Sharif Digital Repository

This paper presents a new approach for trajectory planning of manipulator robots based on Virtual Potential Field (VPF) in presence of static obstacles. In this method, a series of via points between starting point and goal point is obtained by traverse end-effector of manipulator in affected by different VPF while avoiding obstacles in the Cartesian space. An optimum trajectory is generated by using pattern search algorithm which determines strength of potential fields to minimize the value of desired objective function. Cubic splines are used to generate a smooth trajectory through path points in joint space that are obtained by inverse kinematics solution of corresponding points in the... 

This paper presents operational space control of snake-like robots for tracking designated paths using a double layer sliding mode control algorithm. The snake robot has n links with assumed lateral sliding that leads to n+2 degrees-of-freedom (DOF) while it has only n-1 actuator at joints and therefore it is underactuated. Kinematic constraints were determined which describe the geometric relationship between the position of links' mass center and the joints' relative angle. The outer layer (loop) of the controller was designed to modulate the parameters of the serpenoid curve using the kinematic constraints in order to the mass center of links follow different designated paths. The inner... 

In this paper we propose to control a bipedal robot in an unstable position by means of a PID controller that gains are turned by a fuzzy logic system. For that, a model of planar 3 linked segment consisting of limb, trunk and extended arms with fixed base is used. Fuzzy if-then rules are constructed based on human expert knowledge and biomechanics studies for tuning of PID's gain. For construction of tuning rules, we have developed an optical measuring system to record experimental data of balance keeping of a human in an unstable position. The control model is based on three sets of different global variables: (1) limb orientation and its derivative, (2) trunk/upper attitude and its... 

In noise radars, measuring the cross-correlation between transmitted and received signals is a common method of signal processing. However, it brings a lot of unwelcome sidelobes that can mask weak echoes of far targets. There are many classical and modern methods of masking effect removal which are based on signal processing in the receiver side. In this study, a method of waveform design is presented and its ability to reduce masking effect is compared with that of radars using purely random waveforms. The method starts with choosing an arbitrary subsequence and continues with attaching new subsequences to the previous ones in a way that the sidelobe levels reduce. In addition, the... 

A common and well-known method of signal processing in noise radars is measuring the cross-correlation between transmitted and received signals. However, it creates a lot of undesirable sidelobes which can mask weak echoes of far targets. There are many methods of masking effect removal based on signal processing at the receiver side. In this study, a method of waveform generation based on the graph theory is presented and its ability to reduce masking effect will be compared with that of radars using purely random waveforms. The method tries to design a graph consisting of nodes each corresponds to a random subsequence. After generating the graph offline, output sequence is produced online... 

In noise radars, measuring the cross-correlation between transmitted and received signals is known as a common method of signal processing. However, it brings a lot of unwelcome sidelobes which can lean to masking weak echoes of far targets. There are many classical and modern methods of masking effect removal which are based on signal processing in the receiver side. A method of waveform design for decreasing this effect is presented and its efficiency is compared to purely random waveform generation method and CLEAN algorithm. Moreover, performance of collaborative using of receiver-based and transmitter-based techniques is considered  

Signal processing in noise radar is always done by calculating the cross-correlation between transmitted and received signals. Strong echoes of near targets present relatively high sidelobes in the correlation output, so they can conceal weak echoes of weak targets (masking effect). Many classical and modern methods for alleviating this effect have been offered, however, most of them are based on signal processing in the receiver side. In this paper, a new method of waveform design, able to decrease masking effect, is presented. Contrary to the other methods, this method keeps the matched filter structure in receiver unchanged and does not need performing any extra process in the receiver... 

In this paper, the effect of the main rotor of an armed helicopter on radar return signal and its modulation condition are considered. After analyzing references and experimental data, this paper proposes a new method based on inherent modulation in main rotor echo. This method is able to enhance the probability of detection. The simulation is performed for both simulated and practical echo signal. Simulation results confirm that our proposed scheme is effective. Moreover, a new domain for distinguishing and measuring the rotation feature of a rotary target is proposed. This paper is based on practical experiments (rotation domain)  

Transportation has significant and long lasting economical, social and environmental impacts, and so is an important dimension of urban sustainability. Some attempts have been made to develop sustainable transport indicators, STI. A few studies actually apply STI to compare sustainability among various world cities. In this paper various world cities ranked in terms of urban sustainable transport composite index. The study database is created from UITP databank: "Millennium cities database for sustainable mobility" or MCDST. Firstly sustainable transportation indicators were selected by reviewing past researches. Some indicators are edited or redefined. Consequently 9 STI were developed, 3... 

