Sharif Digital Repository

The dynamic behavior of nonuniform-thickness laminated composite beams, such as helicopter blades, wind turbine blades, and robot arms, is of high importance in the design and fabrication of such elements. Changing the thickness of laminated structures is a significant challenge during fabrication because different tapering configurations may significantly alter the stiffness of the structures and thus the dynamic response of the structures. In this study, the effect of adding nanoparticles to resin on the stiffness and dynamic behavior of nonuniform-thickness laminated composite beam elements was investigated. A set of experiments were conducted to examine the natural frequencies and... 

Medical image stabilization has been widely used for clinical imaging modalities. Registration is a conspicuous stage for stabilizing dynamic medical images. Some of regular methods are sensitive to bias field distortion. Sparse-induced similarity measure (SISM) is a robust registering method against spatially-varying intensity distortions which is not evitable on clinical imaging instruments. This paper presents a method for registering medical images to average of captured images using SISM method to avoid spatially-varying intensity distortions like Bias field. Proposed method is compared with SSD and MI similarity measure based registrations. Results show enhancement in stabilizing... 

Model Reference Adaptive Controller (MRAC) design, for Sharif University of Technology (SUT) Building Energy Management System (BEMS) is addressed in this paper. A reference model with fuzzy adaptive control rules was employed to design the controller for a system with time delay and model parameter uncertainties. Simulation study shows good performance of the closed loop system with optimum energy consumption for this system under external load disturbance. Copyright © 2005 by ASME  

The precise manipulation of the magnetic catheters is of great importance for different applications, ensuring efficacy while minimizing potential complications. This research delves into the position control of a magnetically actuated catheter guided with an external permanent magnet. Due to the complexity of governing equations describing the system's behavior, a neural network approach was deemed suitable for modeling. Using a five degrees of freedom manipulator carrying an external permanent magnet as a payload, data was gathered from real-world positionings, tracking the coordination of the magnetic catheter's end point. These data points served to train the neural network, subsequently... 

A robust motion controller based on backstepping technique for a robotic nurse unit to assist paraplegic patients is addressed in this paper. A backstepping controller is proposed for tracking a desired trajectory in hospital environment. Simulation results are provided to validate the proposed controller. The results show satisfactory performance of the designed controller in tracking problem. Copyright © 2005 by ASME  

A nonlinear position controller based on backstepping control technique is proposed for a hybrid stepper motor in micro-step operation. Backstepping control approach is adapted to derive the control scheme, which is robust to parameter uncertainties and external load disturbance. Simulation results clearly show that the proposed controller can track the position reference signal successfully under parameter uncertainties and load torque disturbance rejection. Copyright © 2005 by ASME  

Exoskeletons are robotic devices which are used in power augmentation and rehabilitation robotics. The exoskeleton control system is one of the most challenging issues in humanrobot interaction systems. Although the rehabilitation robotic control methods are well studied, little research has been conducted on power augmenting control methods. This paper presents a novel idea in control system of exoskeletons for load carrying and power augmentation. Here, the desired linear velocity of the exoskeleton in interaction points are taken to be proportional to interaction force at the corresponding location. The introduced control method is merely based on kinematic model and thus easy to... 

This paper introduces a novel approach for measuring low pressures based on MEMS technology. In this technique the mechanism of squeeze film damping is used. A voltage is applied to a fixed-fixed MEMS beam and its step response is obtained; for each pressure there is a different response. Then the settling time is measured and we can relate each settling time with a defined pressure. Here, first we use some equations to relate pressure with the squeeze film damping effect; after that we use a micro beam model and relate its parameters with pressure. Then we use numerical analysis and simulation to show the procedure of pressure measuring. All simulation results are shown and discussed  

In order to be adapted to changes in user requirements and/or the environment, many software systems need to run continuously while they evolve. Most current approaches for such dynamic reconfiguration assume that the evolved system will behave as expected and thus will be reliable if the reconfiguration is consistent. This assumption may not correspond to reality because the delivered quality estimated previously could vary due to parameter changes at runtime. To ensure that the system acts correctly in the field after the reconfiguration, reliability of changes has to be checked at runtime. Existing approaches, however, are not applicable in highly available systems due to the possibility... 

The global COVID-19 pandemic has affected the world’s population by causing changes in behavior, such as social distancing, masking, restricting people’s movement, and evaluating existing medication as potential therapies. Many pre-existing medications such as tocilizumab, ivermectin, colchicine, interferon, and steroids have been evaluated for being repurposed to use for the treatment of COVID-19. None of these agents have been effective except for steroids and, to a lesser degree, tocilizumab. Ivermectin has been one of the suggested repurposed medications which exhibit an in vitro inhibitory activity on SARS-CoV-2 replication. The most recommended dose of ivermectin for the treatment of... 

