Sharif Digital Repository

Ground reaction force (GRF) characteristics of amputee walking are important for the analysis of clinical gait data, and also to update model reference adaptive impedance (MRAI) controllers. GRF estimation is a better alternative than direct GRF measurement because of the disadvantages of load cells, such as high cost, integration difficulties due to weight and physical dimensions, the possibility of overload, and measurement noise. This paper presents four robust MRAI observer/controller combinations for GRF estimation-based control of a prosthesis and a legged robot model in the presence of parametric uncertainties and unmodeled dynamics, in which the robot model is employed to mimic... 

Manual material handling (MMH) is considered as one of the main contributors to low back pain. While males traditionally perform MMH tasks, recently the number of females who undertake these physically-demanding activities is also increasing. To evaluate the risk of mechanical injuries, the majority of previous studies have estimated spinal forces using different modeling approaches that mostly focus on male individuals. Notable sex-dependent differences have, however, been reported in torso muscle strength and anatomy, segmental mass distribution, as well as lifting strategy during MMH. Therefore, this study aimed to use sex-specific models to estimate lumbar spinal and muscle forces during... 

Physical problems caused by fractures, aging, stroke, and accidents can reduce foot power; these, in the long term, can dwindle the muscles of the waist, thighs, and legs. These conditions provide the basis for the invalidism of the harmed people. In this study, a saddle-walker was designed and evaluated to help people suffering from spinal cord injury and patients with lower limb weakness. This S-AD works based on body weight support against the previously report designs. This saddle-walker consisted of a non-powered four-wheel walker helping to walk and a powered mechanism for the sit-to-stand (STS) transfer. A set of experiments were done on the STS in the use of the standard walker and... 

Monitoring conformational changes in ion channels is essential to understand their gating mechanism. Here, we explore the structural dynamics of four outer membrane proteins with different structures and functions in the slowest nonzero modes of vibration. Normal mode analysis was performed on the modified elastic network model of channel in the membrane. According to our results, when membrane proteins were analyzed in the dominant mode, the composed pores, TolC and α-hemolysin showed large motions at the intramembrane β-barrel region while, in other porins, OmpA and OmpF, largest motions observed in the region of external flexible loops. A criterion based on equipartition theorem was used... 

Sit-to-stand (STS) is an important functional task affected by low back pain (LBP). It requires fundamental coordination among all segments of the body to control important performance variables such as body's center of mass (CM) and head positions. This study was conducted to determine whether LBPs could coordinate their multiple joints to achieve the task stability to the same extent as healthy controls. About 11 non-specific chronic LBP and 12 healthy control subjects performed STS task at three postural difficulty levels: rigid surface - open eyes (RO), rigid surface - closed eyes (RC) and narrow surface - closed eyes (NC). Motion variability of seven body segments, CM and head positions... 

Employing a biharmonic boundary integral method with linear elements, coarsening dynamics of nanodroplets on topographical step heterogeneity is investigated. It is shown that the step height and droplet configuration have an influential effect on the dynamics. Increasing the step height slows down the process while locating the droplets close to the step boosts the coarsening rate. Considering a slip boundary condition enhances the dynamics and reveals a transition in the droplet migration direction. Our results reveal that increasing the surface wettability weakens the dynamics. Various types of the disjoining pressure over the step are also considered and their effects on the coarsening... 

Yttrium Iron Garnet (YIG) powders were synthesized by a sol-gel auto-combustion method using cationic and anionic surfactants with different values and different calcination times and temperatures. The final products were characterized by DTA/TG, XRD, TEM and VSM techniques. The results showed a decrease in calcination temperature and crystallite size in the presence of a cationic surfactant, while no significant effect was observed using an anionic surfactant. Magnetic properties of YIG powders were improved as an optimum value of cationic surfactant was used  

Colloidal Gas Aphron (CGA) are finding increasing application in fields of science and engineering because of their distinctive characteristic. As interest in the application of CGA based fluids grows and in order to select the best procedure for using them in successful petroleum engineering operations, there is a need to gain a better understanding of the factors that affect their properties and behavior. This article discusses the rheological characterization, stability analysis and filtration properties of CGA based fluids for three bio-polymers and two ionic surfactant. The stability and filtration analysis were investigated with the static drain rate technique and API filtration tests,... 

A large amount of the discovered oil reserves are reserved in carbonate formations, which are mostly naturally fractured oil-wet. Wettability alteration towards more water-wet state reduces the capillary barrier, hence improving the oil recovery efficiency in such reservoirs. In this study, wettability alteration towards favorable wetting state was investigated by combining modified low salinity brine with surfactant during water flooding. The diluted brine was modified by increasing the concentration of Mg2+ and SO4 2−, individually as well as both ions in combination. Different brine formulations were tested experimentally through the observations of contact angle measurements and... 

The modification of the surface wetting characteristics in fractured oil-wet carbonate reservoirs, by reversing wettability from oil-wet to water-wet, leads to improved oil recovery. However, in order to obtain a successful oil recovery process, it is crucial to understand the active mechanisms of wettability alteration. This study looks at the effect of sulfate ions as one of the most promising wettability influencing ions on the wetting properties of oil-wet calcite; the effect is studied both with and without the presence of cationic surfactant and possible mechanisms of wettability alteration are explored. A number of analytical techniques were utilized to analyze the mineral surface... 

