Sharif Digital Repository

To have a complete model of a thunniform Fish-Robot, models of both body and tail are required. The dynamic model of the body is developed according to the parameters of a thunniform Fish-Robot built in MIT University, while, as the main part of this paper, the dynamic model of the tail is developed using fuzzy logic. Using experimental data and table look-up scheme, a fuzzy black box is introduced that gives the value of thrust force generated for any value of the Fish-Robot's input parameters: frequency of tail oscillation, amplitude of tail oscillation and speed of the Fish-Robot. In the second part, a trajectory fuzzy controller is designed for the Fish-Robot. The output of trajectory... 

To have a complete model of a thunniform Fish-Robot, models of both body and tail are required. The dynamic model of the body is developed according to the parameters of a thunniform Fish-Robot built in MIT University, while, as the main part of this paper, the dynamic model of the tail is developed using fuzzy logic. Using experimental data and table look-up scheme, a fuzzy black box is introduced that gives the value of thrust force generated for any value of the Fish-Robot's input parameters: frequency of tail oscillation, amplitude of tail oscillation and speed of the Fish-Robot. In the second part, a trajectory fuzzy controller is designed for the Fish-Robot. The output of trajectory... 

A new non-symmetric 5R-SPM is introduced and a geometrical approach is developed to analyze its configurations and singularities. The proposed methodology determines the type of configuration of a 5R-SPM, i.e. regular, singular, or out-of-workspace and also the type of singularity, i.e. instantaneous or finite, only based on geometric parameters and without solving verbose kinematic equations. It also provides insights into the workspace and singularities of 5R-SPMs, in the preliminary stage of design. The mechanism was analyzed by both the new geometrical approach and conventional methods for comparison. The geometrical approach could intuitively detect all the singularities observed by the... 

In this paper, a 4-DOF robotic arm for tool handling in laparoscopic surgery is introduced. The robot provides sufficient force to handle endoscopic tools used for large organ manipulation and is capable of measuring the tool-tissue forces. The RCM constraint is achieved using a spherical mechanism and roll and insertion motions are provided using time pulley and spindle-drive, respectively. The forward and inverse kinematics of the robot was solved and the dimensions of its links were determined, using particle swarm optimization method, so that the maximum kinematic and dynamic performance could be achieved  

Calibrating the inverse kinematics of complex robots is often a challenging task. Finding analytical solutions is not always possible and the convergence of numerical methods is not guaranteed. The model-free approaches, based on machine learning and artificial intelligence, are fast and easy to work, however, they need a huge amount of experimental training data to provide acceptable results. In this article, we proposed a hybrid method to benefit the advantage of both model-based and model-free approaches. The forward kinematics of the robot is calibrated using a model-based approach, and its inverse kinematics using a neural network. Hence, while there is no need to solve the nonlinear... 

The currently available robotic systems rely on rigid heart stabilizers to perform totally endoscopic coronary artery bypass (TECAB) surgery on beating hearts. Although such stabilizers facilitate the anastomosis procedure by immobilizing the heart and holding the surgery site steady, they can cause damage to the heart tissue and rupture of the capillary vessels, due to applying relatively large pressures on the epicardium. In this paper, we propose an advanced robotic approach to perform TECAB on a beating heart with minimal invasiveness. The idea comes from the fact that the main pulsations of the heart occur as excursions in normal direction, i.e., perpendicular to the heart surface. We... 

Color quantization is a technique for processing and reduction colors in image. The purposes of color quantization are displaying images on limited hardware, reduction use of storage media and accelerating image sending time. In this paper a hybrid algorithm of GA and Particle Swarm Optimization algorithms with FCM algorithm is proposed. Finally, some of color quantization algorithms are reviewed and compared with proposed algorithm. The results demonstrate Superior performance of proposed algorithm in comparison with other color quantization algorithms  

As computer simulation increasingly supports engineering design, the requirement for a computer software environment providing an integration platform for computational engineering software increases. A key component of an integrated environment is the use of computational engineering to assist and support solutions for complex design. In the present paper, an integrated software environment is demonstrated for multi-disciplinary computational modeling of structural and geotechnical problems. The SUT-DAM is designed in both popularity and functionality with the development of user-friendly pre- and post-processing software. Pre-processing software is used to create the model, generate an... 

In this paper, the influence of powder-tool friction on the mechanical properties of the final product is investigated in pressing metal powders. A computational algorithm is presented for simulation of frictional contact in the compaction process of powder. The large deformation finite element (FE) formulation is characterized by the use of penalty approach in which a plasticity theory of friction is incorporated to simulate sliding resistance at the powder-tool interface. The constitutive relations for friction are derived from a Coulomb friction law. A double-surface cap plasticity model is employed together with the nonlinear contact friction behavior in numerical simulation of powder... 

