Sharif Digital Repository

New enrichment functions are proposed for crack modelling in orthotropic media using the extended finite element method (XFEM). In this method, Heaviside and near-tip functions are utilized in the framework of the partition of unity method for modelling discontinuities in the classical finite element method. In this procedure, by using meshless based ideas, elements containing a crack are not required to conform to crack edges. Therefore, mesh generation is directly performed ignoring the existence of any crack while the method remains capable of extending the crack without any remeshing requirement. Furthermore, the type of elements around the crack-tip remains the same as other parts of... 

In this paper, free vibration analysis of laminated composite plates is carried out using first shear deformation theory and finite element method. Effect of axial tension and compression forces on the natural frequencies of the structure is investigated. Applying elastic foundation under the laminated composite plates has enabled us to achieve desired frequencies. The displacements are based C0 - nine plate bending element and each node has three degree of freedom. The equations of motion are derived using Hamilton's principle. Results indicate the tension forces will increase the natural frequency while the compression force reduces the natural frequency. The buckling force of plate is... 

Mobile manipulators are developed in order to execute separately in various regions where there is not possibility for human to appear there. Recently, the size of mobile manipulators has been decreased according to their given tasks. For such systems, the stability issue is very important. The robot system should be able to keep itself in an optimal situation. For reaching to this goal, one can use a redundant degree of freedom for the mobile manipulator such that this redundancy makes it possible to recover the system's stability by dynamic compensatory motion of manipulator when the system is unstable. In this paper, we present an algorithm which is fast enough to stabilize the mobile... 

Based on the non linear terms appearing in the strain tensor in classical continuum mechanics, two expressions for large strain in the Cosserat continuum are proposed. The generalized form of principal of virtual work together with the constitutive equations for an Isotropic elastic Cosserat continuum are used to derive the finite element formulations for elastic large deformation analysis based on the Cosserat theory. The finite element formulations are then applied to a four-node quadrilateral element with three degrees of freedom at each node including two translational and one rotational degrees of freedom. The tension of a semi-infinite plate with a circular whole in the center is... 

This paper presents an effective approach for kinematic and dynamic modeling of high mobility Wheeled Mobile Robots (WMR). As an example of these robots, the method has been applied to the CEDRA rescue robot, which is a complex, multibody mechanism. The model is derived for 6-DOF motions, enabling movements in x, y and z directions, as well as for roll, pitch and yaw rotations. Forward kinematics equations are derived using the Denavit-Hartenberg method and Jacobian matrices for the wheels. Moreover, the inverse kinematics of the robot are obtained and solved for the wheel velocities and steering commands, in terms of the desired velocity, heading and measured link angles. Finally, the... 

In this paper, a new approach for optimal control of robot manipulators is presented. For this purpose, the system is considered as a two-level large-scale system where a gradient-based coordination strategy is used to coordinate the overall system. This is achieved within a decomposition-coordination framework, where the robot manipulator is first decomposed into several sub-systems at the first level, and then, the coordination is done at the second level. The solution is based on Interaction Prediction Principle, where in the first level, the optimization is done by a gradient method and in the second level, the coordination is done by a new method based on the gradient of interaction... 

A Consistent One-Bay Frame (COBF) simplified model for the efficient estimation of Engineering Demand Parameters (EDPs) in Steel Moment Resisting Frames (SMRFs) with equal and unequal bay lengths is proposed. The geometry of the Substitute One-Bay Frame (SOBF) simplified model has been used, and the elastic and inelastic properties of the beams and columns in this model are determined using an energy consistent approach in a way that the energy balance is established between the members of the original SMRF and the SOBF simplified model. This way, the SOBF simplified model, which originally could only be used for MRFs with equal bay lengths, can now be used for MRFs with any geometric... 

In this paper a neural network decentralized control for trajectory tracking of robot manipulators is developed. The proposed decentralized control allows the overall closed-loop system to be stabilized while making the tracking error to be uniformly ultimately bounded (UUB), without having any prior knowledge of the robot manipulator dynamics. The interconnections in the dynamic equations of each subsystem are considered with unknown nonlinear bounds. The RBF neural networks (RBFNNs) are proposed to model the unknown nonlinear dynamics of the robots and the interconnection terms. Using Lyapunov method, the stability of the overall system is investigated, © 2005 IEEE  

In this paper conception and dynamic modeling of a snake-like robot with passive wheels and compliant joints is investigated. The proposed robot has the ability to follow a socalled Serpenoid curve passively by using an appropriate set of initial conditions. Introduction of a unique structure at each joint enables the robot to achieve passive motion. A torsional spring is used in series with an actuator between each two consecutive links. Using wheels at the middle of each link imposes many non-holonomic constraints to the system. These constraints reduce the degrees of freedom of the system to only two. Due to the existence of these non-holonomic constraints, dynamic equations governing the... 