Ni-TiN nanocomposite coatings were prepared by using electrochemical deposition in a Watt's bath containing TiN particles to increase the hardness of Ni. The effects of deposition current density, electrolyte agitation speed and the number of particles in the solution on the amount of incorporated particles in the coating process were investigated. The optimum deposition current density of 4 A dm-2 and agitation speed of 450 rpm were obtained. The effect of sodium dodecyl sulphate (SDS) anionic surfactant on the amount of particles in the coatings was investigated. It was observed that the maximum amount of incorporated particles, with a value of 7.5% by volume, was created in the current... 

Physicians use charts that are prepared by experiments on animals or humans to prescribe drug dosage for patients. This method requires some precious amount of time by the Ministry of Health to approve new drugs to be used in healthcare centers. Three-dimensional modeling of the inner medulla by considering the known physiological features help us to predict the distribution of a drug or any minerals in the kidney. In this study we present modeling of the important species distribution including Na+ and urea in the rat inner medulla that influence the urine concentrating mechanism. We use a C++ code to develop the inner medulla geometry based on physiological data to better capture the... 

Effective classification of motor imagery electroencephalograph (EEG) data is an important challenge. Spatial filtering such as Common Spatial Pattern (CSP) and its variants are commonly used for this task. However, CSP effectiveness depends on the subject-specific frequency band. Even by optimally selecting a subject-specific frequency band, this method still fails for some subjects. On the other hand, some studies suggest that temporal features may discriminate classes more efficiently. This work proposes a hybrid method based on elastic net and Least Absolute Shrinkage and Selector Operator (LASSO) to optimally select between spatial and temporal features. This algorithm uses joint... 

Causal Heart Rate (HR) monitoring using photoplethysmographic (PPG) signals recorded from wrist during physical exercise is a challenging task because the PPG signals in this scenario are highly contaminated by artifacts caused by hand movements of the subject. This paper proposes a novel algorithm for this problem, which consists of two main blocks of Noise Suppression and Peak Selection. The Noise Suppression block removes Motion Artifacts (MAs) from the PPG signals utilizing simultaneously recorded 3D acceleration data. The Peak Selection block applies some decision mechanisms to correctly select the spectral peak corresponding to HR in PPG spectra. Experimental results on benchmark... 

Contamination of ictal Electroencephalogram (EEG) signals by muscle artifacts is one of the critical issues related to clinically diagnosing seizure. Over the past decade, several methods have been proposed in time, frequency and time-frequency domain to accurately isolate ictal EEG activities from artifacts. Among denoising approaches Canonical Correlation Analysis (CCA) and Independent Component Analysis (ICA) are widely used. Denoising based on Generalized EigenValue Decomposition (GEVD) is one of the Semi-Blind Source Separation (SBSS) methods which has been recently proposed. In the GEVD-based method, a couple of time-frequency covariance matrices are used. These time-frequency (TF)... 

Optical coherence tomography (OCT) is a noninvasive imaging modality that provides cross-sectional images from microstructures of tissues. This optical imaging system works based on Michelson interferometry principle and has intermediate resolution and penetration depth which makes it appropriate for imaging thin tissues such as skin and eye. OCT images suffer from three main artifacts that make images difficult to be analyzed. The first one is small grainy structures called speckle which degrade image quality and decreases axial and lateral resolution. The second one is light intensity attenuation which is a function of depth. It happens because of absorbing and scattering nature of tissue... 

In this study, collagen/chitosan membrane used for guided bone regeneration (GBR) was modified. Collagen and chitosan are routinely used in GBR membrane fabrication. In addition advanced platelet rich fibrin (A-PRF) is a promising substitution for fabricating membrane in dental surgery. Herein, acid soluble collagen from calf skin was extracted and characterized. The combination of A-PRF with collagen/chitosan membrane was investigated in this study. FTIR analysis revealed that chemical crosslinking using EDC/NHS was occurred. The morphology of collagen/chitosan membrane in a gradient manner of chitosan was assessed via SEM images. Response surface methodology (RSM) was used to... 

In order to fabricate nanofiber scaffold for bone tissue engineering, electrospinning technique was employed. This technique produces nanofiberous scaffold supporting cell adhesion, migration, and proliferation. Here, we developed a novel conductive scaffold from poly-caprolactone, gelatin, and poly aniline/graphene nanoparticles. In this study, co-electrospinning was utilized to fabricate composite electrospun scaffold. The effect of polyaniline/graphene (PAG) nanoparticles on the mechanical properties and electrical conductivity of this hybrid scaffold was investigated. The result showed that PAG nanoparticles enbance both mechanical properties and electrical conductivity of the scaffolds.... 

Exercise therapy is considered as one of the main rehabilitation treatments for post-stroke patients, especially by utilizing modern technologies, such as virtual and/or augmented reality. However, in order to design an appropriate exercise program, which prolongs the exercise duration and maximize the patient's improvement, the fatigue status needs to be detected and used for the program adjustment. In the previous fatigue recognition works, only exercises for healthy and athlete subjects have been taken into account. In this paper, fatigue status classification has been accomplished in a rehabilitation exercise for poststroke patients. To do so, the reaching task, as a basic rehabilitation...