Sharif Digital Repository

The purpose of this project is fault diagnosis of anti-lock brake system with mechatronic approach. To do this, first an appropriate model of the system has been developed. After validating the model, the effects of change in some parameters that indicates the occurrence of a fault in the system are used to examine the behavior of the system in a model-based manner. With this method, it can be analyzed that how a specific fault will impact other system parameters. in fact; the effect of various defects in the system can be detected.
To do this, four common faults such as fault occurrence in hydraulic pump and solenoid valves, air presence and oil leakage in the system are implemented... 

One of the most common diseases associated with musculo-skeletal ailment is low back pain which is epidemic among general public so that billions of dollars is spent annually to treat this disease. There are back pain prevention strategies include training on correct lifting, ergonomic tool design, and industrial automation amongst others. In recent years, assistive devices have also been used to prevent back pain. There are assistive devices that can be installed on the body and significantly have reduced forces required for Erector Spinae muscle and Lumbar moments. In this research, at first the anatomy of the spine and muscles and method of processing Electromyography (EMG) of muscles... 

Quantitative motion quality evaluation has been always of much significance for CVA patients, especially the HCP ones. The purpose of the present study is to introduce and analyze the efficiency of a novel index, namely “Consumed Energy Index”, for evaluating the quality of the motions performed by HCP patients. For this purpose, Firstly, a Musculo-Skeletal model of the human arm was provided on Matlab and OpenSim softwares, with four DoFs: three DoFs at shoulder and one DoF at elbow joint as well as eight muscles. The muscles are in pairs of flexor-extensor at each DoF. The model is capable of receiving Cartesian trajectories for joints and solving inverse kinematics and dynamics to obtain... 

Shoulder is one of the most important joints of the body with high degrees of freedom. Synergic analysis of the shoulder muscles shows the joint condition due to applied force or torque. The results of the linear COP parameters and nonlinear analysis indicate the characteristics of subjects postural stability. The flexi-bar is a rehabilitation tool which stimulates the muscles. In this study, the effect of bar on the body has been examined. The modeling is carried out in two horizontal and vertical condition of bar in sixteen separate positions in the upper right side quadrant of the model. Muscle activation and joint stiffness, force and torque were obtained. COP data in AP and ML were... 

In this project, the effect of improper lubrication on vibrational behavior of rolling element bearings is investigated. Different lubrication conditions were deliberately produced using three oils with different viscosity grades on a bearing at different loads and speeds. The acceleration of bearing vibrations were measured, then analyzed by means of squared envelope analysis, a special case of cyclostationary analysis. The results and their comparison showed that decrease in lubricant’s viscosity grade can lead to an increase in magnitude of cyclic frequencies equal to cage frequency and its harmonics. This observation can be helpful in detection of lubricant degradation and in... 

Traumatic brain injury (TBI) has long been known as one of the most anonymous reasons for death around the world. This phenomenon has been under study for many years and yet it remains a question due to physiological, geometrical and computational complexity. Due to limitation in experimental study on human head, the finite element human head model with precise geometric characteristics and mechanical properties is essential. In this study, the visco-hyperelastic parameters of bovine brain extracted from experimental data and finite element simulations which validated by experimental results. Then a 3D human head including brain, skull, and the meninges is modeled using CT-scan and MRI data... 

This research describes the design and analysis of an actuating robot to manipulate the disposable Endo-wrist robotic surgery instruments. Analyzing the mechanism of common manual Endo-wrist instruments, it was found that the rotations of handle of the instrument are transferred to its wrist using a snake-like element and four connecting cables. Based on this observation, a 2DOF parallel actuating robot was designed to rotate the instrument handle, in which the degrees of freedom are controlled by two linear spindle motors. The Inverse kinematic analysis of the manual instrument was performed by minimizing the potential energy of cables. Also the inverse kinematic solution of the actuating... 

The purpose of this work, is to design a cantilever arm made of functionally graded materials so that the arm has maximum natural frequency and minimum mass. In this work the arm is modeled by Euler-Bernoulli beam theory and properties are assumed to be varying through the thickness. The beam is considered to be made of Aluminum and Alumina as metal and ceramic respectively and Genetic Algorithm method is used for optimization step. Finally using FGMs in atomic force microscopes is proposed as a new application of these materials  

Low Back Pain is one of the most problems in health domain which has a high treatment costs, also has high recurrence rates. Postural stability has been introduced as a health characteristic for musculoskeletal systems. Body stability is maintained with sensory feedback data such as Eyes, Vestibular and proprioception data which are sent to brain. Prior investigations have shown that proprioception data have many disorders in lumbar area of Low Back Pain patient and this data are not sent to brain encounters so many problems for muscle activation and stability of body. Researches have been indicated that Low Back Pain patients rely on Ankle proprioception more than healthy people and less... 

The capability to control and maintain upright posture is a fundamental requirement for humanoid robots. Although many control algorithms were successfully presented, it seems developing a new controller inspired from human balance strategy would greatly improve performance and reduce energy consumption. To study the control strategy used by human nerves system more precisely, a balancing exercise was designed and implemented. Five human subjects were asked to stand on an unstable tilting board and balance the board. Instantaneous Eulerian angles of body segments of human subjects were captured by utilizing Xsense orientation sensors. A humanoid robot standing on the tilting board was... 

Varus-valgus deformity is the improper alignment of lower extremities, which results in the increment of the local stress within the cartilage and the consequent alteration of the performance mechanism of the soft tissues around the knee joint. This accounts for changes within the movement pattern and thus further deformities, which, when continued, can lead to more serious damage in the form of osteoarthritis. The aforementioned cycle can be prevented through the conduction ofosteotomy; a surgical procedure in which the addition or removal of a bone wedge can correct the improper alignment. The correct design and conduction of osteotomy in terms of the location, angle, and size of the... 

In this study, transient diffusion of drug into the intervertebral disc is considered. The amount of Diffused drug from the blood into the intervertebral disc of dog is measured and concentration of drug is calculated for each region of the intervertebral disc including nucleus pulpous, inner annulus fibroses and outer annulus fibroses. Using finite element method, it is shown that the amount of drug diffusion into the intervertebral disc is affected by some parameters such as the type of drug, dose if drug and endplate calcification. This research is done in two parts: In first part, diffusion of drug (sulphate) into the dog intervertebral disc is investigated to compare the obtained... 

Measurement of human movement during work, sport as daily activities has important effects for rehabilitation and biomechanics experts.
Recently, several researches are concentrated on this technology significantly because of new progress in sensors and fusion sensors. In the near future, wearable and ambulatory devices will be used considerably in biomedical applications. In this study, we reviewed some methods about wearable measuring system then introduced and designed innovative wearable clothing for this purpose. Some specifications and advantages of our system in comparison with relevant researches are; using textile sensors that are manufactured through nano electro active polymer... 

Nowadays, advanced and inexpensive pre-clinical methods for investigating the effects of anti-cancer drugs are expanding. One of the latest three-dimensional laboratory modeling for evaluating the effects of drugs is the use of tumor-on-chip technology, which actually models the physiological system of the body through three-dimensional scaffolds, multicellular cultures, and shaped vascular systems. In this study, three-dimensional culture of cancer cells was performed in the form of spheroids. A chip of U-shaped microstructures with and without gaps was used to trap cells and form cancer spheroids. We simulated the simultaneous effect of drug and oxygen concentration distribution inside the...