Sharif Digital Repository

Now a day measuring dimensions plays an important role in industries. Improving the technology of measuring the dimensions, leads to higher quality of production. It is important for industries to have a rapid and accurate dimensions in short time. In this thesis, we worked on measuring dimensions with 3D laser scanner and in the end, the results related to accuracy and speed and efficiency of the system was shown in the thesis  

This thesis proposes a dynamic model for studding influences of suspension components behavior on rail vehicle dynamics. As the air springs are very important isolating component in rail vehicles, a new complete nonlinear air spring model, with taking into consideration of thermo–dynamical effects, is developed. The model coefficients are tuned based on the real test data and it can be easily used in dynamic modeling of air springs. The new proposed vehicle model is a complete track–vehicle model with 70 degree of freedoms which is addressed as a modular type. Experimental results from complete rail–vehicle field test, showed remarkable agreement between proposed model and test results.... 

In this thesis control of wheeled mobile manipulators for cooperative object transportation is investigated. Full dynamic model of a mobile manipulator with a three wheeled mobile base and a three DOF manipulator is derived using Gibbs-Appell method. Input-output linearization technique is used to control individual robots. Transporting the object is divided into two steps, first robots use a decentralized behavior-based method to approach and surround the object. Then virtual structure method is used to control the robots to transport the object cooperatively. Simulation results with three robots handling an object are presented to show the effectiveness of proposed method  

Ship maneuverability is so important from different aspects. According to the regulations of International Maritime Organization (IMO), every vessel has to meet the minimum requirements of mentioned rules. Consequently, prediction of ship maneuverability in early stages of the ship design has become to one of the most necessary steps for shipbuilding and design companies. In this research work maneuvering of a high speed ship has been investigated using three different propulsive modes, considering propeller and rudder systems, azipod propeller and waterjet systems. First of all, hydrodynamics equations of each cases while considering different motion modes such as surge, sway, yaw, and roll... 

In recent years, the area of research on micro flying robots has been developed, because of the development in micro manufacturing technologies. These flying robots can be used in military and Civilian missions such as identifying, espionage, aerial relays, traffic surveillance rescue, help and…because of their advantages. Ability to fly in finite areas, no human injuries, low manufacturing and power cost, easy and fast Application, Easy Maintenance and … are some advantages of these robots. We can control these robots manually by RC remote controllers or by Auto guidance system. On the other hand, these robots are used in research laboratories for testing new control algorithms such as ... 

In this research dynamic modeling of a 3-DOF (degree of freedom) compliant parallel mechanism with flexible intermediate links has been investigated. Unlike conventional rigid mechanisms that gain their mobility from movable joints, the compliant mechanisms transmit or transform through elastic deformation of flexible members (flexible connector and joint), displacement, force, or energy from input into output. Eliminating clearance, friction, wear and demand of lubrication in compliant mechanisms, and having monolithic structure provides high-precision motion with micro/nanometer level resolution for them. Therefore compliant mechanisms play a significant role in modern technologies such as... 

Since Formation control have potentail applications in civil and military industries, decenterlized control of formation control is studied in this work using consensus algorithm. A specific robot quadrotor with 3D motion is used in this work. Quadrotor is an underactuated vehicle. First, we derivate twice from dynamical equations of linear positions. Hence, we can obtain appropriate form using linearization of output equations for design a consensus control algorithm. It is needed to design fourth order control algorithm for control of multiagent systems, beacause of twice derivation. Two methods that have been used for formation control in many works are potential function method and... 

In this thesis, a new procedure is presented for control and analysis of a group of autonomous underwater vehicle achieving flocking motion by using a fuzzy-logic-based attractive/repulsive function. Two cooperative control laws are proposed for a group of autonomous agents to achieve flocking formations related to two different centers (mass center and geometric center) of the flock. The first one is designed for flocking motion guided at mass center and the other for geometric center. Desired path for AUV’s has been developed using Virtual agents with mass point dynamics. Smooth graph Laplacian is introduced to overcome the difficulties in theoretical analysis. A new fuzzy-logic-based... 

The electrical voltage, current and power output is calculated due to harmonic forced vibration of shell energy harvester. So five electromechanical equation together with Gauss equation is solved for doubly curve shell harvester in steady state condition in order to derive voltage, current and electric power output. The effect of shell curvature in cylindrical and spherical shells, the harvester series or parallel connection of layers and thickness of substrate and piezoelectric layer, is also considered in order to obtain maximum power output. The results show for small shell curvatures a high frequency load is needed to obtain maximum power and when the shell arc length is three times to... 

The collision of moderately large asteroids and comets also referred to as Near-Earth Objects (NEO's) with earth would have catastrophic consequences. Such events have occurred in the past and may occur again in the future. However, for the first time in known history, humanity may have the technology required to counter this threat. Methods studied for mitigation of this hazard are based on deflecting asteroid's trajectory and are normally divided into two basic categories: high energy impulsive methods, and long-duration low-thrust methods. Two parts of mission to be optimized are the trajectory of spacecraft to reach the target and the deflection strategy which could be analyzed by the... 

