Sharif Digital Repository

One of the best methods of gait analysis is to use analytical models. In this project, first, the normal human gait was simulated using a two-dimensional biped model with 7 segments, i.e., a HAT segment representing head, arms and trunk, and 6 segments representing thighs, shanks and feet of the two legs. The foot-ground contact was simulated using a five-point penetration contact model. The elastic impact and friction effects are considered in the ground reaction force modeling. Optimization of the normal human walking model provided constant coefficients for simple PD controllers’ (driving torque) equations that could reasonably reproduce the normal kinematical pattern. Then, in the second... 

This research focuses on the dynamic analysis of an exoskeletal system to assist a paraplegic motion. Research in powered human exoskeletons began in the late 1960s, almost in parallel between the numbers of research groups for different applications. The main challenges for the recent work in exoskeletons were focused on the design and demonstration of an initial prototype. To this point, the reported advantages of the autonomous exoskeleton systems are largely anecdotal. Indeed, there is a marked lack of published quantitative performance results for exoskeleton devices that reportedly improve human locomotion. Considering this, there are many design challenges remained that may lead to... 

Patellofemoral joint has an important role in knee extension. Because of this joint importance and complicated mechanical behavior, a lot of mathematical models have been used, to obtain a better understand of this joint, considering this joint as a part of knee joint or as a separate joint. Although these works have comprehensively studied the patellofemoral joint but they don’t emphasis on dynamic aspects. Also there is no work to compare the experimental and theoretical results calculated from one specified subject knee.In this study, the kinematic and dynamic of patellofemoral joint has been studied, constructing a three dimensional dynamic model of patellofemoral joint and experimental... 

Researches in the field of human gait have a lot of applications in medicine, ergonomics, sport science and technology. Lower limb prostheses design is one of the fields in which human gait is important. One of the best methods of gait analysis is to use analytical models. In this project, first, the normal human was simulated using a two-dimensional biped model with 7 segments, i.e., a HAT segment representing head, arms and trunk, and 6 segments representing thighs, shanks and feet of the two legs. In this model the foot-ground contact was is estimated using Taylor series after running experiment and it’s analysis which is expendable to people with different ages and different weight and... 

In this work, we want to gain and analyze the dynamic equations of an open four bar mechanism with two flexible links and three flexible hinges. In continue, one of the applications of a 3-RRR mechanism has been mentioned and dynamic equations and angles behavior have been analyzed. The effect of hinge stiffnesses and their sequence has been investigated by using Hamilton principle. In addition, The behavior of the mechanism with flexible links has compared to the mechanism with non-flexible. At last, the results have been validated by ADAMS software.

 

In this work, A new hybrid approach is presented to optimize a trajectory of Micromechanical Flying Insect in an obstacle reach environment. Here, a singleobjective Evolutionary Algorithm is utilize for finding solutions corresponding to multiple conflicting goals, which include minimizing the length of the path while maximizing safety margin by avoiding hard and non-moving obstacles. On the other hand, dynamic constraints of Micromechanical Insect such as maximum and minimum attitude angles and speed should be taken into account. In order to reduce the computational cost, a novel hybrid two-layer procedure is suggested for trajectory optimization. In the first layer, the algorithm generates... 

In this project Sharif Gas Turbine laboratory turbojet engine, and the turboshaft engine which is designed based on the turbojet gas generator are statically and dynamically modeled and required functions for turboshaft control are extracted. In static modeling a repetitive process is applied to reach static operation points. Static operation line and static characteristics of turbojet engine are extracted and compared to relevant sources. In dynamic modeling of turbojet engine a lumped volume is allocated to each component of engine and gas dynamic equations are solved in this volume along with individual performance map of engine components to acquire output characteristics in each time... 

Ducted fan vertical take-off and landing (VTOL) aerial vehicles have drawn many attentions in the world because of their capability to offer high power to weight ratio for a certain vehicle diameter relative to open rotors or helicopters. However, due to inherent uncertainties in dynamics and inefficient and poor quality responses, significant control challenges are still unsolved and exciting fields for research. In the current study, a nonlinear dynamic model is proposed for the controller design purpose. This model is validated against simulation by performing several standard scenarios. An adaptive control method, named model reference (MRAC), is utilized to design a perfect controller... 

In recent decades, micro-electromechanical systems – MEMS – havefound extensive applications in applied science and engineering. One of the most popular MEMS actuatorsis micro Scratch Drive Actuator (SDA), which can be used in various applications, for instance: precision positioning, micro-chip displacement and rotating micromotors. Their outstanding capabilities such as: high controllability, precise step displacement, vast transportation domain and large force relative to their small size, have made them popular among researchers. Recently, a new generation of SDA is introduced, known as Bounce-back Scratch Drive Actuator or BSDA, which is fundamentally different in motion generation from... 

In recent years, the area of research on micro flying robots has been developed due to the development in micro manufacturing technologies. Due to extra advantages of these flying robots, they are implemented in military and civilian missions such as identifying, espionage, aerial relays, traffic surveillance, rescue, aid, etc. Ability to fly in specified areas, without human injuries, low manufacturing and energy costs, easy and fast implementation, Easy Maintenance, etc, which are some advantages of these robots. We can control these robots manually by remote controllers (RC) or by Auto guidance systems. On the other hand, these robots are used in research laboratories for testing new... 

