Sharif Digital Repository

Magnetic steering of continuum robots is a promising technology that uses a magnetic field to control the robot without contact and can improve the accessibility, safety, and accuracy of the robot. On the other hand, magnetic localization can also be used as a positioning method without direct line of sight in various applications. Common magnetic localization methods face the challenge of dependence on initial guess, divergence, and high computational cost. In this research, by eliminating the unknowns related to the orientation and rewriting the equations, a new method for magnetic localization has been presented. The advantage of the new method in convergence and increasing the speed of... 

Machining chatter is unstable and destructive vibrations that leads to damages to the surface of workpiece and reduces the tool life. These damages have significant effects on surface quality and material removal rate. Many studies have been done on chatter modeling and control in various machining processes. On the other hand, recently, ultrasonic vibrations have been used in many manufacturing processes including cutting to enhance the quality of products. Therefore, it is important to investigate the effect of ultrasonic vibrations on the stability of cutting process. Although a number of advantages such as improved surface roughness of workpiece and reduced machining forces have been... 

In today’s world, the use of lateral load-bearing systems, such as bracings, has become a pretty common practice. Often showing axial deformation behavior, these members exhibit proper performance under tensile loads but tend to become unstable under compressive loads. In contrast to common bracing systems, the buckling-restrained bracing (BRB) systems perform well under not only tensile loads but also compressive loads. Recent studies have paid greater deals of attention to the application of short-core BRB systems in different structures. The bracing core has been shortened to increase the core deformation and hence the energy dissipation capacity of the bracing system. In this condition,... 

This research study presents an experimental investigation on forced convection heat transfer of an aqueous ferrofluid flow passing through a circular copper tube in the presence of a magnetic field. Both constant magnetic field and alternating magnetic field was examined. Moreover magnetic field layout and strength and modes of alternating magnetic field was investigated. The flow passes through the tube under a uniform heat flux and laminar flow conditions. The primary objective was to intensify the particle migration and disturbance of the boundary layer by utilizing the magnetic field effect on the nanoparticles for more heat transfer enhancement. Complicated convection regimes caused by... 

According to the principles of the country 20-year outlook charter Iran as a developing nation should be ranked first in economic, scientific and technological status in the region. Productivity improvement in all fields is one of the key essentials for realization of stable economic growth. Construction industry in developing countries contributes a major share of gross domestic product (GDP). It has a crucial bearing on economic growth, therefore enhancement of performance indicators in this industry will result in economic development of the country. This research project has offered a pattern for measuring and analyzing labor and machinery productivity in large scale construction. This... 

Forced convection in a parallel plate channel filled by porous medium, with walls held at constant heat flux is investigated. A criterion for employing a local Thermal Equilibrium assumption between solid matrix and fluid in a porous channel is developed. Darcy-Brinkman-Forchheimer momentum equation is solved by Homotopy perturbation method. The energy equation for solid and fluid phases employing Local Thermal Non Equilibrium (LTNE) assumption is solved for fully developed and thermally developing forced convection. The analysis leads to an expression for fluid and solid temperatures and also the local Nusselt number. The effect of pertinent parameters such as the Darcy number, the Inertia... 

The present study deals with the analysis of Atomic Microscope with crack by making use of Strain Gradient Elasticity theory. Empirical observations represent that in micro dimensions, materials show behaviors, which the classic continuum mechanics theories are not able to explain. Thus, taking advantage of non-classic theories, which are capable of explaining such phenomena or behaviors in analyzing materials in micro dimensions seems necessary and of much significance. In this direction, by applying an Euler-Bernoulli beam assumption and neglecting the shear effects, governing equations and boundary conditions of the problem were obtained via taking advantage of variations in Hamilton... 

In this study, the thermal-hydraulic analysis of prismatic HTGR’s core with natural convection has been studied using porous media approach. VHTR are the new generation reactors which due to special neutron and thermo physical properties have highly inherent safety. In lose of forced circulation accident, decay heat is transferred from core to pressure vessel wall and then to water tubes in concrete wall at reactor cavity with conduction, convection and radiation automatically. In this case the high volume of decay heat is stored in graphite block with high thermal capacity and is prevented the instantaneous temperature rising.
The aim of this study is justifying inherent safety of HTGR... 

Optical tweezers consist of a tightly focused laser beam. Particle with refractive index grater than that of the surrounding medium are eligible for optical trapping. This device is used for measuring forces from pico-newton to nano-newton, and displacements from nanometer to micrometer. In biopolymers, for example, it is used for studying the elasticity of DNA molecules, mechanical properties of cell membrane; and also in Microfluidics, it can is used for mixing two liquids flowing in a micro-channel by rotating a trapped particle. In general, physics of optical tweezers (or interaction of the trapped particle with the tightly focused laser beam) is treated in three different regimes:1)... 

In this study an internal combustion rotary (Wankel) engine and its specifications is analyzed and the proper lubrication system is described. The acceleration acting on apex seals, and engine speed fluctuations together with the leading and trailing cells gas pressure forces are analyzed in the present work using the second Newton law. The research shows that cell gas pressure effects are important and inclusion of these effects will provide results which are more compatible with the reality and lead to a much more accurate analysis of the system. Theoretical calculations reveal that gas cell pressure forces represent about 78% of the overall calculated force and ignoring these pressure... 

