Sharif Digital Repository

A novel method for computation of modal reflectivity at optical waveguide end-facet is presented. The method is based on the characteristic Green's function (CGF) technique. Using separability assumption of the structure and rational function fitting method (RFFM), a closed-form field expression is derived for optical planar waveguide. The uniform derived expression consists of discrete and continuous spectrum contributions which denotes guided and radiation modes effects respectively. An optimization problem is then defined to calculate the exact reflection coefficients at the end-facet for all extracted poles obtained from rational function fitting step. The proposed CGF-RFFM-optimization... 

This paper presents dynamic and vibration analysis of a flight vehicle with consideration of the free fitting between its two sections. Using the Lagrangian approach, a general analytical model is developed for a non-spinning elastic vehicle in planar motion. The model contains rigid body motions and bending deformations of two sections of the flight vehicle and a nonlinear rotational spring that models the freeplay between the two sections. To express bending deformation, the mode summation method is applied. It is shown that freeplay in the joints significantly affects the trajectory of the flight vehicle. Numerical examples reveal the effect of a joint's nonlinearity on the trajectory and... 

True stress vs. true strain responses of Cu-6 wt.% Al and Cu-12 wt.% Mn alloys are presented. While Cu-6 wt.% Al alloy shows the typical mechanical response of low stacking fault energy alloys, the Cu-12 wt.% Mn alloy behaved similarly to medium to high stacking fault energy alloys. These findings clearly show that while short-range ordering triggers slip planarity, it has a minor effect on total dynamic recovery of these copper alloys  

A mixture of the platinum(0) complex [Pt(PtBu3)2] and tetrakis(acetonitrile)copper(i) hexafluorophosphate in acetone activated a water molecule and gave the hydride platinum(ii) complex [PtH(CH3CN)(PtBu3)2]PF6, 1, and the hydroxide Cu(i) species. The crystal structure of complex 1 was determined by X-ray crystallography, indicating a distorted square planar geometry around the platinum center. Although three possible mechanisms are proposed for this transformation, monitoring of the reaction using NMR spectroscopy at low temperature reveals that a cooperative pathway involving formation of a Pt0-CuI dative bond complex is the most probable pathway. The hydride platinum complex 1 is stable in... 

The possible interactions near the triple-phase boundaries (TPB) metal/glass/air, and their effects on joint strength are investigated. Two types of samples (joined couples and glass coated coupons) are prepared with the coupon of AISI 430 (nickel plated and uncoated) and a slurry of compliant silicate sealing glass (SCN-1). The joined and coated samples are heated at 850 °C for 1000 h in air. The joined couples are cooled using two different schedules and then tested in uniaxial tension. For investigating the metal-oxides precipitation procedure in glass near the TPB, glass coated coupons are either cooled at the rate of 5 °C min−1 or water-quenched from aging temperature. The mechanical... 

Novel architecture of high precision localization using optical flow sensor (OFS) combined with Iterative Point Tracking Algorithm (IPTA) is proposed. This work focuses on attenuation of OFS' sensitivity dependency on texture of surface over which sensor is moving. The aim for the design of experimental setup is to verify how much a robustness of OFS's sensitivity on various surfaces improves. In this regard, four different surfaces' texture including iron, paper, textile and granite stone is opted. Experimental results indicate that sensor's resolution via IPTA on surfaces of iron, paper, textile and granite stone respectively equal to 382, 460, 528 and 448 CPI. Optimal value of the... 

In this paper, active vibration control of constrained manipulators used in automated deburring process is addressed. In order to suppress the random vibration generated due to the interaction force between robot end-effector and workpiece, an adaptive critic-based neurofuzzy controller is developed. This controller can adapt itself with different burr size. The control signal is fed to a piezoelectric actuator, which is mounted beside the workpiece. The piezoelectric actuator moves the workpiece to compensate the vibration. According to the intelligent behavior and system independent structure, the proposed design can be used for any industrial manipulator in various automated finishing... 

The efficiency of planar perovskite solar cells (PSCs) with SnO2 as electron transport layer is already more than 19% achieved under controlled atmosphere. PSCs with solution processed SnO2 show high hysteresis and low fill factor. One way to improve the planar PSCs is using buffer layer between electron transport layer and perovskite to enhance the photo-electron extraction process. In this study, SnO2 and SnO2/CdS layers were fabricated by solution process using a suspension including CdS nanoparticles synthesized via a simple solution route. Then planar PSCs with the structure of Glass/FTO/ETL/Perovskite/Sprio-OMeTAD/Au were fabricated in ambient air condition using SnO2 and SnO2/CdS as... 

Millimeter-wave radars are essential for automotive sensing, medical imaging, and safety- monitoring applications. Among different architectures, frequency-modulated continuous-wave (FMCW) radars are particularly suited for miniature integration targeting portable consumer applications with detection ranges up to a few tens of meters. This translates to a relatively low requirement of transmitter (TX) output peak power and hence is well suited for implementation using low-supply-voltage CMOS processes. To avoid saturating the receiver (RX) under CW operation, FMCW radars must achieve high TX-to-RX isolation in the front-end. Typically, at least 40dB of isolation is necessary for W-band (75... 