In this paper we have presented a new form of Kane's equations. This new form is expressed in the matrix form with the components of partial derivatives of linear and angular velocities relative to the generalized speeds and generalized coordinates. The number of obtained equations is equal to the number of degrees of freedom represented in a closed form. Also the equations can be rearranged to appear only one of the time derivatives of generalized speeds in each equation. This form is appropriate especially when one intends to derive equations recursively. Hence in addition to the simplicity, the amount of calculations is noticeably reduced and also can be used in a control unit. Copyright... 

Different factors cause vibration. These vibrations make the voyages difficult and reduce comfort and convenience in passenger ships. In this paper, the creating factors of vibration have discussed first, then with mathematical modelling it will be attempted to minimize the vibration over the crew's seat. The modelling consists of a system with two degrees of freedom and by using vibration visolation with passive method of Tuned Mass Damper (TMD) it will be tried to reduce the vibration over personnel. Moreover using active control systems will be compared with passive systems  

Purpose - Aims to describe design, prototyping and characteristics of a pole climbing/manipulating robot with ability of passing bends and branches of the pole. Design/methodology/approach - Introducing a hybrid (parallel/serial) four degree of freedom (DOF) mechanism as the main part of the robot and also introduces a unique gripper design for pole climbing robots. Findings - Finds that a robot, with the ability of climbing and manipulating on poles with bends and branches, needs at least 4 DOFs. Also an electrical cylinder is a good option for climbing robots and has some advantages over pneumatic or hydraulic cylinders. Research limitations/implications - The robot is semi-industrial... 

In this paper, an h-adaptive mesh refinement is presented based on the gradient of deformation in the modeling of localization due to material instability. As the classical continuum models suffer from pathological mesh dependence in the strain-softening models, the governing equations are regularized by adding rotational degrees-of-freedom to the conventional degrees-of-freedom. Adaptive strategy using element elongation is applied to compute the distribution of required element size using the estimated error distribution. Once the new element size and its alignment have been indicated, an automated procedure is used to construct the mesh according to a predetermined size and elongation... 

This paper presents the modeling steps towards development of frequency equations for a cantilever beam with a tip mass under general base excitations. More specifically, the beam is considered to vibrate in all the three directions, while subjected to a base rotational motion around its longitudinal direction. This is a common configuration utilized in many vibrating beam gyroscopes and well drilling systems. The governing equations are derived using Extended Hamilton's Principle with general 6-DOF base motion. The natural frequency equations are then extracted in closed-form for the case where the base undergoes longitudinal rotation. For validation purposes, the resulting natural... 

In this paper, a novel six degrees-of-freedom (6-DOF) parallel manipulator actuated by three base-mounted partial spherical actuators is proposed. The parallel manipulator consists of a base, a moving platform and three connecting legs. Each leg has spherical (S), prismatic (P) and universal (U) joints (SPU) in serial manner. The spherical joints are partially actuated due to the fact that the actuators of each leg are used only to specify its leg's direction. The inverse and forward pose kinematics as well as the singularity points of the aforementioned mechanism is described in the article. In the inverse pose kinematics, active joint variables could be calculated with no need for the... 

The acoustical system of car was analyzed using finite element method (FEM) and identification of the system. The acoustical model of a vehicle was proposed and by using FEM modal analysis, acoustic modal analysis, structural modal analysis, and coupling modal analysis was performed successfully. The influence of the acoustic system on the driver ears to understand these effects were also shown. The methods and results can be applied to a vehicle design procedure for conformability of the human being when riding  

Sound in the interior cabin of cars has been of the great importance nowadays. The automotive industry has long been fiercely competitive with different vendors attempting to produce vehicles with better performance, handling and fuel efficiency. The competition of the automotive industries today is directed on the reduction of noise in the cars cabin. This paper proposes a new method for noise studies in the cabin, which frequencies of excitation are lower than 200 Hz. The topics, which are covered in the paper, include the computation of the structural and acoustic mode shapes, resonant frequencies of the passenger compartment, coupling between structure and acoustic effects, and forced... 

Optical structures can serve as low-power high-capacity alternatives of electronic processors for more efficient neuromorphic computing, but can suffer from large footprints and weak scalability. In this work, properly phased time-perturbed microrings side-coupled to a waveguide are utilized to realize a compact processor for linear transformations. We build up a synthetic frequency dimension to provide sufficient degrees of freedom, where the linear time-varying structures enable the linear intermixing and transformation of frequency-multiplexed data. Moreover, non-reciprocal and asymmetric flow of data in the forward and backward modes, due to phasing of the perturbations, helped to build...