Sharif Digital Repository

In this paper we propose to control a bipedal robot in an unstable position by means of a PID controller that gains are turned by a fuzzy logic system. For that, a model of planar 3 linked segment consisting of limb, trunk and extended arms with fixed base is used. Fuzzy if-then rules are constructed based on human expert knowledge and biomechanics studies for tuning of PID's gain. For construction of tuning rules, we have developed an optical measuring system to record experimental data of balance keeping of a human in an unstable position. The control model is based on three sets of different global variables: (1) limb orientation and its derivative, (2) trunk/upper attitude and its... 

The objective of this work is making comparison between thermodynamic models and data-driven techniques accuracy in prediction of hydrate formation pressure as a function of temperature and composition of gas mixtures. The Peng-Robinson (PR) and Patel-Teja (PT) equations of state are used for thermodynamic modeling and Artificial Neural Networks (ANNs) and Adaptive Neuro-Fuzzy Inference System (ANFIS) are used as data-driven models. The capability of each method is evaluated by comparison with the experimental data collected from literature. It is shown that there is a good agreement between thermodynamic modeling and the experimental data in most of the cases; however, the prediction... 

Polymer-layered silicate nanocomposites have been observed to demonstrate enhanced mechanical properties particularly at low weight fractions of silicate. Experimental and theoretical investigations reveal that numerous structural parameters strongly influence the modulus of such nanocomposites. A multiscale micromechanical model is developed which considers a wide range of different affecting parameters including the particle aspect ratio, the number of silicate layers per stack, the d-spacing ratio between the layers, the penetration of polymer chains along silicate sheets, the intercalation feature, and the particle volume fraction. The developed model illustrates the accuracy and... 

Gravity drainage is the main production mechanism in the gas invaded zone in naturally fractured reservoirs. However, there are large ambiguities and complexities, resulting from the dynamic of oil depletion from matrix blocks toward the fracture network. Visualization of drained oil at pore scale using glass micromodels provides the opportunity to better understand the effects of different parameters which might affect oil recovery from fractured reservoirs. In this work a micromodel apparatus generated by laser etching is used to perform some gravity drainage tests on the network patterns. The experiments were performed on double block systems using crude oil. The block to block... 

In the present study, two-phase refrigerant flow is simulated using drift flux model for straight and helical capillary tubes. The conservation equations of mass, energy and momentum are solved using the 4th order Runge-Kutta method. This model is validated by previously published experimental and numerical results and also by experimental results presented in this work. The effect of various parameters such as inlet pressure, inlet temperature, sub-cooling degree, and geometric dimensions are studied. The results of the present study show that for the same length and under similar conditions, mass flux through helical capillary tube with coil diameter of 40 mm are about 11% less than that... 

Design and manufacturing of a high performance micro-hydro-kinetic turbine is discussed in the present paper. The main goal is manufacturing an equipped experimental model of hydro-kinetic turbine with highest energy absorption from water current. A multi-shape ducted turbine comprised of a multi-part diffuser was manufactured that can be converted to many experimental models for studying various diffuser enhancing effects. Turbine's rotor included a three-blade axial propeller and a mixed six-blade propeller with high power coefficient. Simple experiments on propeller were performed for flow visualization, torque measurement and illustrating dynamic balance at high speed rotation in air and... 

In this research, mathematical modelling of an anaerobic hybrid bioreactor for effluent treatment of a Poly-Ethylene Terephthalate (PET) unit in a petrochemical complex was performed. The developed model included a combination of a biofilm model for describing the substrate kinetics; a fluidized bed model for determination of species profiles along the reactor length and a bioreactor model for particle distribution inside the reactor. The reactions performed in the bioreactor included; i) the polymers hydrolysis; ii) fermentation of the resulting monomers; iii) the volatile fatty acids fermentation to Acetate and Hydrogen and iv) the Methane formation as the final product. The reactor was... 

In the present study, a procedure was developed to determine the optimum reaction rate constants in generalized Arrhenius form and optimized through the Nelder-Mead method. For this purpose, a comprehensive mathematical model of a fixed bed reactor for dehydrogenation of heavy paraffins over Pt-Sn/Al 2O 3 catalyst was developed. Utilizing appropriate kinetic rate expressions for the main dehydrogenation reaction as well as side reactions and catalyst deactivation, a detailed model for the radial flow reactor was obtained. The reactor model composed of a set of partial differential equations (PDE), ordinary differential equations (ODE) as well as algebraic equations all of which were solved... 

The separation of xylene isomers is an important application in separation processes that is based on their adsorption properties on different adsorbents. In this work, the Price and Danner method was employed with a neural network to investigate the adsorption behavior of binary systems of p-xylene/m-xylene, p-diethyl benzene/m-xylene, and p-diethyl benzene/p-xylene and the ternary system of p-diethyl benzene/m-xylene/p-xylene at 130 and 175°C. The Redlich-Kister, Wilson, and NRTL models were used to determine the activity coefficients in the adsorbed phase. Comparison with experimental data from the literature indicated that the proposed thermodynamic model would best determine surface... 

In this study, silicon microchannel heat sink (MCHS) performance using nanofluids as coolants was analyzed. The nanofluid was a mixture of nanoscale Cu particles and pure water with various volume fractions. Based on theoretical models and experimental correlations, the heat transfer and friction coefficients required in the analysis were used. In the theoretical model, nanofluid was treated as a single-phase fluid. In the experimental correlation, thermal dispersion due to particle random motion was included. The microchannel heat sink performances for a specific geometries with Wch = W fin = 100 μm and Lch =300 μm is examined. In this study, flow in laminar and turbulent regimes using the... 

