Sharif Digital Repository

In Industry 4.0, the emergence of new information technology and advanced manufacturing technology (e.g., digital twin, and robot) promotes the flexibility and smartness of manufacturing systems to deal with production task fluctuation. Digital twin-driven manufacturing system with human-robot collaboration is a typical paradigm of intelligent manufacturing. When production task changes, manufacturing system reconfiguration with dynamic opeartion task allocation between operator (human) and robot is a key manner to maintain the production efficiency of intelligent manufacturing system with human-robot collaboration. However, the differences between operator and robot are neglected during... 

Removing space debris of various sizes, configurations, and properties from Earth’s orbits is one of the main missions of world space agencies. The existence of deactivated bodies within the path of other spacecraft increases the risk of collision. Althgough towing a satellite through a tether and taking it out of orbit may be a definite solution for space debris removal, most deactivated satellites have some fuel remaining in their fuel tank. This remaining liquid slosh within the tank directly affects satellite motion. To improve the mathematical modeling, the existence of unburned fuel is considered. More specifically, this research focuses on dynamic modeling and control of a selected... 

Since any error in the rotor angle caused by the resolver affects the entire permanent magnet synchronous motor (PMSM) control drive system, it is necessary to investigate its effect on mechanical vibrations. Torsional vibration is accordingly considered in the following study. Thereby, first, the effect of resolver errors on the harmonic content of motor current and, subsequently, torque ripple (TR) was investigated. Then, dynamical modeling is done for the generator-motor-resolver set to get the mechanical frequency response (FR) resulting from the resolver errors. Based on the above modeling, the dynamic equations (DEQs) of the system were derived, and the mechanical characteristics of... 

Microrobots with their promising applications are attracting a lot of attention currently. A microrobot with a triangular mechanism was previously proposed by scientists to overcome the motion limitations in a low-Reynolds number flow; however, the control of this swimmer for performing desired manoeuvres has not been studied yet. Here, we have proposed some strategies for controlling its position. Considering the constraints on arm lengths, we proposed an optimal controller based on quadratic programming. The simulation results demonstrate that the proposed optimal controller can steer the microrobot along the desired trajectory as well as minimize fluctuations of the actuators length. ©... 

The time-varying structural reliability of an aeroelastic launch vehicle subjected to stochastic parameters is investigated. The launch vehicle structure is under the combined action of several stochastic loads that include aerodynamics, thrust as well as internal combustion pressure. The launch vehicle's main body structural flexibility is modeled via the normal mode shapes of a free-free Euler beam, where the aerodynamic loadings on the vehicle are due to force on each incremental section of the vehicle. The rigid and elastic coupled nonlinear equations of motion are derived following the Lagrangian approach that results in a complete aeroelastic simulation for the prediction of the... 

This paper compares the dynamic and static models of a Lithium-ion battery pack with its electrochemical model as energy storage of an electric vehicle according to the environmental protection agency drive cycles. The dynamic model or the RC equivalent circuit includes a voltage source and double parallel resistor and capacitor networks which are connected in series. The static model includes a voltage source and resistors. Given drive cycles, these models are compared in terms of the battery voltage, state-of-charge, and power loss in an electric vehicle in MapleSim software. Although the state-of-charge and power loss of both models are identical to each other, actually the terminal... 

DC-DC quasi-resonant converters (QRC) have the advantage of reducing switching losses and electromagnetic interference (EMI) which are the main disadvantages of high frequency power converters. The control and stabilization of these converters have always been a challenge. Traditionally, the dynamical model of the QRC is obtained using state space averaging followed by linearization about an operating point. The major flaw of this method is that state variables have large variations; thus, the linearized averaged model is not valid. Therefore, it is necessary to obtain a more precise model for the aim of stability analysis and controller design. Due to semiconductors switching, QRCs are... 

In this study, a 3-DOF dynamic model is developed for the lower limb in the cycling activity using Lagrangian mechanics. An exponential reaching law sliding mode controller is then applied to the system in order to imitate the joints' real motion. The kinematic data of the joints are obtained through conducting experiments with an ergometer bike. Results show acceptable tracking performance for the control system. The study's outcome can be used by rehabilitation experts in their work. It is also useful for the engineers in designing rehabilitation devices or developing muscular models. © 2022 IEEE  

This paper proposes a comprehensive analytic method for applying various optimal remedial actions to improve critical electromechanical modes damping without jeopardizing damping of non-critical modes and violating security constraints of power system. Generators and reactive power sources redisptach, demand side management and the generators voltage reference tuning are remedial actions that are considered here. Dynamic equations of the flux-decay dynamic model of generators, standard dynamic models of excitation system and power system stabilizer and algebraic equations of active and reactive powers balance are formulated in the quadratic eigenvalue problem framework. With simultaneous use... 

Capsule endoscopy is a minimally invasive diagnostic technology for gastrointestinal diseases providing images from the human's digestion system. Developing a robust and real-time localization algorithm to determine the orientation and position of the endoscopic capsule is a crucial step toward medical diagnostics. In this paper, we propose a novel model-aided real-time localization approach to estimate the position and orientation of a magnetic endoscopic capsule swimming inside the stomach. In the proposed method, the governing equations of the motion of an ellipsoidal capsule inside the fluid, considering different hydrodynamics interactions, are derived. Then, based on the dynamic model,... 

