Sharif Digital Repository

Problems related to the three-dimensional (3D) dynamics of the deploying flexible arms subjected to base angular motions are studied with simulated tip payloads and actual deployment trajectories. To facilitate the solution, an equivalent dynamical system is developed by introducing the inertial reaction forces on the arm, while the equations of motion are derived in the non-Newtonian reference frame attached to the arm. The dynamic behavior of the arm is investigated both by the finite element and assumed Modes methods for the purpose of verification. This study reveals that base angular motions lead to considerable couplings between the two lateral displacements and axial motions.... 

The loads induced on the spacecraft orbiting the Earth by the deploying elastic arm are investigated. The coupled equations of motion of the arm with the vehicle orbital mechanics are used to describe the 3D dynamic behavior of the flexible-appendage and the related disturbing loads induced on the spacecraft. To this end, an equivalent dynamical system is derived for the arm by applying an attached Non-Newtonian Reference Frame which is subjected to the orbital motion and geocentric pointing maneuver of the spacecraft. With the help of the Assumed Modes Method, the behavior of the arm attached to the spacecraft in Keplerian orbits is studied. The results show that deploying the arm in some... 

Approximate solutions for vibrations of flexible beam-type appendages subjected to tip mass are studied while uniform and exponential profiles for arm deployment are simulated. Applying an equivalent dynamical system and following Lagrangian approach, the equations of motion of the system are derived as nonlinear ordinary differential equations (ODEs) (with time-varying coefficients), in which the effect of the tip mass can be considered as some nonlinearity added to the 'no tip mass' case dynamics. The approximate closed-form solutions are obtained through a novel methodology using a computer algorithm, in which the solutions of the 'no tip mass' case are expanded by imposing quadratic... 

In this study, the effect of hydrophobicity of environmentally responsive surface-modified silica nanoparticles on the stability and surface activity of the nanoparticles is examined. To this end, n-propyl, n-hexyl, or n-octyl chains and methoxy poly(ethylene glycol) chains at various quantities were coated covalently on the surface of silica nanoparticles to regulate the hydrophobicity of the responsive nanoparticles. Various experimental tools such as stability analysis, interfacial-tension and contact-angle measurements, and emulsion formation were performed to investigate the effect of hydrophobicity. It became evident that the presence of the hydrophobic agents influences considerably... 

Deployment inertial effects of a spacecraft appendage on its flexible dynamics are investigated. The Euler-Bernoulli beam theory and the actual deployment profile, in which appendage axial motion accelerates from static state and then decelerates to end at zero velocity and acceleration, are employed. The study is concentrated on the arm dynamic stiffness introduced by inertial effects of the arm deployment, and the resultant effects on the arm flexible motions. Lagrange's equations and some appropriate shape functions in the series approximation method are employed to study the arm lateral elastic displacements. Finally a system of ordinary differential equations with time varying... 

The dynamics of the flexible robot arm subjected to tip mass during an actual deployment is studied. The Euler-Bernoulli beam theory and the real deployment are considered in the simulation. A new real axial velocity profile is developed. This new suggested profile simulates the actual deployment such that the arm movement starts from immovability and after attaining the final required length comes back again to the static state. Using Lagrange's equation, the equations of motion of the system are derived to study the system dynamics in this suggested deployment profile. A series approximation is used to represent the lateral elastic displacements. Using variables separation and also some... 

A thorough investigation of the dynamics of finite-mass satellites with a deployable elastic arm is presented. This work is focused on the interaction between spacecraft rigid body motion and its flexible arm dynamics during the deployment process. The classical Newton–Euler formulation and the Lagrangian approach are applied to the study of the dynamics of spacecraft and its deploying arm. Utilizing a non-Newtonian floating frame to define the arm elastic deformation field, the interactions between the spacecraft and its moving arm have been simulated. Complete equations of motion show that the spacecraft motion induces dynamical stiffness on the arm; in addition, axial and lateral motions... 

A thorough investigation of the dynamics of finite-mass satellites with a deployable elastic arm is presented. This work is focused on the interaction between spacecraft rigid body motion and its flexible arm dynamics during the deployment process. The classical Newton–Euler formulation and the Lagrangian approach are applied to the study of the dynamics of spacecraft and its deploying arm. Utilizing a non-Newtonian floating frame to define the arm elastic deformation field, the interactions between the spacecraft and its moving arm have been simulated. Complete equations of motion show that the spacecraft motion induces dynamical stiffness on the arm; in addition, axial and lateral motions... 

