Sharif Digital Repository

Workspace of a mechanism is generally defined as the region of space which end-effector of that mechanism can reach. Determination of workspace is an important task in the design of a mechanism. However, for parallel mechanisms, due to the complexity of solving the forward kinematic equations, determination of workspace is much more complicated than for serial mechanisms. In the literature, time-consuming numerical methods, such as point-by-point searching, are usually employed for this purpose. In this paper, an optimization-based algorithm is introduced for the boundary determination of inclusive and constant orientation workspaces of parallel mechanisms. In the proposed algorithm, thanks... 

Hybridization of conventional vehicles is considered an important step to achieve high fuel economy and low emissions. In this study, principle considerations involved in a hybridizing process are discussed and consequently, a sequential approach for designing hybrid components for both series and parallel configurations has been introduced. The so called approach has then been applied to one of the productions of Iran-Khodro Company called SAMAND. Having designed the hybrid components, the conventional SAMAND and its series and parallel hybrid configurations were defined and evaluated using the ADvanced VehIcle SimulatOR (ADVISOR) software. It is observed that compared to the conventional... 

New chemical process design strategies utilizing computer-aided molecular design (CAMD) can provide significant improvements in process safety by designing chemicals with required target properties and the substitution of safer chemicals. An important aspect of this methodology concerns the prediction of properties given the molecular structure. This study utilizes one such emerging method for prediction of a hazardous property, flash point (FP), which is in the center of attention in safety studies. Using such a reliable data set comprising 1651 organic and inorganic chemicals, from 79 diverse material classes, and robust dynamic binary particle swarm optimization for the feature selection... 

With the stricter limitations on both fuel consumption and air pollution, the advantages of a hybrid electric vehicle are becoming more evident than ever. In the present study, an energy management system for a hybrid electric vehicle is developed. Because the plant under consideration is nonlinear, multi-domain, time-varying, has multiple uncertainties and, in addition, the designed control strategy must be able to obey the driver's commands and achieve the par-internship for a new generation of vehicle regulations, the fuzzy logic approach is chosen. A feed-forward hybrid vehicle simulation model is used to demonstrate the validity and the convenience of the current approach and its... 

In this paper, the transient motion of a three unit intelligent Pipe Inspection Gauge (PIG) while moving across anomalies and bends inside gas/oil pipeline has been investigated. The pipeline fluid has been considered as isothermal and compressible. In addition, the pipeline itself has also been considered to be flexible. The fluid continuity and momentum equations along with the 3D multi body dynamic equations of motion of the pig comprise a system of coupled dynamic differential equations which have been solved numerically. Pig's position and velocity profiles as well as upstream and downstream fluid's pressure waves are presented as simulation results which provide a better understanding... 

In this paper, the transient motion of an intelligent Pipe Inspection Gauge (PIG) while moving across anomalies inside a typical gas/oil pipeline has been investigated. The pipeline fluid has been considered as isothermal and compressible. In addition, the pipeline itself has also been considered to be flexible. The fluid continuity and momentum equations along with the 3D dynamic equations of motion of the pig comprise a system of coupled dynamic differential equations which have been solved numerically. Pig's position, orientation and velocity profiles as well as upstream and downstream fluid's pressure waves are presented as simulation results which provide a better understanding of the... 

The aim of this paper is to design an inertial navigation system (INS) for use in a geometry pipe inspection gauge, capable of measuring pipeline movements and producing the line's 3D map with a reasonable accuracy. A suitable reference path was generated as a design platform. Solving the navigation equations and compensating for the errors, by using extended Kaiman filter (EKF) approach, the INS path was generated and its position errors in all three directions were considered. Divergence problems due to far apart GPS position observations, was overcome by defining suitable threshold for the variances of the estimated errors. Copyright © 2007 by ASME  

In this paper, a fuzzy based controller is developed in order to control the braking action of the rear axle of a series hybrid city bus. The controller's target is to recapture the kinetic energy of the bus as much as possible during braking, while still maintaining its stability. The bus under study Is one of the Iran-Khodro Company's productions called O457 which is currently undergoing a procedure of hybridization. The hybrid type used is a series hybrid configuration in which an internal combustion engine and a battery pack supply Its electric traction motors in order to propel the bus. The implemented fuzzy controller takes the bus speed, batteries SOC level and the brake-pedal...