Sharif Digital Repository

Recently, there has been a surge of research activities in the area of networks in the systems and control community. One foundational class of questions on networked systems pertains to their controllability. While there are classical tests to check the controllability of linear time-invariant (LTI) systems, their applications to large-scale networks is numerically infeasible. Indeed, finding a minimum cardinality set of input nodes that ensure the controllability of a network is NP-hard. Moreover, when the interaction strengths along the edges of a network are unknown, the classical controllability test cannot be applied. To overcome these issues, an alternative set of approaches involves... 

The main concept of this thesis is to simulate, develop, and analyze the performance of force control method by applying to a Unimate MK-II hydraulic manipulator. In this investigation, simulation studies are based on the concept of impedance control technique. Position-based formulation of impedance control is employed. First in this research, a PID controller is employed and is shown to be capable of performing position control task precisely despite the fact that inertia, joint stiction, valve deadband and other nonlinearities are presented. Although trajectory tracking is performed well after several investigations, we have concluded that the impedance control cannot perform a desirable... 

In this paper, controlling the cutting force of an end-milling process using a supervisory fuzzy controller has been investigated. The proposed control consists of an ordinary fuzzy controller and a fuzzy supervisor. In a machining process, there are several parameters which do not contribute to the force control system directly. Therefore an ordinary fuzzy force controller is suitable when these parameter have only small amount of variations. Since in practice this assumption is not valid, then a supervisory fuzzy controller has been added to the system. The designed fuzzy supervisor, inspects the dynamic behavior of the cutting force, estimates a pre-defined ‘sensitivity’ parameter and... 

In the present dissertation model based grasping of soft tissue with the laparoscopic gripper, tissue deformation under the applied load and control of the tissue-instrument interaction have been studied. As the first step a cantilevered beam under bending and tension has been modeled statically and dynamically using the meshless EFG based method. Results show that an increase in the number of nodes at the displacement boundary and the area of force insertion improves the accuracy of the predicted displacement in the model compared to the analytical solution. In the second step the model is developed for a hemisphere under vertical and lateral compression. Comparison of the deformation of... 

Laparoscopic surgery is kind of minimally invasive surgeries that beside many benefits for patient, brings a lot of problems for surgeon such as fatigue and increasing probability of errors during surgery because of non-ergonomic long surgery time. Tele-surgical system is the way of technology to compete with these problems. In this systems surgeon could sit in an ergonomic consul, looking in the monitor, take master tools in his hand and do the surgery. Another robot would be placed on the patient and copy surgeons movements on the surgery tool. Major problem in today’s tele-surgical systems is lack of haptic feeling in a way that surgeon couldn`t feel any forces from slave`s environment... 

Todays, the exoskeleton is known as a practical device for use in robotic rehabilitation and elderly assistance and has attracted the attention of many researchers. Impedance control is the most widely recognized control strategy in research on exoskeletons. Impedance control can properly handle soft interaction of robots with the environment. Optimal target impedance selection can increase the performance of the overall system and guarantee the stability. The main objective of this research was to introduce a variable impedance control system and verifying the presented control system on an exoskeleton. In this research, an exoskeleton with 4 active DoF and 8 semi-passive DoF is designed... 

Choosing and designing a suitable lateral force resisting system in areas with high seismicity has always been one of the main challenges of structural engineers. Therefore, many systems have been developed and implemented over the past decades. Among them, we can mention reinforced concrete and steel moment frames, concrete and steel shear walls, bracing systems and even their combination under the title of dual systems. The choice of each of the above depends on many factors such as the importance of the building, the seismicity of the region, height of the building, architectural restrictions and also cost. Although the evidence of past earthquakes shows that, for a well-designed... 

One of the most important parts of designing turbine blades is machining (milling) process of blade root. There is some implementing problem in material removal processing by milling. Because of low heat transferring of inconel 738 in machine parts there is huge amount of heat which cause high temperature in machine and burning, which reduces the efficiency of milling.One of the common way to reduce the temperature of machine is using coolant fluids, which increases expenses and makes environmental pollution, so it is not completely efficient as an industrial work. In this paper Whit using MQL and some new lubricant had been observed more efficient condition in milling process. The main goal... 

Considerable research work has been dedicated to the development of structural control systems to improve the performance of structures and reduce the casualties resulting from earthquakes. It is generally accepted that semi-active control systems result in better structural performance compared to what can be achieved using passive systems. However, it has been observed that the majority of the performance improvement obtained from semi-active control systems stems from the reduction of brace flexibility effects, rather than the control algorithm used. In this study, it is attempted to utilize this fact to improve the performance of passive control systems, or develop simple semi-active... 