This paper presents fly-ability, trim-ability, stability, and control ability of a mono-wing aerial vehicle as an under-actuated multi-body system. A nonlinear mathematical model of this vehicle with translational and rotational movements is developed. Based on early simulations, a conceptual prototype of the mono-wing is initially designed and constructed. A comprehensive nonlinear simulation is then performed by modeling aerodynamic forces and moments using the Blade Element Momentum (BEM) theory. Modeling and simulation are validated against experimental data to satisfy research needs. Twenty-three efficient dynamic parameters of the mono-wing are studied in ninety-seven simulation... 

In this article, an integrated guidance and control design method for general nonlinear flexible hypersonic flight vehicles in the presence of dynamic uncertainties based on the (Formula presented.) adaptive state feedback control approach is presented. Initially, the 6-degree-of-freedom integrated guidance and autopilot dynamic model is organized using the combination of flexible uncertain hypersonic flight vehicle dynamic model and hypersonic flight vehicle-target relative motion model whereas aerodynamic and model uncertainties, cross-coupling effects, and disturbances are considered. The proposed integrated guidance and control method based on (Formula presented.) adaptive control scheme... 

Unlike a single-body approach, modeling based on a two-body approach has been employed to prepare the required system dynamic model as a time update equation in the applied filtering technology and measurement data for the estimation process. This more precise mathematical model enabled better understanding about the dynamics of the change in the aircraft mass properties during the airdropping operation. The problem is defined as estimation of the optimal mass properties parameters for the best possible fit of the model output to the real data. The parameter estimation problem is investigated by a nonlinear filtering methodology in two sequential steps. In the first step, the single extended... 

Nitric Oxide (NO) provides myocardial oxygen demands of the heart during exercise and cardiac pacing and also prevents cardiovascular diseases such as atherosclerosis and platelet adhesion and aggregation. However, the direct in vivo measurement of NO in coronary arteries is still challenging. To address this matter, a mathematical model of dynamic changes of calcium and NO concentration in the coronary artery was developed for the first time. The model is able to simulate the effect of NO release in coronary arteries and its impact on the hemodynamics of the coronary arterial tree and also to investigate the vasodilation effects of arteries during cardiac pacing. For these purposes, flow... 

In this work, gas dehydration and natural gas liquid (NGL) recovery by the Joule-Thomson (JT) process, were investigated using the computational fluid dynamics (CFD) modeling approach. Droplet behavior inside the separator was analyzed by particle tracing and moisture diffusion methods. The modified separator reduced the water content of natural gas from 0.008 to 0.0029 kg/m3. In addition, the separation efficiency was increased by addition of internal components. One of the added internal components was an inlet deflector. Among different inlet deflectors, the reversed type one exhibited the highest separation efficiency. The separation efficiency improved from 6 to 10% in the original... 

Nowadays, one of the most important challenges in developing greenhouses is meeting their energy demand. The other challenge is the high water consumption of evaporative-cooling systems in arid and semi-arid regions. In this study, a integrated dynamic model is developed to determine the greenhouse relative humidity, carbon dioxide, and temperature, considering transpiration. The model is applied to a greenhouse utilizing a ground to air heat transfer system, located in the Alborz province of Iran and the results are validated with experimental data. Energy and water performance of the greenhouse are evaluated for the case study greenhouse. Then, the model is applied to a greenhouse (similar... 

Biomechanical modeling approaches require body posture to evaluate the risk of spine injury during manual material handling. The procedure to measure body posture via motion-analysis techniques as well as the subsequent calculations of lumbosacral moments and spine loads by, respectively, inverse-dynamic and musculoskeletal models are complex and time-consuming. We aim to develop easy-to-use yet accurate artificial neural networks (ANNs) that predict 3D whole-body posture (ANNposture), segmental orientations (ANNangle), and lumbosacral moments (ANNmoment) based on our measurements during load-handling activities. Fifteen individuals each performed 135 load-handling activities by reaching (0... 

This paper is concerned with the problem of guidance filter design for a homing air defense missile using measurements of an on-board pitch-yaw gimballed seeker mechanism. This problem possess a highly nonlinear dynamic which is influenced by various error sources such as seeker's stabilization loop torque disturbances originated from pursuer's accelerations and angular velocities, significant channel couplings, time-delayed and noisy measurements of optical sensor besides the unknown target maneuvers. To handle the inherent nonlinearity of problem a wide variety of assumptions are made in literature to derive simplified engagement kinematics. In present work, performance degradations which... 

Owing to the expensive and time-consuming nature of durability experiments, finite element based durability analysis is quite prevalent in the automotive industry. Numerical fatigue life analyses are typically divided into two different categories, the quasi-static methods which are faster and the dynamic methods which are more accurate. The aim of this paper is to compare the inertia relief and modal dynamic approaches in terms of formulation, accuracy and computation time. The chosen case study is the fatigue life of the vehicle body which is considered the main load-bearing component in a vehicle. By utilizing multi-body dynamics model and driving the vehicle on different standardized... 

It has been hypothesized that the muscular efforts exerted during standing may be altered by changes in personal factors, such as the body stature and muscular strength. The goal of this work was to assess the contribution of leg muscles using a biomechanical model in different physical conditions and various initial postures. An optimized inverse dynamics model was employed to find the maximum muscular effort in 23,040 postures. The simulation results showed that mid-range knee flexion could help the healthy and strong individuals maintain balance, but those with weaker muscle strength required more knee flexion. Individuals of weak muscular constitution as well as those with tall stature...