Sharif Digital Repository

An Atomic Force Microscope (AFM) is a capable tool to manipulate nanoparticles by exerting pushing force on the nanoparticles located on the substrate. In reality, the substrate cannot be considered as a smooth surface particularly at the nanoscale. Hence, the particle may encounter a step on the substrate during a manipulation. In this study, dynamics of the nanoparticle on a stepped substrate and critical pushing force in the manipulation are investigated. There are two possible dynamic modes that may happen in the manipulation on the stepped substrate. In one mode, the nanoparticle may slide on the step edge and then climb up to the step which is a desired mode. Another possible mode is... 

In this study, we discuss the postural stability of a nonprehensile manipulation problem, which deals with multibody objects. As a metric for postural stability, we define PRI. Then, the system is posturally stable, if PRI is inside the convex hull of the object-manipulator contact surface. We then discuss that dynamic biped locomotion is a special case of dynamic nonprehensile manipulation in all aspects; we prove that ZMP (zero-moment point) and FRI (zoot rotation indicator) are special cases of PRI (palm rotation indicator). Simulations and experiments corresponding to simple examples support the results  

The effect of temperature on the noncontact atomic force microscopy (NC-AFM) surface imaging is investigated with the aid of molecular dynamics (MD) analysis based on the Sutton-Chen (SC) interatomic potential. Particular attention is devoted to the tip and sample flexibility at different temperatures. When a gold coated probe is brought close to the Au (001) surface at high temperatures, the tip and surface atoms are pulled together and their distance becomes smaller. The tip and sample atoms displacement varies in the different environment temperatures and this leads to the different interaction forces. Along this line, to study the effect of temperature on the resulting images, we have... 

In this work, we introduce a category of dynamic manipulation processes, namely passive dynamic object manipulation, according to which an object is manipulated passively. Specifically, we study passive dynamic manipulation here. We define the main concept, discuss the challenges, and talk about the future directions. Like other passive robotic systems, there are no actuators in these systems. The object follows a path and travels along it under the effect of its own weight, as well as the interaction force applied by each manipulator on it. We select some simple examples to show the concept. For each example, dynamic equations of motion are derived and the stability of the process is taken... 

Molecular dynamics simulations are carried out to investigate the manipulation of metallic clusters on stepped surfaces. Five surface forms are considered in the simulations. The system parts are made of pure transition metals and Sutton-Chen many-body potential is used as interatomic potential. The conditions which are subjected to change in the tests include: materials used for particles and substrate, and surface step conditions. In addition to qualitative observations, two criteria which represent the particle deformation and substrate abrasion are utilized as evaluation tools and are computed for each case. Simulation results show the effect of the aforementioned working conditions on... 

Molecular dynamics simulations are carried out to investigate the manipulation of metallic clusters on double-layer surfaces. The system parts are made of transition metals. The conditions which are subjected to change in the tests are material combinations for cluster, main substrate and lubricant layer (adlayer). In addition to qualitative observations, two criteria which represent the particle deformation and substrate abrasion are utilized as evaluation tools and are computed for each case. Obtaining this sort of knowledge is highly beneficial for further experiments in order to be able to plan the conditions and routines, which guarantee better success in the manipulation process  

Based on the fact that the manipulation of fine nanoclusters calls for more precise modelling, the aim of this paper is to conduct an atomistic investigation for interaction analysis of particle-substrate system for pushing and positioning purposes. In the present research, 2D molecular dynamics simulations have been used to investigate such behaviours. Performing the planar simulations can provide a fairly acceptable qualitative tool for our purpose while the computation time is reduced extremely in comparison to 3D simulations. To perform this study, Nose-Hoover dynamics and Sutton-Chen interatomic potential will be used to investigate the behaviour of the aforementioned system. Pushing of... 

The main scope of this study is to analyse muscle-driven forward dynamics simulation of stair locomotion to understand the functional differences of individual muscles during the movement. A static optimization was employed to minimize a performance criterion based on the muscle energy consumption to resolve muscle redundancy during forward dynamics simulation. The proposed method was employed to simulate a musculoskeletal system with ten degrees of freedom in the sagittal plane and containing 18 Hill-type musculotendon actuators per leg. Simulation results illustrated that simulated joint kinematics closely tracked experimental quantities with root-mean-squared errors less than 1 degree. In... 

We investigate the effect of wall roughness on water electrolyte transport characteristics at different temperatures through carbon nanotubes by using nonequilibrium molecular dynamics simulations. Our results reveal that shearing stress and the nominal viscosity increase with ion concentration in corrugated carbon nanotubes (CNTs), in contrast to cases in smooth CNTs. Also, the temperature increase leads to the reduction of shearing stress and the nominal viscosity at moderate degrees of wall roughness. At high degrees of wall roughness, the temperature increase will enhance radial movements and increases resistance against fluid motion. As the fluid velocity increases, the particles do not... 

An ultrafine-grained Al6063/Al2O3 (0.8 vol.%, 25 nm) nanocomposite was prepared via powder metallurgy route through reactive mechanical alloying and hot powder extrusion. Scanning electron microcopy, transmission electron microscopy, and back scattered electron diffraction analysis showed that the grain structure of the nanocomposite is trimodal and composed of nano-size grains (< 0.1 μm), ultrafine grains (0.1–1 μm), and micron-size grains (> 1 μm) with random orientations. Evaluation of the mechanical properties of the nanocomposite based on the strengthening-mechanism models revealed that the yield strength of the ultrafine-grained nanocomposite is mainly controlled by the high-angle... 