Due to high cost and ineffectiveness of molecular models a new method for coupling continuum models with molecular models is used. In this method, the continuum and molecular domains are overlapped. Comparing the results obtained from the concurrent simulations and molecular dynamic simulations proves the accuracy of the method used. The method is used for modeling single layered graphene sheets, stress contours are presented for multiscale and both static and dynamic simulations of concurrent. For multiscale simulations two different carbon nano tubes are investigated and strees-bond angle and strees-bond length are also presented  

Natural gas power plant installed in power system as rapid start unit. In the recent decades, with increasing in the number of gas generating units in the world, consideration of natural gas transmission network in optimal solution of security-constrained unit commitment (SCUC) become a non-negligible problem. The gas transmission grid constraints integrated into the scheduling of thermal units in the proposed model for minimizes power system operating cost. In a power plant transmission of natural gas to power plant is very important because congestion in natural gas pipeline increases. This model could consider natural gas storage tank in gas transmission network as decision variable.... 

The present research has dealt with developing theoretic basis for technology of a modern and beneficial robot. There has been an old aspiration to attain some machine which can enclose body and move exactly in concert with it so as to maximize human might and endurance via powerful actuators. Exoskeleton robot is a recent successful invention regarding this aspiration, the lower-limbs type of which being sufficient for enhancing gait and load carrying capabilities.
Modeling the dynamics of this robot is very fundamental and was done thoroughly for the first time in this research. In the available articles, at most, simplified models are investigated. Mechanical structure was selected... 

The present research has dealt with the modeling and control of a robotic prosthetic foot for transfemoral amputees. In the beginning of this research, we have modeled the normal gait. In order to accomplish this modeling, we have chosen a 7-body segment skeletal model of the human body and derived the motion equations using Lagrangian equations. Then, we have developed a smooth contact model for the ground. After controlling normal gait, we have attempted to model and control the ankle and knee prosthesis. We assumed a rigid model for the ankle prosthesis and derived its dynamic equations. Then, we developed a robust model reference adaptive impedance control (RMRAIC) scheme based on the... 

Dealing with different supply chain risks and how firms should prepare against them has become an important issue in real world application. In this paper, we propose a periodic model to fortify supply chain structure against disruption by remanufacturing different types of returned products at first priority and manufacturing raw materials at second priority only if it is necessary. Additionally, our approach to model disruption is that there are two kinds of facilities for manufacturing/ remanufacturing centers. The first one is reliable and the second one is unreliable. Therefore, in this paper, we formulate and solve a reliable discrete dynamic linear programming with different types of... 

In this research, we investigate the role of oil and degree of dependence to it on nexus between financial development and growth volatility. The link between financial development and growthvolatility has been the focus of extensive literature, but no empirical study has been investigated the role of oilin relationship between financial development and growth fluctuations. By using information of 78 developing countries (11 oil exporting and 67 non-oil countries) during 1983-2008, we construct a dynamic model. Difference GMM technique is used to estimate the model. Our findings show that negative impact of financial development on volatility of GDP, Investment and Consumptiongrowth is... 

Gas turbines and centrifugal compressors are the preferred means of compressing the gas in pipeline systems. Both gas turbines and centrifugal compressors exhibit performance characteristics that depend on the operating point imposed on them by the pipeline operation. Simulation of gas turbine-driven centrifugal compressors is necessary for a variety of applications in the general area of pipeline simulation. This research focuses on modeling of twin shaft gas turbine dynamic and steady state performance. For this purpose, it was necessary to evaluate the thermodynamic working process of the gas turbine by using an in-house computer code. At design point, the calculations are solely based on... 

A coloring of regions is conflict-free if for any covered point in the plane, there exist a region that cover it, with a unique color. In this thesis, we examine the problem of conflict-free coloring of regions in dynamic model, with minimum colors, and with the possibility of recoloring the optimal numbers of colored regions. That means, regions are inserted one by one on the plane, and by inserting any region, inserted regions shall be conflict-free. Dynamic model are divided into three categories: offline model, online with absolute positions model and online with relative positions model. The difference between these three categories is in the information contained in insertion of... 

Market share of some private insurance companies in Iran has demonstrated upward and then downward trends over the years . Due to the similarity of conditions among all companies, the internal structure of companies is the main reason for the creation such trends. The operation of insurance companies has a lot of feedback mechanisms and delay relationships. In this research for purpose of modeling a holistic and comprehensive view and understanding the structure of private insurance companies in Iran, feedbacks and delay relations System dynamics approach is used. The developed model structure consists of five interconnected modules, each representing a relatively detached sphere of... 

Torque variations caused by intermittent combustion and inertia effects of reciprocating components, exert significant torsional excitation on crankshaft of internal combustion engines. These excitation induces considerable torsional vibration on crankshafts. Therefore, modeling and analysis of crankshaft torsional vibration and absorber systems, especially in automobiles engine that crankshaft tolerate high amplitude excitations coupled with heavy inertia effects has high importance. In this study, ability of centrifugal pendulum vibration absorber and dual mass flywheel which used in rotating machinery for vibration reduction, will be examined. At first, cranktrain will be torsionaly...