Shot peening is the most common surface treatment employed to enhance the fatigue performance of structural metallic materials and often carried out after other surface treatments. This paper mainly focuses on the effects of initial conditions of surface such as initial stress filed and hardness profile on shot peening residual stress field. The residual stress distribution induced by shot peening is obtained using Hertzian contact theory and elastic–plastic evaluation after yielding occurred during impingement and rebound of shots. Elastic plastic calculations are performed using different hardening models considering Bauschinger effect. The present model is able to predict redistribution... 

In this study the kinetic modeling of visbreaking reactions for a number of vacuum residue feeds was investigated using available experimental data from the literature. A continuous lumping model was developed for kinetic analysis of visbreaking reactions. The normalized boiling point was used to describe each feed as a continuous mixture and the concentration distribution of the mixture would change under reaction conditions. A continuous model with five adjustable parameters was used to describe visbreaking reactions, and these parameters were optimized for each feed for reaction temperatures in the range of 400-430 C using available experimental data. The model was able to accurately... 

In this paper, a complete four axle rail vehicle model with 70 Degrees Of Freedom (DOFs) is addressed, which includes; a carbody, two bogies and four axles. In order to include track irregularity effects on vehicle behavior, a simplified track model for a straight line is proposed. As the performance of the suspension components, especially for air springs, has significant effects on rail-vehicle dynamics and the ride comfort of passengers, a complete nonlinear thermo-dynamical air spring model which is a combination of two different models is introduced and then implemented in the complete rail-vehicle dynamics. By implementing the Presthus formulation [1], the thermo-dynamical parameters... 

Multi-walled carbon nanotubes (MWCNTs) are one of the preferred candidates for reinforcing polymeric nanobiocomposites, such as acrylic bone type of cement. In this study, at first, bulk samples of the reinforced polymethylmethacrylate (PMMA) matrix were prepared with 0.1, 0.25, and 0.5 wt per wt% of MWCNTs by the casting method. Tensile and three-point bending tests were performed to determine the essential mechanical properties of bone cement, such as tensile and bending strengths. The tensile fracture surfaces were investigated by scanning electron microscopy (SEM). The commercial software (Abaqus) was used to conduct finite element analysis (FEA) by constructing a representative volume... 

In this paper, we exploit a fuzzy controller on a flexible bevel-tip needle to manipulate the needle's base in order to steer its tip in a preset obstacle-free and target-tracking path. Although the needle tends to follow a curvature path, spinning the needle with an extremely high rotational velocity makes it symmetric with respect to the tissue to follow a straight path. The fuzzy controller determines an appropriate spinning to generate the planned trajectory and, the closed-loop system tries to match the needle body with that trajectory. The swine's brain tissue model, extracted from an in-vitro experimental setup, is a non-homogenous, uncertain and fast-updatable network to model real... 

A chemical kinetic model for i-butane and n-butane catalytic cracking over synthesized HZSM-5 zeolite, with SiO 2/Al 2O 3 = 484, and in a plug flow reactor under various operating conditions, has been developed. To estimate the kinetic parameters of catalytic cracking reactions of i-butane and n-butane, a lump kinetic model consisting of six reaction steps and five lumped components is proposed. This kinetic model is based on mechanistic aspects of catalytic cracking of paraffins into olefins. Furthermore, our model takes into account the effects of both protolytic and bimolecular mechanisms. The Levenberg-Marquardt algorithm was used to estimate kinetic parameters. Results from statistical... 

Impedance characteristics of the negative electrode of lead-acid battery were derived on the basis of fundamental interfacial processes occurring at the electrode. The solution of the governing equations was presented in terms of a simple equivalent circuit consisting of resistive and capacitive loops in which charge transfer and sulfate layer formation and also mass transfer (Warburg) elements are considered. The kinetic parameters were deduced by fitting the theoretically derived impedance to the experimental data. Impedance at various States of Charge (SoC) was also examined  

In the conceptual design phase of a turbocharger, where emphasis is mainly on parametric studies, before manufacturing and tests, a generalized and robust model that implies over a wide range properly, is unavoidable. The critical inputs such as compressor maps are not available during the conceptual design phase. Hence, generalized compressor models use alternate methods that work without any supplementary tests and can operate on wide range. One of the common and applicable modeling methods in design process is the 'Dimensionless Modeling' using the constant coefficient scaling (CCS). This method almost can predict the compressor characteristics at design point. However, at off design... 

In this work, an artificial neural network model was used to obtain the partition coefficients of biomolecules in polymer-polymer aqueous two-phase systems. In the artificial neural network, the partition coefficient of a biomolecule depends on the difference between concentrations of poly (ethylene glycol), dextran in the top and bottom phases, temperature and molecular weights of poly (ethylene glycol), dextran, and the biomolecule. The network topology is optimized and the (6-1-1) architecture is found using optimization of an objective function with sequential quadratic programming (SQP) method for 450 experimental data points. The results obtained from the neural network of the... 

Laser ablation of titanium target in distilled water for synthesis of colloidal nanoparticles is studied both experimentally and theoretically. The effects of laser parameters such as wavelength, pulse energy, fluence and shot numbers on the ablation rate and size properties of colloidal nanoparticles are investigated. The experimental approach addresses the interesting issue for finding the optimal main experimental parameters of laser ablation. The theoretical thermal model of nanosecond pulsed laser ablation is developed to visualize the evolution of temperature distributions and ablation depth. The simulation result of ablation depth has been compared with the experimental result...