Sharif Digital Repository

The biped walking robot demonstrates a stable limit cycle on shallow slopes. In previous researches, this passive gait was shown to be sensitive to ground slope and initial conditions. In this paper, we discuss the feedback stabilization of a biped robot by the "energy shaping" technique. Two designs are proposed to reduce the sensitivity of the biped walking robot to slope and initial conditions. In the first design, a moving mass actuator is located on each link of the robot. The actuators are used to shape the potential energy of the biped robot so that it tracks the potential energy of a known passive gait of a similar biped robot on a different slope. Although the method is applied to a... 

This paper studies the control of a brachiating robot imitating the locomotion of a long armed ape. The robot has two revolute joints, but only one of them is actuated. In this paper, after deriving dynamic model of the robot, the Controlled Lagrangians (CL) method is used to design a controller for point to point locomotion. The CL method involves satisfying a number of equations called matching conditions. The matching conditions are derived using the extended λ-method in the form of a set of partial differential equations (PDEs). Solving the PDEs, a class of controllers is found that satisfies the matching conditions. The fittest controller in the class of controllers is then chosen by... 

Drill strings are subjected to complex coupled dynamics. Therefore, accurate dynamic modeling, which can represent the physical behavior of real drill strings, is of great importance for system analysis and control. The most widely used dynamic models for such systems are the lumped element models, which neglect the system distributed feature. In this paper, a dynamic model called neutral-type time delay model is modified to investigate the coupled axial–torsional vibrations in drill strings. This model is derived directly from the distributed parameter model by employing the d’Alembert method. Coupling of axial and torsional vibration modes occurs in the bit–rock interface. For the first... 

Nitric Oxide (NO) provides myocardial oxygen demands of the heart during exercise and cardiac pacing and also prevents cardiovascular diseases such as atherosclerosis and platelet adhesion and aggregation. However, the direct in vivo measurement of NO in coronary arteries is still challenging. To address this matter, a mathematical model of dynamic changes of calcium and NO concentration in the coronary artery was developed for the first time. The model is able to simulate the effect of NO release in coronary arteries and its impact on the hemodynamics of the coronary arterial tree and also to investigate the vasodilation effects of arteries during cardiac pacing. For these purposes, flow... 

One of the important challenges in the auto industry is to reduce the mass of the vehicle while meeting structural performance requirements for Crashworthiness, Noise, Vibration and Harshness (NVH) etc. In this paper, a multidisciplinary optimization (MDO) of a car back-bonnet is investigated by using trie Response Surface Method (RSM). Firstly, a car body is fully surface modeled in CATIA and meshed in HYPERMESH software. Then, modal analysis of the finite element model is performed by NASTRAN software to find natural frequencies. Frequency map of that component is extracted and compared with a reference map to detect defects. Design of Experiments (DOE) methodologies is used for a... 

In this paper, an 8-bit CMOS current-mode folding-interpolating ADC is presented. A new active averaging-interpolating network is described, which results in a better error correction factor compared to its resistive counterpart. Using novel circuits for fast settling and careful transistor sizing, a fast (>160 Msps) and low power (70 mW in 2.5 V supply voltage) 8-bit ADC, with a total chip area of 1 × 1.4 mm in a 0.25 micron CMOS process, is demonstrated. © Sharif University of Technology, April 2008  

Crude oil density is an important thermodynamic property in simulation processes and design of equipment. Using laboratory methods to measure crude oil density is costly and time consuming; thus, predicting the density of crude oil using modeling is cost-effective. In this article, we develop a neural network-based model to predict the density of undersaturated crude oil. We compare our results with previous works and show that our method outperforms them  

This paper presents a finite element method (FEM) free and forced lateral vibration analysis of beams made of functionally graded materials (FGMs). The temperature dependency of material properties along with damping had not previously been taken into account in vibration analysis. In the present study, the material properties were assumed to be temperature-dependent, and were graded in the thickness direction according to a simple power law distribution of the volume fractions of the constituents. The natural frequencies were obtained for functionally graded (FG) beams with various boundary conditions. First, an FG beam was assumed to be isotropic (metal rich) and the results were compared... 

