Sharif Digital Repository

Approximate solutions for vibrations of flexible beam-type appendages subjected to tip mass are studied while uniform and exponential profiles for arm deployment are simulated. Applying an equivalent dynamical system and following Lagrangian approach, the equations of motion of the system are derived as nonlinear ordinary differential equations (ODEs) (with time-varying coefficients), in which the effect of the tip mass can be considered as some nonlinearity added to the 'no tip mass' case dynamics. The approximate closed-form solutions are obtained through a novel methodology using a computer algorithm, in which the solutions of the 'no tip mass' case are expanded by imposing quadratic... 

In this study, we deal with passive dynamic object manipulation. During passive dynamic object manipulation, a passive object is manipulated using passive manipulators. 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. The objects are not necessarily rigid, but we manipulate passive multibody objects as well as rigid ones. Thus, for a passive walking system, we assume that the passive walker is a multibody object and is manipulated by the ground (zero degree-of-freedom manipulator). As an example, we show that a... 

The loads induced on the spacecraft orbiting the Earth by the deploying elastic arm are investigated. The coupled equations of motion of the arm with the vehicle orbital mechanics are used to describe the 3D dynamic behavior of the flexible-appendage and the related disturbing loads induced on the spacecraft. To this end, an equivalent dynamical system is derived for the arm by applying an attached Non-Newtonian Reference Frame which is subjected to the orbital motion and geocentric pointing maneuver of the spacecraft. With the help of the Assumed Modes Method, the behavior of the arm attached to the spacecraft in Keplerian orbits is studied. The results show that deploying the arm in some... 

Problems related to the three-dimensional (3D) dynamics of the deploying flexible arms subjected to base angular motions are studied with simulated tip payloads and actual deployment trajectories. To facilitate the solution, an equivalent dynamical system is developed by introducing the inertial reaction forces on the arm, while the equations of motion are derived in the non-Newtonian reference frame attached to the arm. The dynamic behavior of the arm is investigated both by the finite element and assumed Modes methods for the purpose of verification. This study reveals that base angular motions lead to considerable couplings between the two lateral displacements and axial motions.... 

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... 

The vibration of FG plate embedded with PZT5 rectangular patches on the top and/or the bottom surface(s) as actuators/sensors is investigated. Based on the classical laminated plate theory, the governing differential equations of motion are derived under a variable electric charge. The equation of motion for PZT5 patch is obtained and solved. The effect of feedback gain and FGM volume fraction exponent on the plate frequency and its deflection are studied. It is noticed that increasing the feedback gain leads to the reduction of frequency and displacement. Moreover, by increasing the value of the FGM volume fraction exponent the resonant frequency decreases  

This paper deals with the stability problem in LTI fractional order systems having fractional orders between 1 and 1.5. Some sufficient algebraic conditions to guarantee the BIBO stability in such systems are obtained. The obtained conditions directly depend on the coefficients of the system equations, and consequently using them is easier than the use of conditions constructed based on solving the characteristic equation of the system. Some illustrations are presented to show the applicability of the obtained conditions. For example, it is shown that these conditions may be useful in stabilization of unstable fractional order systems or in taming fractional order chaotic systems  

Self-excited and forced vibrations are important topics in machining processes because their occurrence results in poor surface finish, increase in tool wear and hampers productivity. In this paper, turning process is modeled as a SDOF dynamic system including quadratic and cubic structural nonlinearities. The effect of tool flank wear, as a contact force between the work-piece and tool, is addressed vigorously. Multiple scale method is used to find the solution of the nonlinear dynamic equation including regenerative chatter, forced excitation and tool wear. It is shown that, width of cut can be considered as the bifurcation parameter of the system. Primary, super-harmonic and sub-harmonic... 

The dynamics of a pressure regulator valve have been studied using the through Bondgraph simulation technique. This valve consists of several elements that can transmit, transform, store, and consume hydraulic energy. The governing equations of the system have been derived from the dynamic model. In solving system equations numerically, various pressure-flow characteristics across the regulator ports and orifices have been taken into consideration. This simulation study identifies some critical parameters that have significant effects on the transient response of the system. The results have been obtained using the MATLAB-SIMULINK environment. The main advantage of the proposed methodology... 

In this study, the energy method has been used to develop a finite-element code for studying the effects of loose rotating discs on the rotor-bearing systems' response. A mathematical model of the loose disc has resulted in terms similar to unbalance and gyroscopic effects in the equation of motion of the system. Results of this study show that rotor response and beating phenomena are a function of measurement location, loose disc mass and inertia, ratio of rotating speed to the speed of loose disc, and clearance between the loose disc and shaft considering constant speed for loose disc and shaft. The developed finite-element model can numerically give the response of rotors with any number... 

One of the methods of force/moment exertion on micro beams is utilizing piezoelectric actuators. In this paper, considering the effects of the piezoelectric actuator on asymptotic stability achievement, the boundary control problem for the vibration of a clamped-free micro-cantilever Timoshenko beam is addressed. To achieve this purpose, the dynamic equations of the beam actuated by a piezoelectric layer laminated on one side of the beam are extracted. The control law was implemented so that vibrations of the beam could be decayed. This control law was achieved based on feedback of time derivatives of boundary states of the beam. The obtained control was applied in the form of piezoelectric... 

