper to achieve better accuracy. Our results demonstrated that the exibility of the chassis and its attachment to the gold surface played an important role in the motion of a nanocar. In fact, a heavier and more exible nanocar chassis reduces its speed compared to a nanotruck. In addition, the results...
Workspace analysis of a three dof cable-driven mechanism
, Article Journal of Mechanisms and Robotics ; Volume 1, Issue 4 , 2009 , Pages 1-7 ; 19424302 (ISSN) ; Behzadipour, S ; Sadough Vanini, A ; Alasty, A ; Sharif University of Technology
2009
Abstract
A cable-driven mechanism based on the idea of BetaBot (2005, "A New Cable-Based Parallel Robot With Three Degrees of Freedom, " Multibody Syst. Dyn., 13, pp. 371-383) is analyzed and geometrical description of its workspace boundary is found. In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motions. The mechanism has potentials for large scale manipulation and robotics in harsh environments. A detailed analysis of the tensionable workspace of the mechanism is presented. The mechanism, in a tensionable position, can develop tensile forces in all cables to maintain its rigidity under arbitrary external loading. A...
How chassis structure and substrate crystalline direction affect the mobility of thermally driven p-carborane-wheeled nanocars
, Article Journal of Physical Chemistry C ; Volume 123, Issue 8 , 2019 , Pages 4805-4824 ; 19327447 (ISSN) ; Nejat Pishkenari, H ; Meghdari, A ; Sharif University of Technology
American Chemical Society
2019
Abstract
In recent years, various nanocars have been synthesized in order to provide controlled mechanical function, transport other nanoparticles, or enable bottom-up assembly capability. There have even been racing competitions among well-known nanocars in which the wheels play an influential role. In this paper, the motion of thermally driven nanocars equipped with p-carborane wheels on Au(111) and Au(001) substrates is investigated. For the sake of comparison, classical all-atom molecular dynamics (MD) and rigid-body MD (RBMD) have been used to study the motion threshold as well as to analyze the effect of temperature, substrate crystalline direction, and chassis shape on the diffusive motion of...
How chassis structure and substrate crystalline direction affect the mobility of thermally driven p-carborane-wheeled nanocars
, Article Journal of Physical Chemistry C ; 2019 ; 19327447 (ISSN) ; Pishkenari, H. N ; Meghdari, A ; Sharif University of Technology
American Chemical Society
2019
Abstract
In recent years, various nanocars have been synthesized in order to provide controlled mechanical function, transport other nanoparticles, or enable bottom-up assembly capability. There have even been racing competitions among well-known nanocars in which the wheels play an influential role. In this paper, the motion of thermally driven nanocars equipped with p-carborane wheels on Au(111) and Au(001) substrates is investigated. For the sake of comparison, classical all-Atom molecular dynamics (MD) and rigid-body MD (RBMD) have been used to study the motion threshold as well as to analyze the effect of temperature, substrate crystalline direction, and chassis shape on the diffusive motion of...
Implementation of translational motion dynamics for INS data fusion in DVL outage in underwater navigation
, Article IEEE Sensors Journal ; Volume 21, Issue 5 , 2021 , Pages 6652-6659 ; 1530437X (ISSN) ; Hashemi, M ; Salarieh, H ; Alasty, A ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2021
Abstract
Underwater navigation is generally accomplished through the data fusion of INS (Inertial Navigation System) and auxiliary sensors such as DVL (Doppler Velocity Logger) sensor. However, because of the possibility of DVL outage, alternative low-cost solutions are attractive. Among these, one is using vehicle kinetic model information extracted by the Newton-Euler equation to improve INS performance, which is called model-aided navigation. In this paper, only the vehicle translational motion dynamics are used to replace DVL in underwater navigation in DVL outage. The vehicle 3D translational dynamics has been obtained by using general Newton-Euler equations. Integrating these dynamics leads to...
