Sharif Digital Repository

In recent years, the area of research on micro flying robots has been developed due to the development in micro manufacturing technologies. Due to extra advantages of these flying robots, they are implemented in military and civilian missions such as identifying, espionage, aerial relays, traffic surveillance, rescue, aid, etc. Ability to fly in specified areas, without human injuries, low manufacturing and energy costs, easy and fast implementation, Easy Maintenance, etc, which are some advantages of these robots. We can control these robots manually by remote controllers (RC) or by Auto guidance systems. On the other hand, these robots are used in research laboratories for testing new... 

In recent decades, micro-electromechanical systems – MEMS – havefound extensive applications in applied science and engineering. One of the most popular MEMS actuatorsis micro Scratch Drive Actuator (SDA), which can be used in various applications, for instance: precision positioning, micro-chip displacement and rotating micromotors. Their outstanding capabilities such as: high controllability, precise step displacement, vast transportation domain and large force relative to their small size, have made them popular among researchers. Recently, a new generation of SDA is introduced, known as Bounce-back Scratch Drive Actuator or BSDA, which is fundamentally different in motion generation from... 

Microrobots are generally suitable for implementation of certain works in miniature dimensions such as micro assembly, microsurgery, adaption with small animals and so on. In this way, there is special position for mobile microrobots capable of moving in the range of more than theirs dimensions. Achivieng to high resolution and high speed locomotion are the challenging issues in the microrobot’s development in which much effort has been done.The goal of this project is dynamic modeling and velocity control of an A-shaped microrobot with with nanometric locomotion. During this project, first the dynamic modeling of microrobot is investigated and simplified based on the previous studies.... 

In the recnt decades, traffics and airpolution are the most impoetant concerns of researchers in the field of city transportation. One of the most successful ways to overcome these poblems is to ustilize two-wheeled, one axis balancing vehicles. These vehicles occupies a small sapace, consumes less energy and its considerable maneuverability, makes it the best option to reform in-city transportation system. The newly introduced model of these robots incorporates a passenger cabin and a strick to control its movement. Unfortunately, in all of the recent studies, robots dynamics and controller system are base on optimistic hypothesis, which is no slippage between ground and wheels. Even in the... 

Unmanned Aerial Vehicles have been used for different applications despite their short life. In last recent years, the developements in technology which leads to producing smaller electronical and electromechanical deveices, attract more attention to the researches in these fields. Among these vehicles, unmanned helicopters are more important because of their special abilities and capabilities. However there are some drawbacks which makes using them more difficult.
In this project, the first principle modeling of a RC helicopter has been accomplished and a parametric model including different sections effects has been created. This model has been implemented for a Trex600 CF helicopter.... 

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 ... 

Fish robot has attracted many attentions in the last decade due to several types of its applications. Many researches have been done recently on this type of robot. Dynamic modeling and control of a fish robot are important and challenging problems. This issue has a great influence on design, manufacturing, efficiency and control of the fish robot. According to the literature review, it seems that no exact analytical model exists for predicting the propulsive forces which are used in controlling and simulating dynamic behavior of the robot. Fortunately, Lighthill has proposed an analytical relation to predict propulsive forces of carangiform fishes in his research. Large amplitude elongated... 

The present research has dealt with developing theoretic basis for technology of a modern and beneficial robot. There has been an old aspiration to attain some machine which can enclose body and move exactly in concert with it so as to maximize human might and endurance via powerful actuators. Exoskeleton robot is a recent successful invention regarding this aspiration, the lower-limbs type of which being sufficient for enhancing gait and load carrying capabilities.
Modeling the dynamics of this robot is very fundamental and was done thoroughly for the first time in this research. In the available articles, at most, simplified models are investigated. Mechanical structure was selected... 

The focus of this project was on gaining the knowledge of design characteristics and manufacturing of a hydraulic servo valve. Hence, in the first stage, the model of the valve was considered. After investigating the important parameters which influence the performance of the valve, the effect of each parameter on the valve's efficiency was examined. One of the most important characteristics of the valve is the amount of lapping between the spool and sleeve. Numerical analysis was done and all the characteristic curves were elicited. Equations governing the dynamics of the plant including a servo valve, servo actuator and dynamic model of the turbine and waterway were presented. Then the... 

In this project Sharif Gas Turbine laboratory turbojet engine, and the turboshaft engine which is designed based on the turbojet gas generator are statically and dynamically modeled and required functions for turboshaft control are extracted. In static modeling a repetitive process is applied to reach static operation points. Static operation line and static characteristics of turbojet engine are extracted and compared to relevant sources. In dynamic modeling of turbojet engine a lumped volume is allocated to each component of engine and gas dynamic equations are solved in this volume along with individual performance map of engine components to acquire output characteristics in each time... 

According to high nominal pressure and controllable flow, variable displacement axial piston pumps are used widely in hydraulic industry. However, there still exist many problems and limitations in the areas of design, controllers and performance. To solve the problems without wasting time and money in making prototypes, an accurate dynamic model of the pump is required which predicts pump behavior under various control signals and loads. The lack of simple and practical methods of measuring describing parameters of pump dynamics, makes investigation and verification of such a model very challenging. In this thesis, literature review is presented in a wide range. After investigating of... 