A molecular dynamics simulation study has been performed to investigate the solidification and remelting of aluminum using Sutton - Chen many body potential. Different numbers of atoms from 108 to 2048 atoms were considered to find an adequate size for the system. Three different cooling and heating rates, i.e. 1 0 12 K/s, 10 13 K/s and 10 14 K/s, were used. The structure of the system was examined using radial distribution function. The melting and crystallization temperatures of aluminum were evaluated by calculating the variation of heat capacity during the phase t ransformation. Additionally, Wendt – Abraham parameters were calculated to determine the glass transition temperature. It is... 

Ultrafine-grained (UFG) Al6063/Al2O3 (0.8 vol%, 25 nm) nanocomposite was prepared via powdr metallurgy route. The grain structure of the nanocomposite composed of nano-size grains (< 0.1 μm), ultrafine grains (0.1-1 μm) and micron-size grains (>1 μm) with random orientations. It was found that the yield strength of the UFG nanocomposite is mainly controlled by the Orowan mechanism rather than the grain boundaries. The deformation activation energy at temperature ranges of T <300 ˚C and 300 ˚C ≤T < 450 ˚C was determined to be 74 and 264 kJ mol-1, respectively. At the higher temperatures, significant deformation softening was observed due to dynamic recrystallization of non-equilibrium grain... 

Molecular dynamics (MD) simulations were used to study the mechanical behaviour of β-SiC at nano-scale under tensile loading. Effects of loading rate and tensile temperature on the mechanical properties and failure were studied. Modified embedded-atom method (MEAM) potential and Berendsen thermostat were utilized for modelling. Periodic boundary conditions were employed and the behaviour of material was analyzed under three-axial loading condition at which the stress–strain relation was acceptably size independent. It is shown that with increasing the loading rate from 5 m/s to 70 m/s, the failure strain increases without a remarkable change in the stress–strain relationship. The MD... 

Al6063 powder was subjected to severe plastic deformation via high-energy mechanical milling to prepare ultrafine-grained (UFG) aluminium alloy. Uniaxial compression test at various temperatures between 300 and 450 °C and strain rates between 0.01 and 1 s-1 was carried out to evaluate hot workability of the material. Microstructural studies were performed by EBSD and TEM. The average activation energy and strain rate sensitivity of the hot deformation process were determined to be 280 kJ mol-1 and 0.05, respectively. The deformation temperature and applied strain rate significantly affected the grain structure of UFG Al alloy. A finer grain structure was obtained at lower temperatures and... 

In this paper, the crack propagation in ductile materials is simulated under cyclic and dynamic loading. The adaptive finite element method is used to model the discontinuity due to crack propagation. The ductile fracture assumptions and continuum damage mechanics are utilized to model the material rupture behavior. Moreover both the rate-independent and rate-dependent constitutive equations are elaborated and the crack closure effect and combined hardening model are discussed in addition to some aspects of finite element implementation. Finally, a comparison is performed between the numerical simulation results and those of experiments to illustrate the robustness of proposed computational... 

In this paper, a novel temperature-dependent multi-scale method is developed to investigate the role of temperature on surface effects in the analysis of nano-scale materials. In order to evaluate the temperature effect in the micro-scale (atomic) level, the temperature related Cauchy–Born hypothesis is implemented by employing the Helmholtz free energy, as the energy density of equivalent continua relating to the inter-atomic potential. The multi-scale technique is applied in atomistic level (nano-scale) to exhibit the temperature related characteristics. The first Piola–Kirchhoff stress and tangential stiffness tensor are computed, as the first and second derivatives of the free energy... 

One of the most popular constitutive rules that correlate the continuum and atomic properties in multi-scale models is the Cauchy–Born (CB) hypothesis. Based on this constitutive law of continuum media, it assumes that all atoms follow the deformation subjected to the boundary of crystal. In this paper, the validity and failure of CB hypothesis are investigated for the silicon nano-structure by comparison of the continuum and atomic properties. In the atomistic level, the stresses and position of atoms are calculated using the molecular dynamics (MD) simulation based on the Tersoff inter-atomic potential. The stresses and strains are compared between the atomistic and continuous media to... 

The dynamic state estimation (DSE) applied to power systems with synchrophasor measurements would estimate the system's true state based on measurements and predictions. In this application, as phasor measurement units (PMUs) are not deployed at all power system buses, state predictions would enhance the redundancy of DSE input data. The significance of predicted and measured data in DSE is affected by their confidence levels, which are inversely proportional to the corresponding variances. In practice, power system states may undergo drastic changes during hourly load fluctuations, component outages, or network switchings. In such conditions, the inclusion of predicted values could degrade... 

Maintenance scheduling of generating units in restructured power systems is a collaborative and interactive process between independent system operators (ISOs) and generating companies (GENCOs). The ISO should comply with GENCO maintenance preferences subject to targeted system reliability levels. This process might be multistage since the admission of all initial unit outage requests may threaten system reliability. Hence, the ISO accepts some proposals and determines alternatives for the remaining units. The GENCOs are then allowed to confirm the alternatives or revise them. In this paper the ISO problem of generating unit maintenance scheduling is tackled. The objective function is to... 

In this paper, a Markov model for reliability analysis of transmission lines equipped with a dynamic thermal rating (DTR) system is proposed. Moreover, a fuzzy procedure is proposed to determine an annual equivalent fuzzy DTR number to represent hourly variations of the line DTR. To implement the fuzzy annual DTR in composite system reliability analysis, an interactive method resolution technique for solving fuzzy optimization problems is developed. This method is chosen to address the fuzzy constraints associated with the lines equipped with the DTR system. Numerical results are presented using the 24-bus IEEE RTS, and demonstrate the validity of the proposed approaches