Heavy mobile crane lift path planning in congested modular industrial plants using a robotics approach
, Article Automation in Construction ; Volume 122 , 2021 ; 09265805 (ISSN) ; Taghaddos, H ; Mousaei, A ; Behzadipour, S ; Hermann, U ; Sharif University of Technology
Elsevier B.V
2021
Abstract
Lift path planning is a significant subtask in constructability analysis, sequencing, and scheduling of congested industrial modular projects, impacting project cost, and safety. Although intuitive lift planning is still prevalent among the practitioners, this manual process might be tedious and error-prone for hundreds of lifts. This research presents an automated lift path planning method for heavy crawler cranes in no-walk scenarios employing a robotics approach. This method treats the lifted object as a three-degree-of-freedom convex mobile robot with discretized rotational and continuous translational motions. The proposed resolution-complete method models the crane capacity chart,...
Dynamic Modelling and Control of a Double Tethered Towing System for Flexible Non-Functional Satellites Removal
, M.Sc. Thesis Sharif University of Technology ; Assadian, Nima (Supervisor)
Abstract
Space debris have increasing importance for space missions. The towing removal scheme is one of the most promising ways for active removal of these debris from LEO orbits. In this approach, an active propelled satellite captures the debris via a space tether and a tethered net which by producing a force opposite to its velocity, it will cause deorbiting and burning the debris in the dense atmosphere. One of the issues with this technique is the danger of tether rupture which for solving that two tethers instead of one can be used. In this research study of active removal of flexible space debris via double tethered towing system has been done. Dynamic modeling has been done with Newton’s and...
Optimal coupled spacecraft rendezvous and docking using multi-objective optimization
, Article ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010, 12 July 2010 through 14 July 2010 ; Volume 5 , July , 2010 , Pages 299-309 ; 9780791849194 (ISBN) ; Pourtakdoust, S. H ; Kamyar, R ; ASME Turkey Section ; Sharif University of Technology
2010
Abstract
Spacecraft rendezvous and docking are two processes in which a chaser pursues and meets a leader spacecraft in order to perform several mission based tasks. Although in some preliminary design analysis, these two operations may be pursued independently there could be circumstances in which the spacecraft trajectory and attitudes are coupled and interdependent. The present study is based on the presumption that the often independent translational and rotational motions of the spacecraft are coupled as a result of thrust misalignment. So the thrusters not only contribute to the rendezvous translational motion, but also affect the docking reorientation maneuver through their disturbing effects....
The dependence of the moving sonoluminescing bubble trajectory on the driving pressure
, Article Journal of the Acoustical Society of America ; Volume 126, Issue 5 , 2009 , Pages 2266-2272 ; 00014966 (ISSN) ; Rezaei Nasirabad, R ; Galavani, Z ; Sharif University of Technology
2009
Abstract
With a complete accounting of hydrodynamic forces on the translational-radial dynamics of a moving single-bubble sonoluminescence, temporal evolution of the bubble trajectory is investigated. In this paper, by using quasi-adiabatic evolution for the bubble interior, the bubble peak temperature at the bubble collapse is calculated. The peak temperature changes because of the bubble translational motion. The numerical results indicate that the strength of the bubble collapse is affected by its translational movement. At the bubble collapse, translational movement of the bubble is accelerated because of the increase in the added mass force on the bubble. It is shown that the magnitude of the...
Implementation of translational motion dynamics for INS data fusion in DVL outage in underwater navigation
, Article IEEE Sensors Journal ; 2020 ; Hashemi, M ; Salarieh, H ; Alasty, A ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2020
Abstract
Underwater navigation is generally accomplished through the data fusion of INS (Inertial Navigation System) and auxiliary sensors such as DVL (Doppler Velocity Logger) sensor. However, because of the possibility of DVL outage, alternative low-cost solutions are attractive. Among these, one is using vehicle kinetic model information extracted by the Newton-Euler equation to improve INS performance, which is called model-aided navigation. In this paper, only the vehicle translational motion dynamics are used to replace DVL in underwater navigation in DVL outage. The vehicle 3D translational dynamics has been obtained by using general Newton-Euler equations. Integrating these dynamics leads to...