Young’s modulus (E) is one of the most important parameters in the mechanical properties of solid materials. Young’s modulus is proportional to the stress and strain values. There are several experimental and theoretical methods for gaining Young’s modulus values, such as stress–strain curves in compression and tensile tests, electromagnetic-acoustic resonance, ultrasonic pulse echo and density functional theory (DFT) in different basis sets. Apparently, preparing specimens for measuring Young’s modulus through the experimental methods is not convenient and it is time-consuming. In addition, for calculating Young’s modulus values by software, presumptions of data and structures are needed.... 

Currently, some coarse measures like global network latency are used to compare routing protocols. These measures do not provide enough insight of traffic distribution among network nodes in the presence of different fault regions. This paper presents a detailed traffic analysis of fault-tolerant planar adaptive routing (FTPAR) algorithm achieved by an especially developed tool. Per-node traffic analysis illustrates the traffic hotspots caused by fault regions and provides a great assistance in developing fault tolerant routing algorithms. Based on such detailed information, a simple yet effective improvement of FTPAR is suggested. Moreover, the effect of a traffic hotspot on the traffic of... 

Planar grating diffraction analysis based on Legendre expansion of electromagnetic fields is reported. In contrast to conventional RCWA in which the solution is obtained using state variables representation of the coupled wave amplitudes; here, the solution is expanded in terms of Legendre polynomials. This approach, without facing the problem of numerical instability and inevitable round off errors, yields well-behaved algebraic equations for deriving diffraction efficiencies, and can be employed for analysis of different types of gratings. Thanks to the recursive properties of Legendre polynomials, for longitudinally inhomogeneous gratings, wherein differential equations with non-constant... 

Surface modification of SnO2 electron transporting layer (ETL) plays a critical role in the performance of SnO2-based planar perovskite solar cells (PSC). Here, we show how long-time NH4F-based water bath treatment of SnO2 layer makes smoothing and morphological improvements and enhances the device performance. Recently it was shown that short-time NH4F treatment (2 sec) with spin coating method reduces interface traps by improving surface chemistry. Here we observe the smoothing of SnO2 films as a result of long-time NH4F treatment, which could be a result of a slight etching-deposition process. Absorption and resistivity measurements indicate that SnO2 etching process is involved in... 

Mn1.5Co1.5O4 oxide spinels are widely used as protective coatings for stainless steel interconnects within planar solid oxide fuel cell stacks. Containing both cubic and tetragonal crystalline phases, these Mn/Co oxide spinels exhibit favorable thermal stability and electronic conductivity for the SOFC interconnect application. Slurry-based coating applications of Mn/Co oxides require precursor powders, which can benefit from being nano-structured. In this study, the sol-gel synthesis of nanocrystalline Mn1.5Co1.5O4 spinel is investigated. The decomposition of sol-gel precursors, as well as the crystalline phase structures and microstructures of the product Mn1.5Co1.5O4 are characterized by... 

The general problem of impedance control is addressed for a robotic manipulator with a moving flexible base. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base moving manipulators (FBMMs) is rather new and is being considered. The dynamic of the manipulator is decomposed into slow and fast dynamics using the singular perturbation method. A new sliding mode impedance control (SMIC) method using an element on the end-effector is proposed for high-precision impedance control of FBMMs. The SMIC method as a robust impedance control law is derived for the slow dynamics. The asymptotic... 

New gains tuning and impedance control method were addressed for flexible base moving manipulators. Slow and fast dynamics of robot are decoupled using singular perturbation method. Then, using sliding mode control method, an impedance control law was derived for the slow dynamics. Combined control law was proposed comprising the impedance control law and a feedback control law for the fast dynamics. As fist time, we proposed a new online particle swarm optimization algorithm for gain tuning of impedance control at the contact moments of end effector and unknown environments. This proposed Sliding Mode Impedance Controller and online PSO were simulated for a Flexible Base Moving Manipulator.... 

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode... 

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode... 

In this study, the nonlinear vibrations analysis of an inclined pinned-pinned self-weight Timoshenko beam made of linear, homogenous and isotropic material with a constant cross section and finite length subjected to a traveling mass/force with constant velocity is investigated. The nonlinear coupled partial differential equations of motion for the rotation of warped cross section, longitudinal and transverse displacements are derived using the Hamilton's principle. These nonlinear coupled PDEs are solved by applying the Galerkin's method to obtain dynamic responses of the beam. The dynamic magnification factor and normalized time histories of mid-point of the beam are obtained for various... 

In this paper, the nonlinear dynamic responses of an inclined pinned-pinned Euler-Bernoulli beam with a constant cross section and finite length subjected to a concentrated vertical force traveling with constant velocity is investigated by using the mode summation method. Frequency analysis of the PDE's governing equations of motion for steady-state response is studied by applying multiple scales method. The nonlinear dynamic deflections of the beam are obtained by solving two coupled nonlinear PDE's governing equations of planar motion for both longitudinal and transverse oscillations of the beam. The dynamic magnification factor and normalized time histories of mid-point of the beam are...