Sharif Digital Repository

The insulation lifetime of power cables is determined by several factors. One of the more important of these is the occurrence of partial discharge (PD) at the dielectric. The ability to detect and locate a PD source is limited by attenuation of the high frequency PD pulses as they propagate through the cable. Therefore it is necessary to understand the high frequency response of such cables. Further, to enable reconstruction of PD signals as emitted a viable high frequency model for simulation is needed. This paper presents results of measurements of PD calibration pulse and high frequency sinusoid propagation in HV XLPE cables. In addition to the tests a cable model was developed using the... 

This paper presents design and analysis of a cabledriven mechanism for a spherical laparoscopy surgical robot manufactured at the Research Center for Science and Technology in Medicine. The design is featured by two types of 'idler pulleys', which allow change of cables' plane of motion in spherical workspace. This robot suffers from back-lash and high friction due to the usage of motor and gear-box in each joint. In order to find a precise and optimal design, the paper studies various designs of cable robots, considering pulleys and cable arrangements, as well as pre-tensioning methods. Final scheme introduces two series of pulleys for each DOF, which transmits power from motors located on... 

Crosslinking of homemade low-density polyethylene (LDPE) was performed by electron-beam (EB) irradiation. The gel content of the EB-exposed LDPE was determined by the solvent-extraction method. The degree of crosslinking was also evaluated by a hot set measuring test. The results obtained from both the gel-sol and the hot set methods showed that the degree of crosslinking was dependent on the deposited energy in LDPE samples. Increasing the absorbed dose increased the degree of network formation. The LDPE with higher molecular weight yielded higher efficiency of crosslinking at the same irradiation dose. The effect of irradiation dose on the molecular weight between crosslinks (Mc),... 

In this paper, a new approach for controlling the sway angle of the load in trolley cranes is presented which is based on the flexibility of the cable and variation of its length by the time. The crane dynamics has been described by hybrid PDE and ODE equations which uses the PDE as the equations of motion for the flexible cable and ODE for those of the trolley and the load. The purpose of the controller is to transport the load to the desired position and to eliminate its sway angle at the destination. The control law is based on the Lyapunov's second method. The efficiency of the proposed controller is demonstrated via various simulations  

Online monitoring of high voltage (HV) cross linked polyethylene (XLPE) cables is a major requirement and interest of utilities for reliable operation of underground cables. Although XLPE cables have a relatively reliable insulation system, however since its insulating material is less resistant to partial discharges (PD), the failure risk increases significantly after occurrence of any partial discharge. Therefore sensitive sensors and a reliable detection system are required for an effective cable life management. Due to attenuation effects of semiconducting layers of XLPE cables on high frequency components of partial discharge signal, the detection process is easily distorted with... 

The response of a suspended cables subjected to narrow-band random excitations with two types of peaked P.S.D. is formulated and analyzed. Banach fixed-point theorem is used for eigenfunction analysis of the differential-integral equations of motion for the first time in this paper. Fredholm approach also is used in the free vibration analysis of the suspended cable and then using Galerkin mode approximation method, power spectral density, and root mean square of the response are computed for two practical types of excitation. All of the calculated results converted to dimensionless quantities make their usage easier in vibration analysis of some practical cases such as vibration of moving... 

Wearable robots are becoming increasingly practical to use to rehabilitate wounded parts of the body as the number of injuries to the hand, particularly fingers, has increased. Wearable robots are designed to help people save time and money. This exoskeleton is intended to rehabilitate the thumb such that it may do an opposing movement with one Degree Of Freedom (DOF) and a cable system. Two drums, one on the thumb and the other on the tip of the assistive finger place the cables, which feature a cable adjusting screw that can be adjusted for fingers of various lengths. To choose the assistive finger from 4 intact fingers, the two perspectives of the cable length changes and finger forces... 

This study investigates the collapse resistance of the cable net structures. Compared to conventional structures, the analysis of the cable net structures is rather complicated due to the highly nonlinear behavior of the cables, which leads to large displacements and instabilities during the analysis. In this paper, 24 prototype structures are modeled with various force density levels, span lengths, and the number of spans. Several collapse scenarios, including the cable rupture, column removal, and restrain failure, are defined, and the prototype structures are analyzed considering 168 collapse scenarios. This paper aims to recognize the critical elements, the weak points, and other... 

In this paper, we introduce a new method and new motion variables to study kinematics and dynamics of a 6 d.o.f cable-driven robot. Using these new variables and Lagrange equations, we achieve new equations of motion which are different in appearance and several aspects from conventional equations usually used to study 6 d.o.f cable robots. Then, we introduce a new Jacobian matrix which expresses kinematical relations of the robot via a new approach and is basically different from the conventional Jacobian matrix. One of the important characteristics of the new method is computational efficiency in comparison with the conventional method. It is demonstrated that using the new method instead...