In recent years, energy harvesting from ambient sources in order to use for low-powered electronics has been considered by many researchers. Wind energy, solar energy, water energy, mechanical energy from vibrations, etc are common sources of ambient energy. In this thesis, optimization of energy harvesting from ambient vibration using magnetic shape memory alloy is presented. To this end, a clamped-clamped beam coupled with MSMA units is considered. A shock load is applied to a proof mass which is attached to the middle of the beam. As a result of beam vibration a longitudinal strain is produced in the MSMA. This strain changes magnetic flux inside the coil connected to MSMA and as a... 

Autonomous underwater vehicles (AUVs) are a type of marine vehicles which are currently being used for exploration, maintenance, repairing of marine structures and military appliances. Unmanned underwater vehicles categorize in two types: ROVs and AUVs, ROVs (remotely operated vehicles) usually are connected to the mother vessel with a cable, conduction signals transfer through this cable and there is an operator in the control loop. The vehicle may be fed up with this cable, AUVs are modern underwater vehicles which the operator on controlling and conducting is removed, there is no connection between the vehicle and mother vessel, energy sources and controlling orders are set up in the... 

Among different mechanisems for ambient energy harvesters, energy harvesting systems by means of magnetic shape memory alloys are noted due to their long life time, large strain amplitudes and the ability to operate at low frequencies. Strain change in these systems, changes the MSMA magnetization resulting change in the magnetic flux leading to inducing voltage by means of pickup coil. in the commercial systems, magnetic flux path is created by inserting an MSMA specimen in the air gap of ferromagnetic core and generation of bias magnetic field by means of the permanent magnet or electromagnet. In this proposed research, a thermodynamic based constitutive model is selected for the mdeling... 

In this article, research has been carried out on the control technique of autonomous mobile robots to navigate in unknown environments, avoiding static and moving obstacles using eight ultrasonic sensors for obstacle recognition.
In this article we used simple three wheeled robots. Each robot has a passive caster wheel and two active fixed wheels which can act independently. In addition robots have holonomic constraints like maximum acceleration, maximum speed and maximum angular velocity, so robot’s speed and orientation change independently and these changes are small in each time step. Each robot has eight ultrasonic sensors, each of them cover 22.5 degree of space from robot‘s... 

Torque variations caused by intermittent combustion and inertia effects of reciprocating components, exert significant torsional excitation on crankshaft of internal combustion engines. These excitation induces considerable torsional vibration on crankshafts. Therefore, modeling and analysis of crankshaft torsional vibration and absorber systems, especially in automobiles engine that crankshaft tolerate high amplitude excitations coupled with heavy inertia effects has high importance. In this study, ability of centrifugal pendulum vibration absorber and dual mass flywheel which used in rotating machinery for vibration reduction, will be examined. At first, cranktrain will be torsionaly... 

large ships should only make very small horizontal movements at the berth for efficient loading. This is especially a concern in ports facing the open ocean directly, where high swells at sea can cause harbor oscillations and low-frequency surge motions of the ship. A developed mooring unit, the MoorMaster, which replaces conventional mooring lines is addressed here. The hydraulics of the system have a strong reducing effect on the motions of the moored ship. Measurements have shown that the surge motion of container ships was reduced from an amplitude in the order of 1 metre to an amplitude in the order of 5 centimetres, by using MoorMaster units. In here MoorMaster action is divided to two... 

Harvesting energy from renewable sources in nature, such as wind energy, solar energy, water energy and vibrations has always attracted researchers. There exist different ways to harvest energy from environmental vibrations. In this thesis, energy harvesting via Magnetic Shape Memory Alloys (MSMAs) has been taken into account due to important advantages of these alloys, such as their long fatigue life and good performance at high amplitudes and low frequencies.In this system, applying strain on alloy changes the magnetization and this change generates voltage in the pick-up coil around the MSMA. On the other hand, since the strain-magnetization relation is nonlinear and hysteresis,... 

Harvesting energy by magnetic shape memory alloy has many advantages against other various methods which harvested from environmental vibrations and has been considered due to high long longevity, large strain amplitude and good performance in low frequencies. These materials can display up to % recoverable strain in response to the application of a magnetic field or compressive mechanical stress. Microstructure of these materials changes under applying mechanical loading and/or magnetic field which cause magnetic vector rotating in magnetic domain. Change in magnetization of these materials, lead to harvesting energy by considering Faraday's law of induction. The model of this... 

Magnetic shape memory alloys (MSMAs) are a new kind of smart materials which are great alternatives for energy harvesting systems due to some unmatched characteristics such as reversible large strain, high cycle fatigue and fast time response. In this work, an energy harvesting system using MSMA is studied. For this goal, a 3-D thermodynamic-based MSMA model is applied for predicting magnetomechanical behavior of the MSMA sample which is used in the energy harvester system. Since demagnetization effect, which has a great influence on the model’s outputs, has been neglected in the selected MSMA model, a new approach is presented for inserting demagnetization coefficients, regarding to the... 

Helical swimming robots with a capable propulsion system at low Reynolds numbers have been proposed for many applications. Although linear propulsion characteristics of swimming robots with a single helical flagellum have been extensively studied, the characteristics of maneuverability have not been completely investigated yet. In this thesis two novel mechanisms was proposed. The first mechanism presents a new method for the maneuverability of the helical swimming robot with a single helical flagellum. This mechanism is based on the change in the angle between the helical and body axes. This study shows that a change in the aforementioned angle can enable the swimming robot to have turning...