The effects of addition of an ionic liquid to pure water as a physical absorbent and monoethanolamine (MEA) solutions as a chemical absorbent on carbon dioxide (CO2) absorption through hollow fiber membrane contactors were investigated using a 2D axisymmetric model. A numerical simulation was developed based on finite element method using computational fluid dynamics techniques. Liquid phase flowed in the tube side and gas mixture containing CO2 passed in the shell side of the membrane contactor in co-current and countercurrent modes. The simulation results are consistent with experimental data, and the root-mean-square error was calculated as 9 and 13% for pure water and 25 wt % for ionic... 

Indium tin oxide (ITO) thin films have been deposited using RF sputtering technique at different pressures, RF powers, and substrate temperatures. Variations in surface morphology, optical properties, and film resistances were measured and analyzed. It is shown that a very low value of sheet resistance (1.96 ω/sq.) can be achieved with suitable arrangement of the deposition experiments. First, at constant RF power, deposition at different pressure values is done, and the condition for achieving minimum sheet resistance (26.43 ω/sq.) is found. In the next step, different values of RF powers are tried, while keeping the pressure fixed on the previously found minimum point (1-2 Pa). Finally,... 

In this paper, we report our evaluation of the strength of random number generator and RSA key-pair generator of some commercially available constrained hardware modules, i.e., tokens and smart cards. That was motivated after recent related attacks to RSA public keys, which are generated by constrained network devices and smart cards, and turned out to be insecure due to low-quality randomness. Those attacks are mostly computing pair-wise GCD between the moduli in public keys, and resulted in breaking several thousands of these keys. Our results show that most of the tested hardware modules behave well. However, some have abnormal or weak random generators which seem to be unsuitable for... 

This study describes an efficient method for ortho-selective halogenation of N-arylcarbamates under mild conditions for the first time. Although being weakly coordinating, N-arylcarbamates act very well as a removable directing group for activation of C-H bonds. The developed procedure results in extremely valuable halogenated N-arylcarbmates that can further be hydrolyzed to halogenated anilines. The obtained reaction conditions showed broad scope and wide functional group tolerance. All the products were formed in good yields with extremely high selectivity  

Many studies in the field of sleep have focused on connectivity and coherence. Still, the nonstationary nature of electroencephalography (EEG) makes many of the previous methods unsuitable for automatic sleep detection. Time-frequency representations and high-order spectra are applied to nonstationary signal analysis and nonlinearity investigation, respectively. Therefore, combining wavelet and bispectrum, wavelet-based bi-phase (Wbiph) was proposed and used as a novel feature for sleep-wake classification. The results of the statistical analysis with emphasis on the importance of the gamma rhythm in sleep detection show that the Wbiph is more potent than coherence in the wake-sleep... 

This paper presents a phase-noise reduction technique for voltage-controlled oscillators (VCOs) using a harmonic tuned (HT) LC tank. The phase-noise suppression is achieved through almost rectangular-shaped VCO oscillating signal which effectively maximizes oscillating signal slope at zero crossing points resulting in-phase-noise degradation. In addition, by shortening down converted noise power around oscillating signal second harmonic, more phase-noise suppression has been achieved. A comprehensive analysis for frequency and amplitude deviations as high as 20% for third harmonic and its effect on output phase-noise suppression has been discussed. In the followings, a comprehensive analysis... 

Although the simple assembly line balancing problem (SALBP) is the topic of many studies, typically they either consider minimizing the number of stations for a given cycle time (called type one), or minimizing the cycle time for a given number of stations (called type two). Rarely, type E of the problem has been considered. In the type E, cycle time and number of stations are both decision variables, and the objective is to maximize the line efficiency. This paper presents a mixed integer linear programming formulation for the type E simple assembly line balancing problem. Moreover, to further strengthen the presented formulation, two enhancement techniques in the form of valid inequalities... 

A simple process for the chemical vapor deposition of ultra SD single-wall carbon nanotubes has been developed. In this process, an iron nitrate nonahydrate solution in isopropyl alcohol with a concentration of (400 μgr/milt) was used to catalyst nanoparticle formation on an oxidized silicon wafer. The oxide on the substrate was made of a thick layer of wet oxide sandwiched between two thin layers of dry oxide. The process results in semiconducting Single-Walled carbon Nano Tubes (SWNTs) with diameters of less than 0.7 nm and more than a 1 ev band gap energy, which are amongst the smallest diameters of SWNTs ever reported. © Sharif University of Technology, June 2009