Double talk detector is the essential part of an echo canceller to keep the adaptive filter from divergence in presence of near-end speech. This work is a contribution to propose a new double talk algorithm based on power, this method detects double-talk quickly; also it can distinguish the double-talking when the channel has the varying gain. In this paper, we first present an analytical discussion describing this new method and then we show the simulation result to compare our proposed algorithm in both performance and complexity with Giegel algorithm-the most successful one in line echo cancellers. ©2007 IEEE  

In this paper, pull-in behavior of cantilever micro/nano-beams made of functionally graded materials (FGM) with small-scale effects under electrostatic force is investigated. Consistent couple stress theory is employed to study the influence of small-scale on pull-in behavior. According to this theory, the couple tensor is skew-symmetric by adopting the skew-symmetric part of the rotation gradients. The material properties except Poisson’s ratio obey the power law distribution in the thickness direction. The approximate analytical solutions for the pull-in voltage and pull-in displacement of the microbeams are derived using the Rayleigh–Ritz method. Comparison between the results of the... 

In this paper, pull-in behavior of cantilever micro/nano-beams made of functionally graded materials (FGM) with small-scale effects under electrostatic force is investigated. Consistent couple stress theory is employed to study the influence of small-scale on pull-in behavior. According to this theory, the couple tensor is skew-symmetric by adopting the skew-symmetric part of the rotation gradients. The material properties except Poisson’s ratio obey the power law distribution in the thickness direction. The approximate analytical solutions for the pull-in voltage and pull-in displacement of the microbeams are derived using the Rayleigh–Ritz method. Comparison between the results of the... 

Concerning the geometrical effect of inner cylindrical hot pins, the natural convective heat transfer of nanofluid in a homogenous porous medium in a squared enclosure is numerically studied, using lattice Boltzmann method (LBM). In order to investigate the arrangement of inner cylinders for better heat transfer performance, five different configurations (including one, three, and four pins) were compared, while the total heat transfer area of inner pins were held fixed. Squared cavity walls and inner cylinder's surfaces were constantly held at cold and warm temperatures, respectively. In our simulation, Brinkman and Forchheimerextended Darcy models were utilized for isothermal... 

On-demand resource provisioning and elasticity are two of the main characteristics of the cloud computing paradigm. As a result, the load on a cloud service provider (CSP) is not fixed and almost always a number of its physical resources are not used, called spare resources. As the CSPs typically don't want to be overprovisioned at any time, they procure physical resources in accordance to a pessimistic forecast of their loads and this leads to a large amount of spare resources most of the time. Some CSPs rent their spare resources with a lower price called the spot price, which varies over time with respect to the market or the internal state of the CSP. In this paper, we assume the spot... 

Abstract: Advancements in microscale technologies have prompted a demand for high precision micro-manipulation. Microgrippers are the primary means of conducting micro-scale operations, and they significantly affect the procedure's performance. This paper presents a novel optimized design for compliant microgrippers, intending to enhance functionality and durability. The mainframe of the proposed microgripper is based on a compact flexure-based compliant structure with four stages of movement amplification. Experiments were designed based on the L25 Taguchi orthogonal arrays. The experiments were conducted using the finite element method in Abaqus 6.14 workbench. Range of motion and maximum... 

A huge amount of energy consumption, the cost of this usage and environmental effects have become serious issues for commercial cloud providers. Solar energy is a promising clean energy source, to provide some portion of the Internet data center's (IDC's) energy usage which can reduce environmental effects and total energy costs. Moreover, due to the high energy consumption of the cooling system, considering cooling power in job scheduling can provide efficient solutions to reduce total energy consumption. In this article, we investigate the problem of minimizing the energy cost of an IDC and propose an algorithm which schedules heterogeneous IDC workloads, by considering available renewable... 

Forming limit diagrams (FLDs) are extensively used in industries, particularly the auto industry. The establishment of these diagrams using a predictive approach can lead to reduction in both cost and time. In the present work, Gurson-Tvergaard-Needleman (GTN), a porosity-based model, was used to predict the FLD of an interstitial-free steel via finite element simulation. Optimum values of the GTN model were obtained by applying a response surface methodology (RSM) based on central composite design. Results show that RSM is a good method for an appropriate determination of the GTN model parameters, such as initial void volume fraction, effective void volume fraction, critical void volume... 

Background/Objectives: One of the problems of tracked robots in ragged roads is to pass narrow obstacles. As a primary solution, the process of come back and pass another way is usually time consuming or impossible. Methods/Statistical Analysis: In this paper, first, we evaluate the usual solution for this problem, which is preparation of a drive system at the middle area and then by using of innovative problem solving method (TRIZ), by answering ISQ questionnaire and extracting some technical contradictions, we try to match them in contradiction matrix and finally by applying 40 innovative principles we solve these technical contradictions which lead us to the solution of the problem.... 

One of the most important courses in engineering curriculum is "engineering drawing". In fact, engineering drawing is the language of conversation and realization between engineers. This course consists of 3 parts: Projection theory, basic drawing and mechanical drawing. The most important part between these is projection theory because it supports one of human intelligences named "spatial ability" that is vital for an engineer. Otherwise, time limits, increasing of user demands and need to higher reliability, causes us to think about "problem prevention" instead of "problem solving". The tool helps us in this way is "failure mode and effects analysis" or FMEA. In this study, after...