Endothelium is the interior layer of an artery made up of tremendous number of endothelial cells which are located side by side. Finding the effective parameters that cause the cells to obtain mechanical strength in different morphologies is a major effort in cell engineering studies. In this work a numerical model for endothelial cells is developed. This model has included cell's plasma membrane (the outer membrane of the cell), nucleus and cytoskeleton main components including intermediate and actin filaments as well as microtubules. The model has been validated by simulating the adhesion of the cells to a flat substrate and also atomic force microscopy (AFM) experiments. The two most... 

Tension leg platforms (TLP) are vertically moored with reserved buoyancy used for drilling and production in deep waters. Pre-tensioned tendons controls the heave, pitch and roll motions due to marine currents and waves efficiently. Seastar platforms are new generation of tension leg platforms that are similar to spar platforms that has the advantages of TLP besides spar simultaneously. This platform is usually considered as an alternative for large and cost consuming platforms. Seastar has a cylindrical surface piercing hull that creates the required buoyancy along with three submerged additional bodies. Pre-tensioned cables are attached to platform through these three submerged bodies. The... 

Lack of force feedback during minimally invasive procedures is one of the downsides of such interventions and might result to excessive damage to surrounding tissues. The goal of the present research is to introduce a vision-based approach to estimate contact forces on soft tissues. In this approach, a model was developed in which, image of deformation of a sample soft tissue, under the jaws of laparoscopic gripper, is the input and the output is the gripper force.
In this method, using finite element simulation, a database from different deformations of a rectangular soft tissue was generated. Accordingly, from the geometric position of nodes of the upper surface of the... 

Atomic force microscope (AFM) has a significant capability of imaging surface topography on an atomic scale. It is also widely used for Nanolithography in MEMS/NEMS (micro/nanoelectromechanical systems). Conventional AFMs consist of a cantilever with a sharp conical or pyramidal tip located at the free end of the cantilever that plays an important role in AFM measurements. Scanning across a surface, AFM interacts with the sample surface through its tip. Although the dynamic behavior of the AFM cantilever is complicated, the researchers have been interested in studying AFM dynamic behavior because it has a great influence on the surface imaging process. The imaging rate and contrast of... 

The use of nanofluids to improve the heat transfer has a special attention in the industry. researches focus on the efficiency of heat transfer nanofluids dates back to 1998. Ferrofluids are a particular type of nanofluids which their nanoparticles have magnetic effect and heat transfer can be increased by applying magnetic field to them. In this work, thermal and hydrodynamic performance of ferromagnetic fluid which flows through a copper tube in thermal entrance region has been studied. The flow in the tube is laminar and is affected by constant heat flux. Part of the tube contains a porous medium with paramagnetic properties and porosity of 0.46. Ferrofluid is composed of F e3O4 and water... 

Micro electromechanical systems (MEMS) such as sensors and actuators are gaining more popularity in recent years. These systems have different application in automation, medicine and other industries. Mechanical structures are governed by electrical systems in MEMS devices and this is one of the challenges of MEMS studies. Usually these systems made by one deformable beam or plate over a fixed substrate. Due to applied voltage between substrate and deformable plate or beam, the deformable plate deflects toward the fixed substrate. The voltage at which the system becomes unstableis called pull-in voltage. Pull-in voltage is the most important characteristics of MEMS beyond which pull-in takes... 

Most of industrial and laboratory processes are faced with liquid-liquid emulsions particularly aqueous-organic ones in their different product streams which determine the need to perform phase separation due to enviromental problems or need to increase the product purity. In this project, due to presence of a water-hexane two phase flow mixture in the outflow of a microractor that performs Lithium-Bromine exchange reaction, a capillary microchip separator has been designed in order to separate water through capillary channel and hexane through main channel outlet using interfacial forces and wettability effects. To obtain a desired phase separation, the pressure drop through main channel... 

Due to increasing air pollution and traffic jams, cities are trying to promote non-motorized modes of travel. Therefore, people are encouraged to take ad-vantages of walking to decrease usage of motor vehicles and to enhance their health. Knowledge about pedestrain behavior helps planning and provision of efficious facilities for walking. To address the issue, it was decided to examine pedestrains behavior in Tehran Bazaar. The vicinity of Tehran's old Bazaar is considered to be one of the populous, important commercial centers of Tehran and one of the most spacious footpaths. Behavior analysis is done in both macroscopic and microscopic levels. In the macroscopic analysis the re-lationship... 

Considering the advantages and disadvantages of reported micropumps, we aimed to introduce a novel idea to diminish the disadvantages and promote the advantages of PiezoElectric micropumps. This novel idea operates based on a mercury slug actuation in a microchannel. This cyclic motion of the mercury slug which is similar to a piston, push the fluid in the microchannel and pump the flow. However, to bring this idea into the practice, a control system must be designed. This system contains: LABVIEW code, DAQ board & a switching Board. The pattern of actuating mercury is drawn in LABVIEW. DAQ Board produces electrical signals according to LABVIEW code. Switching board will transform the... 

Micropumps are regarded as one of the devices used in microsystems, which are responsible for pumping working fluid. The Mercury Magneto Reciprocating (MMR) micropump, which has been introduced for less than a decade, is an innovative kind of micropumps which the pumping agent includes three liquid metal droplets (LMD) placed inside lateral chambers and reciprocated by the electromagnetic force inside the chambers. The working fluid located inside the main channel is pumped through due to the movement of these three LMDs. The equations governing this micropump are complex and their numerical solution is a time-consuming process, due to electromagnetic, hydrodynamic, and unsteady effects. The...