Ground reaction forces (GRFs) and their centers of pressure (CoPs) are essential inputs in musculoskeletal models of the spine that study load-lifting tasks. While GRFs and CoPs are usually measured in vivo via force-plates, they can be predicted based on motion equations, developed in AnyBody Modelling System (AMS) thus eliminating the need for laboratory equipment and in vivo measurements. This study aims to develop an easy-to-use yet accurate model that predict GRFs and CoPs during different Manual Material Handling (MMH) activities using AnyBody Modelling System and artificial neural networks. First, the accuracy of the AMS GRF prediction algorithm was evaluated for 8 normal- and 4... 

The role of the lumbar muscles in maintaining posture and balancing externally applied loads has been studied for many years.preliminary studies used electromyograpy (EMG) to establish a relationship between trunk posture and muscle ativity.so developing a better undrestanding of the functional role of those muscles. Determination of lumbar muscle forces, will have an important role in reducing low back pain I future.For this reason,reaserchers have done many studies for understanding the resistence and function on the musulosketal system bye using of various protocls and have utilized of various biomechanical models for determining the effects of applied externally loads on lumbar... 

Lameness in dairy cattle is a crucial welfare issue in dairy industry, and over the years scientists are attempting to present a detection method. In recent years it is attracting more attention to make the identification and discrimination of sounds and lames systematic and automatic. Right now, the most hopeful results have been obtained through the measurement of Ground Reaction Forces (GRF) of hooves, and analysis of load distribution between four legs, which seems applicable for wide use in dairy industry. However, the accuracy, validity, and reliability of discrimination is still far from an acceptable point, that is because of a great lack in understanding quantitative effects of the... 

It is well known that the fluctuations of electromagnetic fields in vacuum or in material media depend on the boundary conditions imposed on the fields. This dependence gives rise to forces which are known as Casimir forces, acting on the boundaries. Casimir forces between similar and disjoint objects such as two conducting or dielectric bodies are known in most cases to be attractive.¬¬ These forces are sometimes viewed as the macroscopic consequence of Van der Waals and Casimir-Polder attraction between molecules. In this thesis at first, calculation of Casimir forces in simple models were demonstrated. Then Van der Waals and Casimir-Polder forces have been explained in a unified theory... 

In decentralized Supply Chains, each member decides based on his own interests. Conflict of interests results in suboptimal decisions and poor performance for entire supply chains, as well seriously harms credibly information sharing across them. In this thesis, coordination of decisions in supply chains in the context of Capacity Procurement problem are studied in different situations in form of three models. In first model, a dyadic supply chain with stochastic demand and exogenous price is investigated by taking various costs into account. PARD and RCRS contracts are designed and proposed in order for coordination of decisions respectively in full and partial information updating... 

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... 

Nowadays, the significance of securing data and information is undeniable. Cryptography is being used to provide data security. In addition, cryptanalysis is required to evaluate the effectiveness of cryptography methods, and hence, it is an essential concept for securing data. In general, the cryptography functions shall be designed in a way to impose a high load of time-intensive operations to prevent an adversary from accessing the main data from the encrypted data. As a result, cryptography and cryptanalysis algorithms need high performance computations. So far, a number of methods have been proposed to support the required performance. These methods include: distributed computing and... 

The physical description of particles states in the quantum theory are characterized by means of theirs mass and spin. The inertial and gravitational properties of mass are already well known in mechanics and gravitation theories as well as their quantum counterparts. In spite of mass, the inertial and gravitational properties of intrinsic spin are not studied that much.In this thesis we review the inertial and gravitational properties of intrinsic spin. Initially we explore the general procedure to formulate Dirac equation in arbitrary curved spacetime. Then we write Dirac equation in Kerr spacetime to draw physical conclusions about the interaction of Dirac particles with the Kerr... 

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... 

Human body movements are achieved by activating a number of muscles. It has been shown that the central nervous system (CNS) plays the main role in controlling rhythmic activities (including walking, chewing, etc.). However, the way the central nervous system works in controlling different parts of the body has always been discussed due to the excess degrees of freedom to perform certain tasks. Controlling a group of muscles (under the name of muscle synergy analysis) instead of each one of them has been one of the most attractive and efficient recent ideas to better understand the CNS function. Also, a similar concept can be expressed for kinematic synergies (by the degrees of freedom of... 

The available investigations show that gravity drainage mechanism in fractured reservoir make a high recovery factor in comparison with other mechanisms. In recent years, the forced gravity drainage assisted by gas injection is also introduced; despite of its importance there is no comprehensive modeling study in the literature. The fractured reservoir is simulated frequently by dual porosity models in which the transfer function is the key issue for this method of simulation. This study makes an effort by comparison of different transfer functions with fine grid simulation results of a single block model, in order to evaluate their ability for simulation of forced gravity drainage...