Sharif Digital Repository

In this article, we propose a three-dimensional model of a low-Reynolds-number swimmer that consists of three small spheres connected to a larger sphere via three perpendicular adjustable rods which enable the micro robot to swim along arbitrary trajectories. Then we focus on dynamic modelling of the swimmer and propose a control method to control the position of the micro swimmer in a low Reynolds number flow. The control aim intended in this article is that the middle sphere to follow a desired trajectory and respective simulation results from control indicates successful accomplishment in application. © 2018 IEEE  

This paper studies through numerical simulation a practical compound restrainer to use for the improvement of seismic performance of bridges. A mechanical model has been introduced for the restrainer and a basic optimisation approach has been conducted to evaluate the performance of the restrainer to changes in the properties of its components. A real 2-span simply supported plate girder bridge has been selected for case study. Using a detailed three-dimensional model, several non-linear time history analyses were performed under seismic excitations in order to assess the performance of the bridge retrofitted by conventional restrainers including linear and non-linear viscous dampers on one... 

In this paper, an innovative seismic lateral force resisting system for tall buildings is introduced. In this system, a novel supplemental part, ribbed bracing system (RBSyst), is attached to Braced Tube System, creating a modified BTS. RBSyst is a supplemental part which is attached to the conventional bracing members to eliminate buckling problem. The behavior of RBSyst under tensile force is similar to that of the conventional braces. However, in compression, it prevents the braces from buckling by length reduction. In order to evaluate the efficiency of this new BTS system by performance- based assessment, two typical 40-story tall buildings with different story modules equipped with... 

Heave and pitch motion of an oscillating airfoil in uniform flow will cause generation of forwarding thrust. Applying a combination of these two motions on flexible foil, one can increase thrust and therefore the efficiency. This is the way that most fishes and other flying animals uses to consume less energy. In this paper, hydrodynamic forces and efficiency of an oscillating airfoil is investigated. A code is developed based on potential flow formulation in combination with Time Stepping Method (TSM) with nonlinear free shear layer dynamic approach to predict the wake behind the lifting bodies. A linear Morino type Kutta condition has been implemented on panels adjacent to trailing edge.... 

Background: Accurate tracking of the heart surface motion is a major requirement for robot assisted beating heart surgery. Method: The feasibility of a stereo infrared tracking system for measuring the free beating heart motion was investigated by experiments on a heart motion simulator, as well as model surgery on a dog. Results: Simulator experiments revealed a high tracking accuracy (81 μm root mean square error) when the capturing times were synchronized and the tracker pointed at the target from a 100 cm distance. The animal experiment revealed the applicability of the infrared tracker with passive markers in practical heart surgery conditions. Conclusion: With the current technology,... 

A numerical simulation algorithm based on the finite volume discretisation is presented for analyzing ship motions. The algorithm employs a fractional step method to deal with the coupling between the pressure and velocity fields. The free surface capturing is fulfilled by using a volume of fluid method in which the interface between the liquid (water) and gas (air) phases are computed by solving a scalar transport equation for the volume fraction of the liquid phase. The computed velocity field is employed to evaluate the acting forces and moments on the vessel. Using the strategy of boundary-fitted body-attached mesh and calculating all six degrees-of-freedom of motion in each time step,... 

Urmia Lake, located in a closed basin in north-west Iran, is the largest lake (5000-6000 km2) in the Middle East. It is very saline with total dissolved salts reaching 200 g/l compared with a normal seawater salinity of about 35 g/l. The construction of a causeway, which was initiated in 1979 but then abandoned until the early 2000s, is near completion and will provide road access between the western and eastern provinces. The causeway has an opening 1.25 km long and divides Urmia Lake into a northern and southern basin and restricts water exchange. The flow and salinity regimes are affected by the presence of this new causeway, and there are concerns over the well being of the Artemia... 

The seismic behaviour of a 4-story building is investigated under horizontal excitation of simulated earthquakes. The model has been constructed with a 3D sandwich panel system without any conventional frame system in four storeys on a shaking table. The building has been modelled before construction. Due to the table limit, the scale factor of the model is chosen as 1: 2.35 of a prototype. The shaking table test of the scaled model of the building is carried out under several ground motions to verify the safety of the system. The simulated motions were applied to the model in two-perpendicular directions, simultaneously. The failure mechanism and dynamic behaviour of the model, as a... 

An unstructured grid, finite-volume, and three-dimensional (3D) primitive equation ocean model has been developed to predict oceanic pollutant dispersions in depth and surface of the Caspian Sea for non-chemical reactions of dissolved constituents. The model consists of momentum, continuity, temperature, salinity, and density equations. Physical and mathematical closure has been achieved using Mellor and Yamada turbulent closure sub-models. Since determining a practical definition of salinity that enjoys acceptable accuracy is difficult; therefore, various definitions have been used in this work. A recent definition of salinity stated in the UNESCO Practical Salinity Scale of 1978, PSS78,... 

Dense underflows are continuous currents that move downslope due to their density being heavier than that of the ambient water. In this work, a steady density current with a uniform velocity and concentration from a narrow sluice gate enters into a wide channel of lighter ambient fluid and moves forward downslope. Experiments varying inlet velocity and concentration and hence inlet Richardson numbers were conducted. Numerical simulations were also performed with a low-Reynolds number k-ε model. The results of numerical simulation agree well with the experimental data. © 2009 ASCE