Sharif Digital Repository

In this study, we discuss the postural stability of a nonprehensile manipulation problem, which deals with multibody objects. As a metric for postural stability, we define PRI. Then, the system is posturally stable, if PRI is inside the convex hull of the object-manipulator contact surface. We then discuss that dynamic biped locomotion is a special case of dynamic nonprehensile manipulation in all aspects; we prove that ZMP (zero-moment point) and FRI (zoot rotation indicator) are special cases of PRI (palm rotation indicator). Simulations and experiments corresponding to simple examples support the results  

In this work, we introduce a category of dynamic manipulation processes, namely passive dynamic object manipulation, according to which an object is manipulated passively. Specifically, we study passive dynamic manipulation here. We define the main concept, discuss the challenges, and talk about the future directions. Like other passive robotic systems, there are no actuators in these systems. The object follows a path and travels along it under the effect of its own weight, as well as the interaction force applied by each manipulator on it. We select some simple examples to show the concept. For each example, dynamic equations of motion are derived and the stability of the process is taken... 

Molecular dynamics simulations are carried out to investigate the manipulation of metallic clusters on stepped surfaces. Five surface forms are considered in the simulations. The system parts are made of pure transition metals and Sutton-Chen many-body potential is used as interatomic potential. The conditions which are subjected to change in the tests include: materials used for particles and substrate, and surface step conditions. In addition to qualitative observations, two criteria which represent the particle deformation and substrate abrasion are utilized as evaluation tools and are computed for each case. Simulation results show the effect of the aforementioned working conditions on... 

Molecular dynamics simulations are carried out to investigate the manipulation of metallic clusters on double-layer surfaces. The system parts are made of transition metals. The conditions which are subjected to change in the tests are material combinations for cluster, main substrate and lubricant layer (adlayer). In addition to qualitative observations, two criteria which represent the particle deformation and substrate abrasion are utilized as evaluation tools and are computed for each case. Obtaining this sort of knowledge is highly beneficial for further experiments in order to be able to plan the conditions and routines, which guarantee better success in the manipulation process  

The main scope of this study is to analyse muscle-driven forward dynamics simulation of stair locomotion to understand the functional differences of individual muscles during the movement. A static optimization was employed to minimize a performance criterion based on the muscle energy consumption to resolve muscle redundancy during forward dynamics simulation. The proposed method was employed to simulate a musculoskeletal system with ten degrees of freedom in the sagittal plane and containing 18 Hill-type musculotendon actuators per leg. Simulation results illustrated that simulated joint kinematics closely tracked experimental quantities with root-mean-squared errors less than 1 degree. In... 

A molecular dynamics simulation study has been performed to investigate the solidification and remelting of aluminum using Sutton - Chen many body potential. Different numbers of atoms from 108 to 2048 atoms were considered to find an adequate size for the system. Three different cooling and heating rates, i.e. 1 0 12 K/s, 10 13 K/s and 10 14 K/s, were used. The structure of the system was examined using radial distribution function. The melting and crystallization temperatures of aluminum were evaluated by calculating the variation of heat capacity during the phase t ransformation. Additionally, Wendt – Abraham parameters were calculated to determine the glass transition temperature. It is... 

One of the most popular constitutive rules that correlate the continuum and atomic properties in multi-scale models is the Cauchy–Born (CB) hypothesis. Based on this constitutive law of continuum media, it assumes that all atoms follow the deformation subjected to the boundary of crystal. In this paper, the validity and failure of CB hypothesis are investigated for the silicon nano-structure by comparison of the continuum and atomic properties. In the atomistic level, the stresses and position of atoms are calculated using the molecular dynamics (MD) simulation based on the Tersoff inter-atomic potential. The stresses and strains are compared between the atomistic and continuous media to... 

The surface, edge and corner effects have significant influences in the electrical and optical properties of silicon nano-structures. In this paper, a novel hierarchical temperature-related multi-scale model is presented based on the boundary Cauchy-Born method to investigate not only the surface but also the edge and corner effects in thermal properties of diamond-like structures such as silicon nano-structures at finite temperature. A combined finite element method and molecular dynamics are respectively employed in macro- and micro-scale levels. The temperature-related Cauchy-Born rule is applied using the Helmholtz free energy, as the energy density of equivalent continua relating to the... 