In this paper, the aeroelastic analysis of a large scale wind turbine rotor is performed with the aim of studying transient performance of turbine in extreme wind conditions, such as wind gusts and rapid yaw changes. The effect of the presence and/or lack of blade pitch control system on output power, rotor thrust, and blade deformation in sudden change of wind speed are investigated. The NREL 5 MW offshore wind turbine is used as the baseline case. In this regard, the modal approach is implemented for modeling the flexible blade structure with tension, bending and torsion degrees of freedom. The unsteady vortex lattice method is employed to obtain the aerodynamic loads. Moreover, the... 

This paper investigates the dynamic pull-in behavior of microplates actuated by a suddenly applied electrostatic force. Electrostatic, elastic and fluid domains are involved in modeling. First-order shear deformation plate theory and classical plate theory are used to model the geometrically nonlinear microplates. The equations of motion are descritized by the finite element method. The effects of nonlinearity, fluid pressure, initial stress and different geometric parameters on dynamic behavior are examined. In addition, the influences of initial stress and actuation voltage on oscillatory behavior of microplates are evaluated. © 2009 Elsevier Masson SAS. All rights reserved  

This paper aims to develop a boundary control solution for complicated gantry crane coupled motions. In addition to the large angle sway motion, the crane cable has a flexural transverse vibration. The Hamilton principle has been utilized to derive the governing partial differential equations of motion. The control objectives which are sought include: moving the payload to the desired position; reducing the payload swing with large sway angle; and finally suppressing the cable transverse vibrations in the presence of boundary disturbances simultaneously. These simultaneous boundary control objectives make the problem challenging. The proposed control approach is based on the original... 

Two-dimensional engagement of a pursuer and a maneuvering target, affected by matched uncertainties, is formulated as a nonlinear differential game. The uncertain guidance problem is converted into a nonlinear model predictive control problem by introducing an appropriate cost function. The objective is to calculate the best guidance commands of the pursuer and the worst possible target maneuvers simultaneously, over a receding horizon. The proposed cost function penalizes the line-of-sight rate, the pursuer acceleration, and the uncertainties. It also rewards the target maneuver. A particle swarm-based dynamic optimization algorithm is developed to solve the nonlinear model predictive... 

In this work we have applied the Dense System Equation of State (DSEOS) to electrolyte solutions. We have found that this equation of state can predict the density of electrolyte solutions very accurately. It has been tested for different electrolytes solutions at different temperatures and compositions. A hypothetical binary model has been applied to find the dependencies of parameters of this equation of state on solution temperature and composition. Using such a simple model the heat capacity of NaCl solution was calculated for which the absolute percent deviation is less than 2 %. The DSEOS is tested for the following electrolytes: Na2SO4, MgCl2, MgSO4, KCl, NaCl, and NaBr. We found that... 

Topological defects are interesting phenomena which can be observed in ordered phases such as oriented active fluids or nematic liquid crystals. Topological defects are determined by the overall structure of the director field in an active fluid in nematic phase and by exerting force to the units of the active particles they can interact or cause motion in the environment. Studying them as particles with dynamical equations, instead of studying the director field of the nematic environment, would provide us the power to study the characteristics of their motion. The equations of motion for multi-defect systems have been previously studied and in this work we focus on the chaotic properties... 

Regularities shown by different fluids along the contour of the ideal compressibility factor Z= PV/(RT)=1 in the temperature density plane was used to test the accuracy of the equations of state and derive temperature dependencies of their parameters. The contour, also known as the Zeno line, was empirically observed to be nearly linear. The precision of the van der Waals equation in predicting the Zeno line was evaluated. It was shown that the equation could predict a linear relation between temperature and density on the Z=1 contour, qualitatively  

H∞ controller order reduction with stability and performance preservation pose unique challenges to designers. In the paper, an approach for controller order reduction based on minimization of the rank of a matrix variable, subject to linear matrix inequality constraints, is presented. In this approach, the rank of a residue matrix of a high-order controller subject to the error between the loop gain of the closed-loop nominal system and the loop gain of the closed-loop system with the reduced order controller is minimized. However, since solving this matrix rank minimization problem is very difficult, the rank objective function is replaced with the nuclear-norm that can be reduced to a... 

In this study, we investigate the limitations and influence of various factors on the performance of trolling mode atomic force microscopy (TR-AFM). For this purpose, at first, based on the governing equations of motion and using a conventional control method, a simulation tool capable of correctly simulating the imaging procedure in TR-AFM is developed. Then based on the developed simulation tool, imaging of different surfaces is performed, and the effect of different factors on the image quality is analyzed. The flexibility of nanoneedle in TR-AFM has unpredictable effects on dynamics of system as well as imaging performance. One problem in imaging is due to coexistence of two stable...