Sharif Digital Repository

Demand response (DR) will play an essential role in smart grids by contributing to the operational flexibility requirement arising from the increased penetration of intermittent renewable generation. However, DR activation could be hampered in the absence of intelligent network management. Real-time thermal rating (RTTR) functions as a smart network management tool for unlocking the network capacities by allowing the network to safely operate during overload states. This paper offers an optimal residential DR approach integrated with RTTR to balance the hourly wind power production. The proposed framework is modeled from the perspective of an electrical aggregator that manages the population... 

The integration of a great deal of intermittent renewable generation in future grids will require more operational flexibility. Residential demand response can provide the load shaping potentials thereby alleviating the need for operational flexibility. This paper intends to develop a centralized framework focusing on realization of domestic heating, ventilation, and air conditioning (HVAC) demand response capability for wind power balancing. In the proposed optimization model, energy consumption of HVAC loads is optimized to tackle the variability of wind power. The thermal comfort penalty is explicitly integrated in the objective function in order to oblige different customers' thermal... 

In some tasks, a rigid robot manipulator handles a long, slender, and flexible tool, which usually has not been equipped with vibration measuring devices. This situation makes a different tool tip position control problem. In this paper, a new method will be presented for simultaneous tip position and vibration suppression control of a flexible tool on a rigid-link 3-DOF robot. This approach uses fuzzy logic rule-based controllers without using any sensors and actuators on the tool or a priori knowledge about the tool. Numerical simulation of robot and tool set has been accomplished and results support the fact that designed fuzzy controllers perform remarkably well in reducing vibrations... 

There has been great demand for shape memory alloy (SMA) wires as actuators for shape control of flexible structures. The experimental setup of this study consists of a flexible beam actuated by two active SMA actuators. The input applied to the SMA actuator in this setup is electrical current while the output is the strain or position. To control strain of the actuator, the SMA wire is heated resistively in order to reach the desired temperature calculated by inverse of the phenomenological model. In heating the SMA wire resistively, the controllable quantity is the heat input to the wire via an applied current. In controller design, changes of physical properties of SMA wires and the... 

Connection of truss elements using socket joints is one of the more common practices in the construction of space structures. Although these hollow spherical joints may deform due to the applied loads, these deformations and the resulting effects on the member axial forces are usually ignored in the analysis and design. This work is an investigation of the effects of socket joint deformability on the behavior of space grid structures. Here, the load-deformation relationships obtained from a series of biaxial loading tests on actual socket joints have been used to represent their behavior in several finite-element analysis models. These models have been analyzed using a special-purpose... 

In the application of parallel kinematic machine tools (PKM), because of errors in the geometric parameters, it is necessary to calibrate the PKM to improve the positioning accuracy. In existing self-calibration methods, either some redundant sensors on passive joints or some mobility constraints on the kinematic chains are used. However, the mobility constraints imposed on kinematic chains might apply large forces during the test on legs and passive joints. Also, these kinds of calibrating are applicable only on PKMs in which their actuated joints can be used as passive joints. To overcome weaknesses of existing methods, a novel approach to calibration based on imposing position constraints... 

This paper deals with the robust finite time tracking of desired trajectories for a wide group of robotic manipulators in spite of unknown disturbances, uncertainties, and saturations of actuators while only manipulator's positions are available and its velocities are not measurable physically. A new form of chattering-free second order fast nonsingular terminal sliding mode control scheme is introduced to design input torques for fulfilling the determined tracking objective in the adjustable total finite settling time. The proposed control algorithm is incorporated with two nonlinear observers to estimate disturbances and velocities of joints within finite settling times. The global finite... 

Here, we report 3D hierarchical SnO2 nanowire (NW) core-amorphous silicon shell on free-standing carbon nanotube paper (SnO2@a-Si/CNT paper) as an effective anode for flexible lithium-ion battery (LIB) application. This binder-free electrode exhibits a high initial discharge capacity of 3020 mAh g-1 with a large reversible charge capacity of 1250 mAh g-1 at a current density of 250 mA g-1. Compared to other SnO2 NW or its core-shell nanostructured anodes, the fabricated SnO2@a-Si/CNT structure demonstrates an outstanding performance with high mass loading (∼5.9 mg cm-2), high areal capacity (∼5.2 mAh cm-2), and large volumetric capacity (∼1750 mAh cm-3) after 25 cycles. Due to the... 

Today, Li-ion batteries (LIBs) are the most common rechargeable batteries used in electronic devices. SnO2 with theoretical specific capacity of 782 mAh/g is among the best anode materials for LIBs. In this report, Threedimensional SnO2 nanowires (NWs) on carbon nanotube (CNT) thin film (SnO2 / CNT) is fabricated using a combination of vacuum filtration and thermal evaporation techniques. The resulting 3D heterostructure SnO2/CNT was characterized by X-ray diffraction, transmission electron microscopy (TEM) and scanning electron microscopy (SEM). This fabricated SnO2/CNT electrode has been tested as a flexible and binderfree anode for LIB, which exhibits high initial discharge/charge... 

