Sharif Digital Repository

Additive manufacturing (AM), also known as Rapid prototyping or D printing, is a new technology for the manufacturing of the physical parts through an additive manner. In the AM process, the orientation pattern of the part is one of the most important factors that significantly affects the product properties such as the build time, the surface roughness, the mechanical strength, the wrinkling, and the amount of support material. The build time and the surface roughness are the more imperative criteria than others that can be considered to find the optimum orientation of parts. In this research, Two method is used to optimize part build orientation (PBO). In the first method a new combined... 

In this project an optimized and robust orientation estimation method using IMU and magnetic sensors is presented. Magnetic distortion effects in orientation estimation is also one of the main purposes. Proposed sensor fusion algorithm is based on a complementary filter which provides a quaternion estimation as the algebraic solution of a system from inertial/magnetic observations. To develop the basic sensor fusion algorithm some procedures including a simple calculation to deal better with non-gravitational accelerations, decrease the effect of magnetometer in the presence of distortions and online gyroscope bias estimation is added. Also, a method for classification the different types of... 

Nowadays, with the remarkable development of the robotics industry, there is an increasing demand for mobile robots. Mobile robots can be deployed individually or in groups for various tasks such as autonomous warehouses, search and rescue operations, firefighting operations, and maintenance and repairs. It is evident that performing certain tasks, such as moving large and long objects or firefighting operations, is more efficient when robots are deployed cooperatively, and in some cases, these tasks cannot be accomplished by a single robot alone. Therefore, in recent years, the issue of path planning for cooperative robots has received significant attention. By cooperation, we mean that... 

Gears are a major component of many transmission systems. nowadays, improving the operating conditions and reducing the weight of the gears is one of the most needed issues in the industry. This dissertation aims to find the optimal structure of gear under different load cases and reduce its weight optimally. In this regard, topology optimization is used to develop the gear structure.In this research, two areas of bio-inspired design and additive manufacturing are used to achieve goals. These two areas can make good use of each other's potentials and achieve results that were not previously possible with traditional methods of design and manufacturing. First, an introduction and history of... 

Considering the importance of environmental issues and the limitation of fuel supplies in the world, car issues have become one of the most important debates of the day. The methods used to reduce fuel consumption and emissions of greenhouse gases are primarily aimed at changing vehicle structure to reduce drag. An external body shape has been developed to reduce drag forces over the years. Due to the existence of limitations in the actual conditions of the theory, such as the beauty and convenience production, other methods should be examined. In this study, the structure of superhydrophobic properties materials with the emphasis on innovation has been considered. In order to investigate... 

Tolerance allocation in the recent mechanical assembly is significant because it straightly affects product performance and cost. Loose tolerances may cause the quality defect while tight tolerances can increase the cost. Thermal effects and the temperature gradients are one of the factors that caused changes in the size and geometry of the components during the performance of mechanical assemblies. This thesis proposes a new approach for tolerance design considering the thermal effects, to achieve lower manufacturing cost and good product quality. Finite element analysis is used to determine the deformation of components in an assembly. The neural network is trained using experimental... 

Along with improvement of technology and need for access to energy resources, existence of pipelines such as gas, oil and water pipes is vital for our lives. These pipes will be eroded and damaged over time. With the prediction of the defects and tracking of pipeline paths, the probability of sudden damages is greatly reduced. In this research, at first various non-destructive methods of monitoring the pipelines are investigated and it is shown that the laser method is the most comprehensive and non-destructive inspection method and then the background of the chosen method is examined. Also, the hardware aspect of the system and the proper layout of the laser sensors are determined on the... 

The field of learning from demonstration is the field in which researchers seek to create methods by which a robot can learn and reproduce a skill simply by using the demonstration of the skill. One of the main drawbacks of learning from demonstration methods is their inability to improve the learned skills. To answer this question, the reinforcement learning method can be used. The reinforcement learning approach has the potential to improve the initial skill due to the use of the experience of interacting with the environment. In this project, the dynamic movement primitives algorithm is considered as the learning from demonstration method. The research approach is that first, the dynamic... 

In this thesis, the process of laser assisted machining (LAM) of metal matrix composites (MMC) is experimentally studied. The effects of process parameters (cutting speed, feed rate and depth of cut), laser parameters (laser power, laser frequency and laser beam angle), and the percentage of reinforcing particles on the tool wear and the surface roughness are investigated. Furthermore, the effects of these parameters on the built-up edge (BUE), chip shape, and workpiece temperature are explored.The experiments were performed using uncoated tungsten carbide and PCD tools under dry conditions. In order to analyze the sensitivity of the process parameters, the Plackett-Burman method was used... 

Improving the performance of compressors plays a key role in saving energy in industries. The presence of aleatory and epistemic uncertainties, such as dimensional, geometrical and environmental uncertainties, causes the tolerances that are within the allowed ranges in normal assembly conditions to violate the assembly requirements in operational conditions and cause a drop in compressor efficiency. In order to reach the dimensional and geometrical tolerances of the components of a compressor, especially in the design of the rotor and stator blades, that guarantees the optimal and stable performance while not increasi the production costs, there is a need for an optimal and robust tolerance... 