The paper deals with the investigation of nonlinear static and dynamic behaviors of electrostatically actuated carbon nanotubes with different geometries and boundary conditions. The deflection and pull-in properties are studied in detail in the presence of DC and combined DC+AC electrostatic voltages accompanying the interatomic interactions. The considered nano system can be applied in a wide range of nanoelectronics devices such as nano switches, nano resonators, nano transistors, nano capacitors and random access memories. Moreover, a useful mathematical model of the nano sensor application of the studied nano system to sense the stiffness of the nano particles is presented  

As an alternative to dark matter models, Modified Gravity (MOG) theory is a covariant modification of Einstein gravity. The theory introduces two additional scalar fields and one vector field. The aim is to explain the dynamics of astronomical systems based only on their baryonic matter. The effect of the vector field in the theory resembles a Lorentz force where each particle has a charge proportional to its inertial mass. The weak field approximation of MOG is derived by perturbing the metric and the fields around Minkowski space-time. We obtain an effective gravitational potential which yields the Newtonian attractive force plus a repulsive Yukawa force. This potential, in addition to the... 

In this article, we address the multiple-night stay hotel revenue management. Using a decomposition method, we transform the multiple-night stay revenue management into a single night. To this end, we define effective arrival rate for each night that is derived from all the booking requests that contain the night, excluding the possible 'customer losses'. A customer is labeled 'loss' either because of the existence of an expensive night in his itinerary or because of a stock-out occurrence over his stay. We calculate the probabilities of these two incidents and then update the effective daily arrival rate, accordingly. In this way, we can use the classical single-night revenue management,... 

Dimethyl ether (DME) as a clean fuel seems to be a superior candidate for high-quality diesel fuel in near future. In this study, a comprehensive three-dimensional dynamic heterogeneous model developed to simulate the flow behavior and catalytic coupling reactions for synthesis of the DME from hydrogenation of the CO and CO2, dehydration of methanol to dimethyl ether and water gas shift reaction in a fixed bed reactor. For this purpose, a CFD simulation was articulated where the standard k-ε model with 10% turbulence tolerations implemented. Then the concentration and temperature profiles along the reactor were determined. It was revealed that under conditions considered, a single phase... 

In this paper, optimization and control of a tubular reactor for thermal bulk post-polymerization of styrene have been investigated. By using the reactor mathematical model, static and dynamic simulations are carried out. Based on an objective function including polymer conversion and polydispersity, reactor optimal temperature profile has been obtained. In the absence of model mismatch, desired product characteristic can also be obtained by applying the corresponding reactor wall or jacket temperature profile. To achieve this temperature trajectory, reactor jacket is divided into three zones and jacket inlet temperatures are used as manipulated variables. Effectiveness of the proposed... 

Needle insertion into the soft tissue has been the subject of many studies during the last decade, while needle control has become a crucial training tool, evaluating surgeon's skills in such critical incision. This study considers a model-based dynamics equation for the needle movement through the soft tissue. In the proposed model, the force distribution along the needle shaft is estimated through the use of tissue deformation data and tissue model. A novel algorithm for the needle control simulation is also proposed based on the developed dynamics equation of the needle movement. To point out the role of mechanical properties of the soft tissue, an inverse dynamics control method is used... 

The aim of the present research is to simulate dynamic behavior of the human auditoria peripherals during sound transmission using the equivalent six-degrees-of-freedom lumped parameter mathematical model. Transmissibility analysis was employed to get a better insight into the sound transmission from tympanic membrane to malleus, incus, stapes, and cochlea. Furthermore, transmissibility from each member to corresponding adjacent member was carried out to functional analysis of the human ear. Simulation study illustrated that the results are in agreement with the experimental results published in the literature, and the proposed model provides more information in the dynamic analysis of... 

A Markov model is constructed for studying the counterparty risk in a CDS contract. The "wrong-way risk" in this model is accounted for by the possibility of the common default of the reference name and of the counterparty. A dynamic copula property as well as affine model specifications make pricing and calibration very efficient. We also consider the issue of dynamically hedging the CVA with a rolling CDS written on the counterparty. Numerical results are presented to show the adequacy of the behavior of CVA in the model with stylized features  

This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by considering nonlinear dynamic model and nonholonomic constraints of the system. The nonholonomic constraints of the system are introduced by a nonintegrable set of differential equations which represent kinematic restriction on the motion. The Lagrange's principle is employed to derive the nonlinear equations of the system. Then, the optimal path planning of the mobile robot is formulated as an optimal control problem. To set up the problem, the nonlinear equations of the system are assumed as constraints, and a minimum energy objective function is defined. To solve the problem, an indirect... 

A new method, based on the concepts of matrix analysis as well as the learning capabilities of neural networks, for the analysis of nonlinear trusses under dynamic loading is presented. The method can be applied to static trusses too. While there have been attempts in the past to use neural networks to identify and model different structures based on data measured on structural response directly, the main feature and advantage of this new method is in its capability to model a nonlinear truss by assembling the data collected on the response of its members. The basics of the method are: (1) for each truss member, a neural network is trained to learn and simulate its loadresponse behavior, (2)... 

We investigate the possibility of chaining qubits by letting pairs of nearest-neighbor qubits dissipate into common environments. We then study entanglement dynamics within the chain and show that steady-state entanglement can be achieved