Utilization of the rod fastened rotors in gas turbines as well as induction motors increased recently due to several advantages. Rods in rod fastened rotors are connected to shafts in both sides of the rotors and pre-tightened using bolts in each ends. Predictions of dynamic characteristics of these rotors have specific complications as a result of effects of contact interfaces raised due to applied pre-tightening load. Studies carried out in the field of vibration analysis of rotors consist of investigation of vibration of shafts, bearings and other connected components to the rotors. One of the best methods for modeling and analyzing complicated structures such as rod fastened rotors is... 

In this work, we want to gain and analyze the dynamic equations of an open four bar mechanism with two flexible links and three flexible hinges. In continue, one of the applications of a 3-RRR mechanism has been mentioned and dynamic equations and angles behavior have been analyzed. The effect of hinge stiffnesses and their sequence has been investigated by using Hamilton principle. In addition, The behavior of the mechanism with flexible links has compared to the mechanism with non-flexible. At last, the results have been validated by ADAMS software.

 

Researches in the field of human gait have a lot of applications in medicine, ergonomics, sport science and technology. Lower limb prostheses design is one of the fields in which human gait is important. One of the best methods of gait analysis is to use analytical models. In this project, first, the normal human was simulated using a two-dimensional biped model with 7 segments, i.e., a HAT segment representing head, arms and trunk, and 6 segments representing thighs, shanks and feet of the two legs. In this model the foot-ground contact was is estimated using Taylor series after running experiment and it’s analysis which is expendable to people with different ages and different weight and... 

Patellofemoral joint has an important role in knee extension. Because of this joint importance and complicated mechanical behavior, a lot of mathematical models have been used, to obtain a better understand of this joint, considering this joint as a part of knee joint or as a separate joint. Although these works have comprehensively studied the patellofemoral joint but they don’t emphasis on dynamic aspects. Also there is no work to compare the experimental and theoretical results calculated from one specified subject knee.In this study, the kinematic and dynamic of patellofemoral joint has been studied, constructing a three dimensional dynamic model of patellofemoral joint and experimental... 

The main popuse of this Thesis is investigating of the different wagon arrangement effect on stability of the train set. So to gain this goal, one train with 10 wagons has been simulated. The model of the each wagon is Nonlinear with 40 DOF. 3 of the wagons are heavy and make 3 different kinds of arrangement by putting them at first, middle and the end of the train (HLL, LHL and LLH arrangements). Then these three arrangements have been simulated on two differen tracks and conditions, 1st Accelerating on curved track (320 R) with positive slope and 2nd decelerating on curved track with negative slope.We suppose that the contact is singular point and aslso contact equations have bben solved... 

This research focuses on the dynamic analysis of an exoskeletal system to assist a paraplegic motion. Research in powered human exoskeletons began in the late 1960s, almost in parallel between the numbers of research groups for different applications. The main challenges for the recent work in exoskeletons were focused on the design and demonstration of an initial prototype. To this point, the reported advantages of the autonomous exoskeleton systems are largely anecdotal. Indeed, there is a marked lack of published quantitative performance results for exoskeleton devices that reportedly improve human locomotion. Considering this, there are many design challenges remained that may lead to... 

In recent years, unmanned vehicles have intensively been developed to reduce human dangers for marine applications. Predicting the hydrodynamic coefficients of an autonomous underwater vehicle is important during the vehicle’s design phase. In other words to design an AUV, one must clarify its maneuverability and controllability based on a mathematical model. The mathematical model contains various hydrodynamic forces and moments expressed collectively in terms of hydrodynamic coefficients. Therefore, the correct values of the coefficients must be known to precisely design the controller of AUVs. SUT-2 is an AUV, being developed by Marine Engineering Laboratory of Sharif University of... 

One of the best methods of gait analysis is to use analytical models. In this project, first, the normal human gait was simulated using a two-dimensional biped model with 7 segments, i.e., a HAT segment representing head, arms and trunk, and 6 segments representing thighs, shanks and feet of the two legs. The foot-ground contact was simulated using a five-point penetration contact model. The elastic impact and friction effects are considered in the ground reaction force modeling. Optimization of the normal human walking model provided constant coefficients for simple PD controllers’ (driving torque) equations that could reasonably reproduce the normal kinematical pattern. Then, in the second... 

CFD models are accurate but time-consuming for simulation and optimization of steam methane reformer and controlling the tube wall temperature, and syngas production rate and unsuitable for online optimization. Empirical data-driven models are less accurate when there are wide variations in operating conditions. The physics-based model presented in this thesis overcomes these limitations. In this model, the furnace side and the process side are divided into zones with uniform temperature and composition, and for each zone, mass, energy and momentum balances are derived. Radiative heat transfer modeling and calculation of exchange areas are accomplished with the zone method. The system of...