In this paper, effects of strain rate and mean strain on the cyclic behavior and the lifetime of aluminum-silicon alloys are investigated under thermo-mechanical and isothermal fatigue loadings. To achieve these goals, low cycle fatigue tests are accomplished at evaluated temperatures under various strain rates (by changing the loading frequency) and different strain ratios (minimum to maximum strain). Thermo-mechanical fatigue experiments are performed in an out-of-phase condition where the temperature varies between 50 and 250 °C. Various heating/cooling rates are taken into account to assess the strain rate effect and different starting temperatures are considered to study the mean strain... 

An 8-bit CMOS folding-interpolating analog-todigital converter is presented. A new method for designing optimized averaging circuit is also described. Careful circuit design and layout leads to a high-speed (160 MSPS) and low power (70 mW in 2.5 V supply voltage) ADC. The ADC is successfully implemented in 0.25um CMOS digital process and it takes 1x1.4 mm2 silicon area. © 2005 IEEE  

In this work, the vapour extraction (VAPEX) process is studied experimentally in a rectangular physical model at moderate-high pressure. The solvent was either pure propane or a mixture of propane/ methane with different compositions. The solvent and carrier gas were totally mixed before injection, so that a solvent with the desired composition flowed through the injector during experiments, and the solvent mixture was in thermodynamic equilibrium before injection into VAPEX cell. Effects of pressure and composition of solvent were studied. Results showed that at a fixed pressure, the process is more effective with pure solvent compared to the use of solvent mixtures. The main feature of... 

The vapor extraction (VAPEX) process; a solvent-based enhanced oil recovery process has been found promising for some heavy oil reservoirs. In this work, the VAPEX process is studied using a compositional simulator on a number of single-block and multiple block fractured systems. PVT data of one of an Iranian heavy oil reservoir are used to tune the equation of state. Effects of fracture spacing on the performance of process were studied. It was found that the fracture network enhances the VAPEX process in low-permeability systems by increasing the contact area between solvent and oil contained in the matrix blocks. Also, the fracture network reduced the instabilities in the system pressure... 

An algorithm for investigation of nonlinear systems by the transfinite element method is presented. Basically, the transformation techniques have been developed for linear systems. Nonlinear transient heat transfer of a thick FGM cylinder with temperature-dependent material properties is investigated in the present paper to clarify the proposed algorithm. Two main novelties of the present research are: (1) incorporating the temperature-dependency of the material properties in the thermal analysis which lead to highly non-linear governing equations and (2) proposing an updating numerical transfinite element procedure to solve the resulted highly nonlinear governing equations. To reduce the... 

In this paper, nonlinear radial and hoop thermoelastic stress analysis of rotating disk made of functionally graded material (FGM) with variable thickness is carried out by using the finite element method. In this method, one-dimensional second order elements with three nodes have been used. The geometrical and boundary conditions are in the shape of nonexistence of the pressure (zero radial stress) in both external and internal layers and zero displacement at the internal layer of rotating disk. Furthermore, it's assumed that heat distribution is as second order curve while material properties such as elasticity modulus, Poisson's ratio and thermal expansion coefficient vary by using a... 

In the present paper, fatigue analysis of an antiroll bar is investigated and compared for several criterions by using the finite element method (FEM) and also the experimental results. The validity of some of commonly used criterions in estimating fatigue life including Mcdiarmid and Von Misses theories is examined in which the inputs are considered as periodic data. For random inputs, some other methods are proposed including new suggestions and also a new criterion are established for estimation of fatigue life based on Mcdiarmid and Von Misses criterions. Prediction capability of mentioned new criterion which is evaluated for the antiroll bar, shows better results than other methods...