Sharif Digital Repository

A two-dimensional seven link biped dynamic model was developed to investigate the mechanical characteristics of the normal and amputee locomotion during the complete gait cycle. The foot-ground contact was simulated using a five-point penetration contact model. The equations of motion were derived using Lagrange method. Optimization of the normal human walking model provided constant coefficients for the driving torque equations that could reasonably reproduce the normal kinematical pattern. The resulting torques were then applied to the intact joints of the amputee model with a prosthetic leg equipped with a kinematical driver controller for the ankle and either a hydraulic, elastic or... 

In this paper an approach was described for determination of direction of sliding block in rock slopes containing planar non-persistent open joints. For this study, several gypsum blocks containing planar non-persistent open joints with dimensions of 15?15?15 cm were build. The rock bridges occupy 45, 90 and 135 cm2 of total shear surface (225cm2 ), and their configuration in shear plane were different. From each model, two similar blocks were prepared and were subjected to shearing under normal stresses of 3.33 and 7.77 kg/cm-2 . Based on the change in the configuration of rock-bridges, a factor called the Effective Joint Coefficient (EJC) was formulated, that is the ratio of the effective... 

absectionBackground Three types of sources can be considered in the analysis of multi-subject datasets: (i) joint sources which are common among all subjects, (ii) partially-joint sources which are common only among a subset of subjects, and (iii) individual sources which belong to each subject and represent the specific conditions of that subject. Extracting spatial and temporal joint, partially-joint, and individual sources of multi-subject datasets is of significant importance to analyze common and cross information of multiple subjects. New method: We present a new framework to extract these three types of spatial and temporal sources in multi-subject functional magnetic resonance... 

In this research, friction stir joining of aluminum-polypropylene/talc composite was investigated due to the numerous applications of aluminum-polymer joints in automotive and aerospace industry. A novel tool design, including a rotary/stationary holder, was used to improve the appearance and mechanical performance of friction stir lap joints by preventing the mixed molten polymer and aluminum particles from exiting the stirred zone. Effect of tool transverse speed on the joint microstructure and strength was investigated. Using the rotary/stationary holder, tensile-shear strength of the joints increased (by ~ 45 to ~ 220% at various transverse speeds). Since during the tensile-shear test... 

The effect of the variation in the femoral groove geometry on patellofemoral joint stability was studied using a two dimensional transverse plane model with deformable articular surfaces. The femoral and patellar bony structures were modelled as rigid bodies with their profiles expressed by splines. The articular cartilage was discretized into compression springs, distributed along the femoral and patellar profiles, based on the rigid-body spring model. The medial and lateral retinacula were modelled as linear tensile springs, and the quadriceps muscles and patellar tendon as strings with known tension. The anatomical data were obtained from the transverse plane magnetic resonance images of... 

Both numerical and experimental researches are carried out to study the strength of the composite double-bolted joints and the bearing damage propagation. A mesoscale level progressive damage model along with analytical formulation is used to predict the bearing failure of carbon-epoxy composite plates. This damage model is introduced as a user material subroutine in the commercial software ABAQUS, and the maximum failure load is calculated. In order to validate the numerical results, experimental tests are also conducted in which comparison between the results shows an excellent agreement. Furthermore, the effects of the bolt distances on the maximum failure load are studied. The results... 

Fuzzy Control of rowing exercise using Functional Electrical Stimulation (FES) concerns ankle, knee and hip joints. Muscular Modeling for each joint may contain two groups of muscles, namely extension and flexion. In the proposed method, joint controllers provide electrical stimulation pulses to the appropriate muscle group based on the trajectory error and according to a prescribed pattern designed for rowing exercise. Results indicate that the simulated Fuzzy control of desired angles closely match the experimental values for prescribed joints. Moreover, the robustness of the controller in presence of external disturbance is examined and the results show that the tracking of each joint... 