In this paper, an atomistic–continuum homogenization multiscale method is developed to study the nonlinear behavior of heterogeneous nanomaterials. The atomistic representative volume element (RVE) with vacancy and/or void defects are analyzed by employing the fully atomistic method, in which the nucleation, migration, and elimination of dislocation, as well as the dislocation-vacancy interaction, are captured. The coarse-scale material domain is modeled within the framework of the nonlinear finite element method, and the impression of nanoscale material defects is investigated by upscaling the stress tensor and tangent modulus from the atomistic RVE based on the Hill-Mandel principle. The... 

In this paper, a new criterion for passivity of haptic devices is obtained. This criterion creates a relationship between Coulomb friction coefficient, viscous friction coefficient, sampling rate, and the maximum simulated stiffness. The process of derivation of the passivity criterion is described in detail. This criterion is improved compared with other existing criteria and predicts passivity in haptic rendering more accurately. In particular, for speeds of less than 5 cm/s, the new passivity criterion should replace the previous criteria to avoid unwanted vibrations of stiff virtual walls. Analytical and numerical investigations are presented to validate the new criterion. A specific... 

The field emission properties of MoO2 nanostars grown on a silicon substrate and their emission performance in various vacuum gaps are reported in this article. A new structure of molybdenum oxides, named a nanostar, is grown by thermal vapor deposition with a length of ̃1 μm, a thickness of ̃50 nm, and its width in the range of 500-700 nm. The morphology, structure, composition, and chemical states of the prepared nanostars were characterized by scanning electron microscopy, high-resolution transmission electron microscopy, X-ray diffraction (XRD), and X-ray photoelectron spectroscopy (XPS). According to XRD analysis, the grown nanostructures are composed of both crystalline Mo4O11 and... 

Several exoskeletons with various configurations and degrees-of-freedoms (DOFs) have been introduced in the literature, but not many have addressed the optimal selection of the mechanism's DOFs. In the proposed system a semi-passive toe joint is introduced to achieve several advantages. The performance of the proposed novel passive toe joint is evaluated experimentally. In addition, the semi-passive abduction/adduction DOFs in the hip joint and eversion/inversion DOFs in ankle joint is proposed to facilitate turning while providing more comfort during normal walking. The effect of passive DoFs existence on the user comfortability is studied with the aid of three kinematic indices. In the... 

This paper models the dielectric corona pre-ionization, capacitor transfer type of flat-plane transmission line traveling wave transverse excited atmospheric pressure nitrogen laser by a non-linear lumped RLC electric circuit. The flat-plane transmission line and the pre-ionizer dielectric are modeled by a lumped linear RLC and time-dependent non-linear RC circuit, respectively. The main discharge region is considered as a time-dependent non-linear RLC circuit where its resistance value is also depends on the radiated pre-ionization ultra violet (UV) intensity. The UV radiation is radiated by the resistance due to the surface plasma on the pre-ionizer dielectric. The theoretical predictions... 

The reliability Studies are done in order to determine the probability of functioning or availability of different engineering systems. These studies can also provide a basis for comparing different structures of a system and can be used as a tool to improve the system design. Also, reliability is an important consideration in the planning, design and operation of transit system. Since the issue of the reliability of electric vehicles has not been sufficiently and seriously evaluated yet, so in this paper, the reliability of the various types of these kinds of vehicles will be discussed and then the reliability indices of them will be compared with each other and with the conventional cars  

Considerable interest in the indoor applications of wireless local-area networks (WLANs) demands some powerful simulation methods of these systems. Proper modeling of the physical propagation channel is crucial in this context. A novel simulation method for indoor wideband multi-input multi-output (MIMO) channel at the operating frequency band of IEEE 802.11a, HIPERLAN/2, and the emerging IEEE 802.11n standards is presented in this paper which is suitable for performance analysis of MIMO techniques in these systems. The presented model is developed on the basis of a previously proposed channel representation at the same frequency band. Simulation results for MIMO channel capacity are... 

To synthesize a novel biopolymer-based superabsorbent hydrogel, 2-acrylamido-2-methylpropanesulfonic acid (AMPS) was grafted onto kappa-carrageenan (KC) backbones. The graft copolymerization reaction was carried out in a homogeneous medium and in the presence of ammonium persulfate (APS) as an initiator, N,N,N',N'-tetramethyl ethylenediamine (TMEDA) as an accelerator, and N,N'-methylene bisacrylamide (MBA) as a crosslinker. A proposed mechanism for KC-g-AMPS formation was suggested and the hydrogel structure was confirmed using FTIR spectroscopy. The affecting variables on swelling capacity, i.e., the initiator, the crosslinker, and the monomer concentration, as well as reaction temperature,... 

In this work, a comparative study of hybrid solar cells based on P3HT and TiO2 nanofibers was accomplished. Electrospinning, a low cost production method for large area nanofibrous films, was employed to fabricate the organic-inorganic hybrid solar cells based on poly (3-hexylthiophene) and TiO2 nanofibers. The performance of the hybrid solar cells was analyzed for four density levels of TiO2 nanofibers which resulted in the average power conversion efficiency of about 0.0134% under AM 1.5 simulated illuminations (100 mWcm-2). It is found that the higher densities of TiO2 lead to more interface area and generating exciton, so the power conversion efficiency will be increased till the active...