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... 

In this paper, we study graphs whose matching polynomials have only integer zeros. A graph is matching integral if the zeros of its matching polynomial are all integers. We characterize all matching integral traceable graphs. We show that apart from K7(set minus)(E(C3)∪E(C4)) there is no connected k-regular matching integral graph if k≥2. It is also shown that if G is a graph with a perfect matching, then its matching polynomial has a zero in the interval (0,1]. Finally, we describe all claw-free matching integral graphs  

In this paper, we study graphs whose matching polynomials have only integer zeros. A graph is matching integral if the zeros of its matching polynomial are all integers. We characterize all matching integral traceable graphs. We show that apart from K7∖(E(C3)∪E(C4)) there is no connected k-regular matching integral graph if k≥2. It is also shown that if G is a graph with a perfect matching, then its matching polynomial has a zero in the interval (0,1]. Finally, we describe all claw-free matching integral graphs. © 2017 Elsevier B.V  

We use field emission scanning electron microscope (FE-SEM) to investigate the growth of palladium colloids over the surface of thin films of WO3/glass. The film is prepared by Pulsed Laser Deposition (PLD) at different temperatures. A PdCl2 (aq) droplet is injected on the surface and in the presence of steam hydrogen the droplet is dried through a reduction reaction process. Two distinct aggregation regimes of palladium colloids are observed over the substrates. We argue that the change in aggregation dynamics emerges when the measured water drop Contact Angel (CA) for the WO3/glass thin films passes a certain threshold value, namely CA ≈ 46°, where a... 

Effect of random signals with various powers, as current loads, on positioning and disturbance rejection problems on micro-step PID closed loop control system is addressed in this paper. Experimental results due to implementing different white noise power, speed, and a 0.3 N.m disturbance load torque show that, Random noise source changes current profile and affects the accuracy of positioning in tracking and disturbance rejection problems. Performance of the PID proposed controller under the implementation of random noise on phases of the HSM has been proved to be accurate enough even under disturbance torque acting on the system. Copyright © 2005 by ASME  

In this paper, design and real time experimental implementation of Fuzzy Gain Scheduling of PID controller for Hybrid Stepper Motor in Micro-stepping operation is described that was developed to track the desired positioning problem. The control problems characterized by mathematical models exhibit significant nonlinearity and uncertainty. Good performance of proposed Fuzzy PID controller are shown  

The Gnutella protocol requires peers to broadcast messages to their neighbors when they search files. The message passing generates a lot of traffic in the network, which degrades the quality of service. We propose the new method to optimize the speed of search and to improve the quality of service in a Gnutella based peer-to-peer environment with using semantic routing and priority of nodes. Once peers generate their "friends lists", they use these lists to route queries in the network. This helps to reduce the search time and to decrease the network traffic by minimizing the number of messages circulating in the system as compared to standard Gnutella  

The objective of this work is to design electrostatic actuators for a CMOS-MEMS nano-newton capacitive force sensor to suppress vertical vibrations disturbances. Electrostatic actuators are selected because the movable part of this force sensor is anchored to the fixed parts. In the first step, we propose a framework for simulation of the force sensor based on finite element method. The proposed model is modified utilizing comparison between the simulation and experimental models to improve the performance of the model. Then, 14 pairs of electrostatic actuators are designed for applying the control algorithm and their pull-in voltage is calculated. In next step, Modal Analysis is applied to... 

The aim of this article is to present an efficient dynamical model for simulating flapping robot performance employing the bond graph approach. For this purpose, the complete constitutive elements of the system under investigation, including the main body and accessories, flapping mechanism, flexible wings and propulsion system consisting of a battery, DC motors and gear boxes, are considered. A complete model of the system was developed appending bond graph models of the subsystems together utilizing appropriate junctions. The wings were also modeled using ANSYS only for an initial evaluation. Moreover, a computer model was developed employing the block-oriented structure of Simulink in... 

Nowadays, as technology grows, human life formation changes every second. These changes sometimes create harmful habits and affect our lifestyle, which unfortunately bring various diseases and disorders. ADHD (Attention Deficit Hyperactivity Disorder) & SPD (Sensory Processing Disorder) are common disorders in children. By giving children the right treatment at the younger ages, we can help them overcome their disabilities and not face any symptoms in their adulthood. The multi-sensory balance board is designed and developed to help medics diagnose the disorders in patients at early stages and monitor the treatment progress. The balance board uses multiple sensors to detect common human...