One of the most important manufacturing methods using technologies AM, is the SLS method. This method because it would significantly reduce the construction time is the ability to build a variety of materials, is pervasive. The SLS devices input is part CAD file which is then part layered, a layer of powder is poured on the bed. Each layer is defined contour on the part and then scanned by laser inner layer is hatched by laser. Scanning algorithms and hatching in the SLS is an important part of building that has an impact on properties part and a lot of research has been done about it. synthetic scan algorithms presented in this study. The purpose of this algorithm is that part warpage and... 

The process of separating cells from a laboratory sample, is a crucial step in biotechnology and medical science. Cells separation is important for various reasons, including the identification and treatment of diseases, as an example, separation of Circulating Tumor Cells (CTCs) from patient blood sample. CTCs are cells that shed from a tumor and diffuse into blood vessels. These cells are the starters of metastasis, the process in which cancer spreads in body, and are main reason of deaths caused by cancer. Extremely low percentages of target cells in the blood, clarify the importance of highly accurate and sensitive separation. Currently, conventional separation methods are of macro-order... 

The electrohydrodynamic (EHD) 3D printing technology is an Additive Manufacturing (AM) method that can be used in the manufacture of submicron-size structures. Due to the multiphysics dynamics and the multiphase nature of the microdroplet formation in the EHD printers, modeling of this phenomenon is complicated. In this thesis, the formation of a droplet in an EHD printer—under a pulsed electrical field—is simulated using a new numerical model which couples the fluid flow, the electric field distribution and the movement of the electric charges under dynamic and transient conditions. The level-set method is applied to the entire multiphysics domain in order to study the formation of the... 

In recent years, Additive Manufacturing has been extensively used by various industries. These manufacturing processes produce components in a layer-by-layer manner; therefore, they do not impose any geometric constrains to engineers and provide designers with the freedom to design components. Nowadays, one of the primary goals of all industries is to utilize as few raw materials as possible; this way they can deal with the shortage of raw materials and improve their efficiency. Consequently, they implement topology optimization algorithms to design and produce their components. However, topology optimization algorithms result in complicated geometries that can only be fabricated by AM.... 

The unique ability of additive manufacturing in manufacturing industrial parts with complex geometries has led to the development of topology optimization methods and their use for the optimal design of parts in various industries. However, considering the limitations of additive manufacturing methods in the optimal design of parts is usually a difficult process, and when making decisions, facing multiple conflicting design goals is often difficult and usually involves high computational cost. The main goal of this research is to provide a topology optimization method for generative design for additive manufacturing based on the concept of constructive solid geometry and using machine... 

Mechanical production centers are seeking to produce the highest quality products at the lowest cost. Intrinsic processes of manufacturing are not precise processes, and factors such as tool wear, tool vibration and fixation, fixing defects, and other factors that occur during production, make the pieces deviate from the designer's desirable geometry. Usually, due to deviations of parts from their size, their dimensional and geometric characteristics change. Because the components are rarely just a part, often in the majority of parts of the assembly, the operation of the set may be impaired due to the accumulation of changes. Errors that are usually caused during component assembly due to... 

Because of increasing demands for using of rotating systems in high accuracy and high speed applications, in addition of specific condition of rotating systems, it is necessary to analysis these rotating systems characteristics. In addition to the dimensional and geometrical errors of mechanical system parts and assembly errors, manufacturing quality directly depends on Non Repetitive Run-Out (NRRO) errors; so the results of NRRO errors as an ultra-precision characteristic should be studied in required outputs. In this paper by analyzing dimensional and geometrical tolerances as tolerance zone, the variations of system outputs because of tolerances is calculated in both static and dynamic... 

Creating synchronous conditions of precision and speed in rotating systems is a requirement for the design of these systems. The requirement to create these conditions is essential in various applications, such as machine tools and computer equipment. One of the main sources of error in the motion of the high speed spindles is the occurrence of non-repetitive runouts. The presence of non-repetitive runouts at high speeds greatly affects the accuracy of the rotating motion of rotating systems and reducing its effects is always considered in the design of high speed rotary systems. Usually, one of the most important factors in the occurrence of non-repetitive runouts is related to spindle... 

Additive manufacturing (AM)has gained extensive industrial and research attention in recent years. Reducing manufacturing waste, lead-time and costs and the ability to build surfaces and parts with complex shapes, assemblies all at once or parts with internal features are some benefits of AM. However, complex error generation mechanisms underlying AM digital physical chains are likely to result in geometrical inaccuracies of the final product, thus posing significant challenges to design and tolerancing for AM. Therefore, predictive modeling of shape deviations is critical for AM. With increasing volumes and varieties of data, machine learning has gained extraordinary popularity due to its... 

A mechanical system inherently affected by the conditions, factors and parameters of uncertainty. Without including the uncertainty effects in the optimal design procedure, the mechanical system will not be reliable. To include uncertainty effects in an optimum design, there are two different approaches; the robust design optimization and the reliability based design optimization. In robust design optimization process, the main aim is to enhance the system performance by minimizing the variations. In reliability based design optimization process, the target is that the optimal design variables to be in appropriate reliably levels. In this paper, a new model for the reliability based robust...