Sharif Digital Repository

In under-constrained spatial cable suspended robots, maximum number of cables are equivalent to the number of degree of freedom, therefore the equations of kinetostatic have unique solutions and invention of positive cable tensile forces in these robots must come into being by redundant cables, springs or by Moving Platform (MP) weight. In this research, MP weight is considered to create tension in cables so both increasing workspace volume and decreasing possibility of cable encounter with together can be created because of using less cables. The range of MP weight to generate tension in cables is calculated by using Interval method, optimum weight is selected and then optimal tension... 

The objective of this paper is designing, modeling and wrench feasible workspace analysis of a 3D cable suspended robot as IRPM (Incompletely Restrained Positioning Mechanism). This type of robots supports a load platform in space by less than or equal to six spatially arranged cables. We use the model of 6 cables spanned in the same manner as a Stewart parallel mechanism. This mechanism is suitable for the accurate positioning of heavy loads. Concentrating on the operations of heavy loads handling, studying the workspace and ways of increasing it is of high importance. Several workspaces exist amongst which the constant and total orientation statically reachable combined and wrench feasible... 

This article proposes modelling, simulation and applied wrench workspace analysis of a 3D cable based robots which are consist of six cables are studies. After modelling, the kinds of workspace are defined then an available static combined workspace for different geometric structures of fixed and moving platform is obtained. This workspace is defined as the situations of reference point of the moving platform (center of mass) which under external forces such as weight and with ignorance of inertial effects, the end effector should be in static equilibrium under conditions that length of all cables must not be exceeded from the maximum value and all of cables must be at tension (they must... 

Developing ocean energy extraction, including ocean thermal energy conversion (OTEC), has been of interest to researchers for many decades. OTEC is a free fuel technology and could be used as a baseline power generation. These advantages plus the engineering challenge have resulted in researchers striving to design and construct prototype devices. Making use of worldwide experience, all sections of a conceptual design including site selection, technical specifications and cost estimation were carried out for an Iranian OTEC power plant. A 5 MW closed cycle floating plant with an annual average temperature difference of 22°C was chosen at a 33 km distance from Chabahar harbour. Deep seawater... 

This paper examines the strategies of a local supplier of high technology capital goods (or complex product systems, CoPS) in a middle-income developing economy, Iran, in its efforts to acquire technology and catch up with market leaders. The study draws upon both the development and business strategy literatures to develop a novel conceptual framework of latecomer strategy which is then applied to the Iranian firm engaged in the design, production and implementation of electricity generation systems. Although exploratory, the study shows that the firm was able to exploit its linkages with local clients, favorable government policies and a growing domestic demand to overcome barriers to... 

Lead-acid battery is a storage technology that is widely used in photovoltaic (PV) systems. Battery charging and discharging profiles have a direct impact on the battery degradation and battery loss of life. This study presents a new 2-model iterative approach for explicit modelling of battery degradation in the optimal operation of PV systems. The proposed approach consists of two models: namely, economic model and degradation model which are solved iteratively to reach the optimal solution. The economic model is a linear programming optimisation problem that calculates the optimal hourly battery use profile based on an assumed value of the battery degradation cost. The degradation model,... 

In recent years, the city of Tehran has frequently experienced severe air pollution episodes, and the increase in the use of vehicles has exacerbated this critical situation. It is unclear to what extent each vehicle category contributes to the production of pollution during a pollution event. For this purpose, a combination of the weather research and forecasting (WRF) and the Comprehensive Air Quality Model with Extensions (CAMx) modeling systems was used to simulate the distributions of pollutant concentrations over Tehran in a pollution episode from December 3 to 23, 2017. First, the performance of the modeling system was evaluated with respect to the simulation outputs against... 

In this study, indigenous cyanogenic bacterial strains were isolated on nutrient, minimal salt, and soil extract media at various culture conditions from two distinct landfills of e-waste, Iran. Based on their cyanide formation profiles, five most potent isolates were selected for optimization and to this end, the influence of the most effective factors on cyanide production including pH, glycine concentration and temperature were assessed using one-factor at a time method (OFAT). Initial pH of 7, glycine concentration of 2 g/L and temperature of 30°C were obtained as optimal conditions for most of the isolates. Additionally, two bioleaching processes were applied for each bacteria to detect...