Sharif Digital Repository

The application of manipulators is becoming more and more popular in object handling especially when it is desired to have access to remote areas in destructive or hazardous taskspaces. For this purpose, a hand-like mechanism must be designed to be used as an end-effector, which can grasp objects. In this paper a cable driven grasping mechanism has been presented. In the proposed mechanism each finger consists of three phalanxes which are actuated by a single motor. Locking and unlocking constraints are used in the mechanism in order to generate an anthropomorphic motion, in which, the order of reaching phalanxes to the object is sequential. In this way, each phalanx starts moving toward the... 

Flow hydrodynamics of laminar falling film of aqueous Li Br solution (Li Br - H2O) on a horizontal elliptical tube has been investigated in this research. The film velocity distribution and film thickness, namely, the flow characteristics are determined by solving analytically simultaneous simplified Navier - Stokes equations and continuity equation in polar and Cartesian coordinates. The analysis is based on steady state laminar flow of falling liquid film of Li Br - H2O on a horizontal elliptical tube in polar model and Cartesian model (CM), for cases in which traction on the film surface is considered negligible. Models are compared with each other in three cases of aspect ratios (Ar),... 

In this investigation, polymer concrete (PC) with three different epoxy resin contents, ordinary cement concrete (OCC), lightweight concrete (LWC), and lime-mortar soil (LMS) have been studied under uniaxial and triaxial compression tests to determine their mechanical behavior by measuring axial stress-strain and volumetric strain versus axial strain curves. According to the results, PC showed higher strength, ductility, and energy absorption than that of OCC and LWC. Then, nonlinear finite element analysis (NFEA) was implemented to predict the experimental results using hierarchical single-surface (HISS) failure criterion and disturbed state concept (DSC) to capture the elastoplastic... 

Velocity distributions in (r,θ) directions are evaluated by solving simultaneous simplified Navier-Stokes equations (NSE) and continuity equation (CE) in polar coordinate. The analysis is based on steady state laminar flow of thin falling liquid film on a horizontal circular tube, for cases in which traction on the film surface is considered negligible. It is a common geometry for part of engineering problems such as evaporator, condenser, absorber, generator of absorption chillers and other similar units in mechanical and chemical engineering. Knowledge of the velocity profiles is usually needed for: 1 - solving governing energy and species equations 2- estimating the average and film... 

Velocity distributions in (r,θ) directions are evaluated by solving simultaneous simplified Navier-Stokes equations (NSE) and continuity equation (CE) in polar coordinate. The analysis is based on steady state laminar flow of thin falling liquid film on a horizontal circular tube, for cases in which traction on the film surface is considered negligible. It is a common geometry for part of engineering problems such as evaporator, condenser, absorber, generator of absorption chillers and other similar units in mechanical and chemical engineering. Knowledge of the velocity profiles is usually needed for: 1- solving governing energy and species equations 2- estimating the average and film... 

Over the last decade, nanoparticles used as protein carriers have opened new avenues for a variety of biomedical applications. The main concern for these applications is changes in biological activity of immobilized proteins due to conformational changes on the surface of the carrier. To evaluate this concern, the preparation and biocatalyst activity of α-chymotrypsin-Fe 3O4 @ Au core/shell nanoparticles were investigated. First, Fe3O4 @ Au core/shell nanoparticles were synthesized by coprecipitation method and citrate reduction of HAuCl 4. TEM imaging revealed a core size of 13 ± 3 nm and a shell thickness of 4 ± 1 nm for synthesized nanoparticles. X-ray diffraction (XRD) was used to study... 

Selenium, in the form of selenoproteins present in the human body is an important micronutrient in human health. It is involved in immunity, oxidative defense, redox signaling and functioning of thyroid hormones. The narrow line existing between the essential dose satisfying the body needs and its toxic dose raises the question of how selenium cycles in nature. What plants can provide edible selenium? Which soils can provide this element for the plants? How can the presence of selenium in the life cycle be preserved? And what is the role of other biological molecules such as methionine in this cycle? On the other hand, selenium can be toxic in high doses hence, it is important to isolate... 

Two main sources for power dissipation in parallel buses are data transitions on each wire and coupling between adjacent wires. So far, many techniques have been proposed for reducing the self and coupling powers. Most of these methods utilize one (or more) control bit(s) to manage the behavior of data transitions on the parallel bus. In this paper, we propose a new coding scheme, referred to as GPH, to reduce power dissipation of these control bits. GPH coding scheme employs partitioned Bus Invert and Odd Even Bus-Invert coding techniques. This method benefits from Particle Swarm Optimization (PSO) algorithm to efficiently partition the bus. In order to reduce self and coupling powers of... 

Two main sources for power dissipation in parallel buses are data transitions on each wire and coupling between adjacent wires. There are many techniques for reducing the transition and coupling powers. These methods utilize extra control bits to manage the behavior of data transitions on parallel bus. In this paper, we propose a new coding scheme which tries to reduce power dissipation of control bits. The proposed method employs partitioned Bus Invert and Odd Even Bus Invert coding techniques. This method benefits from Particle Swarm Optimization (PSO) algorithm to efficiently partition the bus. In order to reduce transition and coupling power of control bits, it finds partitions with... 

This article reports on the results of experimental studies on combined heat and mass transfer in the absorption of water vapor by aqueous LiBr solution under laminar falling film flow on the horizontal elliptical tube (HET) bundle. The performance of the absorber with HET has been calculated based on the measured parameters. The outputs are shown with respect to absorbent inlet mass concentration and Reynolds Number (Re), coolant inlet temperature and flow rate, and absorber vapor pressure. The results are compared with the published experimental results on absorber bundle with horizontal circular tubes (HCT). The results show that the heat and mass transfer coefficients enhanced on HET at... 

A pH-responsive drug delivery system based on core shell structure of mesoporous silica nanoparticle (MSN) and chitosan-PEG copolymer was prepared and characterized by Fourier transform infrared spectroscopy (FT-IR), thermogravimetric analysis (TGA), scanning electron microscope (SEM), and high-resolution transmission microscope (HR-TEM) techniques. In order to improve compatibility MSN and drug, mesoporous nanosilica was modified by 3-aminopropyl triethoxysilane. The release of erythromycin (a macrolide antibiotic) as a model drug was investigated in two pHs, 7.4 and 5.5  

Fault coverage and test time have important roles in using Built in self-test (BIST). Two parameters are crucial and effective in BIST design: LFSR's polynomial (or configuration) and its initial seed. In this paper we propos a practical method for finding near optimal LFSR with genetic algorithm (GA) and show that LFSR is a good TPG compared with other TPGs. In this method, the candidate seeds are achieved through a deterministic approach, and an evolutionary approach is employed to obtain the LFSR configurations for the desired fault coverage under test time constraint. The configurations are encoded in binary chromosomes. The evolution process evolves the fittest configurations to achieve...