Natural flyers have flexible wings, which deform significantly under the combined inertial and aerodynamic forces. In this study, we focus on the role of chord wise flexibility in 2D pitch and plunge motions. We derive the exact nonlinear 2D equations of motion for a flexible flapping wing with flying support. In achieving the closed-form equations, we use the exact strain field concerning considerable elastic deformations. After numerically solving the novel equations, we validate them in simulations with highly deformable wings. By coupling the derived equations of motion with fluid flow, we study the aerodynamic performance of the geometrically nonlinear flexible flapping wing. Through... 

Here, controlled growth of vertically aligned carbon nanotubes (VACNTs) on free-standing porous activated reduced graphene oxide (a-rGO) paper was fabricated using plasma-enhanced chemical vapor deposition method. The electrochemical performance of prepared film was investigated to provide effective electrode for 3D flexible high-performance lithium-ion batteries (LIBs) and supercapacitors. The results revealed that the prepared electrode exhibited a high specific capacitance of 347 F/g at 0.5 A/g in 1 M KOH electrolyte, 60% more than non-activated rGO-paper (218 F/g). The VACNTs on a-rGO have increased the accessible surface area and acted as efficient electrical conducting paths, which... 

This study reports the successful fabrication of high-performance flexible binder-free lithium-ion battery anode and supercapacitor based on the synthesis of 3D hierarchical MnO2 nanoflakes (NFs) on vertically aligned carbon nanotubes (VACNTs) grown upon stainless steel (SS). The experimental results revealed that the prepared electrodes were well served as supercapacitors with a tremendous specific capacitance of MnO2 NFs VACNT/SS 1131 F/g at 0.25 A/g in 0.5 mol.L−1 Na2SO4, 518.8% more than VACNT/SS (218 F/g). Compared to other MnO2 NFs/CNT composites, as-fabricated binder-free MnO2 NFs/VACNTs electrode achieves outstanding performance with high initial discharge and charge capacities of... 

This study reports the successful fabrication of high-performance flexible binder-free lithium-ion battery anode and supercapacitor based on the synthesis of 3D hierarchical MnO2 nanoflakes (NFs) on vertically aligned carbon nanotubes (VACNTs) grown upon stainless steel (SS). The experimental results revealed that the prepared electrodes were well served as supercapacitors with a tremendous specific capacitance of MnO2 NFs VACNT/SS 1131 F/g at 0.25 A/g in 0.5 mol.L−1 Na2SO4, 518.8% more than VACNT/SS (218 F/g). Compared to other MnO2 NFs/CNT composites, as-fabricated binder-free MnO2 NFs/VACNTs electrode achieves outstanding performance with high initial discharge and charge capacities of... 

In this paper, a new approach is used to obtain the nonlinear mode for a flexible cantilever beam. The dependency of resonance of the beam on the exciting force amplitude is observed experimentally and theoretically. In this regard, the end response of a cantilever beam under the base excitation is measured for various force amplitudes. Then, by using the nonlinear normal modes, the reduced-order governing equation is obtained. The discrete model obtained according to identification of nonlinear terms can predict the frequency response of the beam and jump phenomenon properly. Comparison between experimental data and theoretical outputs show acceptable agreement. © 2020 Faculty of... 

The aim of this article is design, fabricate, and control a conceptual prototype of a flexible wearable robot to increase fingers’ force using a novel cable mechanism. In this robot, force and position are controlled in separate phases by a fuzzy system equipped with emotional learning. A Flexible structure has been chosen for this robot, because flexible gloves are lighter and much more suitable for use in daily tasks compared to rigid structures. Since this system is supposed to be substituted for weak or damaged limb, it should have a behavior similar to the body organs as much as possible. Therefore, a novel mechanism, inspired by the natural movement mechanism of the human hand, has... 

The aim of this article is design, fabricate, and control a conceptual prototype of a flexible wearable robot to increase fingers’ force using a novel cable mechanism. In this robot, force and position are controlled in separate phases by a fuzzy system equipped with emotional learning. A Flexible structure has been chosen for this robot, because flexible gloves are lighter and much more suitable for use in daily tasks compared to rigid structures. Since this system is supposed to be substituted for weak or damaged limb, it should have a behavior similar to the body organs as much as possible. Therefore, a novel mechanism, inspired by the natural movement mechanism of the human hand, has... 

The aim of this article is design, fabricate, and control a conceptual prototype of a flexible wearable robot to increase fingers’ force using a novel cable mechanism. In this robot, force and position are controlled in separate phases by a fuzzy system equipped with emotional learning. A Flexible structure has been chosen for this robot, because flexible gloves are lighter and much more suitable for use in daily tasks compared to rigid structures. Since this system is supposed to be substituted for weak or damaged limb, it should have a behavior similar to the body organs as much as possible. Therefore, a novel mechanism, inspired by the natural movement mechanism of the human hand, has...