In this work, the influence of the clearance and post-braze heat treatment on the microstructure of 4130 steel joint brazed by BNi-4 filler metal was investigated. Samples with different clearances were heated to 1100°C and hold for 9 min. Then, some were reheated to 800°C(2hr) and 800°C(2hr)+1000°C(2hr), cycle 1 and cycle 2, respectively. Microscopy techniques and micro-hardness test were used to evaluate the microstructures. Results suggested that in this case 25μm clearance can be considered as the optimum value. Also, it was found that high temperature post-braze heat treatment can be applied as a useful technique for decreasing the fraction of the brittle phases at the joint main body  

Al-5083 and St-12 alloys sheets were friction stir lap welded at various travel and rotation speeds of the welding tool. Microscopic examinations indicate that the joint strength is due to the macroscopic and microscopic mechanical lockings and also atomic diffusion. The reaction zone of the welded joints consists of mixed layers of ultra-fine grains and the intermetallic compounds. The microhardness and nano indentation results prove that the intermetallic phase layer is more brittle in comparison to base metals and ultra-fine grain region. The fracture surfaces are a combination of brittle and ductile fractures. The fracture loads show that the joint strength improves significantly by... 

The reverse shoulder implant is an implant for total replacement of the glenohumeral joint of patients suffering from osteoarthritis and with a damaged rotator cuff. The problem that arises with these conjoined ailments is that the displacement of the humeral head causes limited movement of the upper limb, with vertical mobility restricted to only allow for the arm to ascend to roughly the height of the shoulder. Attaching the ball to the scapula and the socket to the top of the humerus fixes the centre of rotation of the joint to increase the moment arm over the healthy shoulder's original position enabling patients' movement and dexterity to return. In this study the numerical evaluation... 

This paper introduces a novel facile method, called projection friction stir spot welding, to produce a keyhole-free friction stir welds based on a pinless tool method involving using a specially designed projection on the surface of the backing anvil. The projection plays two key roles contributing to the bonding mechanism and the joint strength: (i) encouraging the material flow perpendicular to the joint interface and (ii) bending the joint interface at the edge of the projection. The process enables pathway to produce keyhole-free welds with superior mechanical performance in steel sheets compared to the other spot welding techniques. © 2018, © 2018 Institute of Materials, Minerals and... 

This paper introduces a novel facile method, called projection friction stir spot welding, to produce a keyhole-free friction stir welds based on a pinless tool method involving using a specially designed projection on the surface of the backing anvil. The projection plays two key roles contributing to the bonding mechanism and the joint strength: (i) encouraging the material flow perpendicular to the joint interface and (ii) bending the joint interface at the edge of the projection. The process enables pathway to produce keyhole-free welds with superior mechanical performance in steel sheets compared to the other spot welding techniques. © 2018, © 2018 Institute of Materials, Minerals and... 

This research is aiming to investigate the mechanical behaviour of the temporomandibular joint (TMJ), in response to kinematics/cyclical loading caused through actions of speech and mastication. A set of in-vitro experimental tests has been performed in three different groups on a fresh sheep jaw bone to examine the hypothesis of the study. No failure was monitored during the cyclical test. The study was concluded that the amount of loading is effective on the displacement of the TMJ  

Aluminum alloys and high density polyethylene are utilized in a wide variety of industrial applications. In the present work the feasibility of friction stir butt welding between AA5059 alloy and high density polyethylene sheets is examined. The bonding mechanism, joint strength, and microhardness are considered in this study. Various welding parameters and tool alignment were investigated until sound joints were achieved by positioning approximately 85% of the rotating tool in the aluminum material on the advancing side (1.4 mm offset) at constant spindle speed and traverse speed of 710 rpm and 63 mm/min, respectively. The results indicate that AA5059 aluminum and high density polyethylene... 

Autistic children are often impaired in initiating and responding to Joint Attention. In recent years, there has been an increase in the application of robots in diagnosis and treatment of autism. The purpose of the current research has been primarily to originate the proper therapeutic scenarios and to implement two interactive humanoid robots as therapy assistants in autism treatment in Iran. To this end, the humanoid robots were programmed and teleoperated via Microsoft Kinect Sensor and PhantomOmni Haptic Robot to elicit reactions consisting of imitation of humans by the humanoid robots and vice versa. In this paper, we elaborate on the therapeutic items that we have designed to improve...