Sharif Digital Repository

In the present work, fcc-Al nanoparticle development in Al90−xNi10MMx (MM: Ce mischmetal; x=2, 4) amorphous alloys was studied via non-isothermal differential scanning calorimetry, X-ray diffraction, transmission electron microscopy, and nanoindentation test. Results showed that the crystallization of Al88Ni10MM2 alloy occurred by the precipitation of fcc-Al nanoparticles followed by the crystallization of Al11MM3 and Al3Ni phases. Transmission electron microscopy revealed that the aluminum precipitates had an average size of ~12 nm with a round morphology. Increasing the mischmetal content to 4 at% (Al86Ni10MM4 alloy) caused a three-stage crystallization process with a change in the size... 

In this study, a gait optimization routine is developed to generate walking patterns which demand the lowest friction forces for implementation. The aim of this research is to fully address the question “which walking pattern demands the lowest coefficient of friction amongst all feasible patterns?”. To this end, first, the kinematic structure of the considered 31 DOF (Degrees of Freedom) humanoid robot is investigated and a closed-form dynamics model for its lower-body is developed. Then, the medium through which the walking pattern generation is conducted is presented. In this medium, after designing trajectories for the feet and the pelvis, the joint space variables are obtained, using... 

In this study, a gait optimization routine is developed to generate walking patterns which demand the lowest friction forces for implementation. The aim of this research is to fully address the question which walking pattern demands the lowest coefficient of friction amongst all feasible patterns?. To this end, first, the kinematic structure of the considered 31 DOF (Degrees of Freedom) humanoid robot is investigated and a closed-form dynamics model for its lower-body is developed. Then, the medium through which the walking pattern generation is conducted is presented. In this medium, after designing trajectories for the feet and the pelvis, the joint space variables are obtained, using the... 

In this paper, two online path planning methods are presented for SURENA III humanoid robot by using model predictive control scheme. The methods are general control schemes which can generate the online motions for walking of a humanoid robot. For lowering computational costs a three dimensional linear inverted pendulum model is used instead of the full dynamical model of the robot. The generated trajectories are then used for computing the zero-moment point (ZMP) of the robot and the joint torques. The resulted joint torques of the two methods are compared to torques obtained from Genetic Algorithm (GA) path planning method presented for SURENA III humanoid robot in previous studies. The... 

This study addresses optimal walking pattern generation for SURENA III humanoid robot in a stair-climbing scenario. To this end, the kinematic configuration of the 31-DOF humanoid robot is studied. Integrating the detailed dynamic properties of the robot, a comprehensive and precise dynamic model is developed for its lower-limb. In order to generate the optimal walking pattern for the considered humanoid robot, trajectories for feet and pelvis are first designed, and then joint angles are derived by means of inverse kinematics. Such a complete model provides the designer with the necessary tools to optimize the trajectory generation. Using two different types of objective functions, namely... 

Contact modeling plays a central role in motion planning, simulation and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid and compliant premise at interaction ports. Contrary to the dynamics model of legged systems with rigid contact (without impact) which is straightforward to develop, there is no consensus among researchers to employ a standard compliant contact model. Our main goal in this paper is to study the dynamics model structure of bipedal walking systems with rigid contact and a novel compliant contact model, and to present experimental validation of both models. For the model with rigid... 

The understudy SURENA III humanoid robot was designed and fabricated at the Center of Advanced Systems and Technologies (CAST) located in the Universityof Tehran. In this paper, a full dynamic model of SURENA III in different walking phases including heel-offand heel-strike motions is presented. To this end, first a trajectory planning method based on robot kinematics is introduced. Then, the multi-body dynamics of the robot links are calculated using Lagrange and Kane approaches which are then verified. In this model, the power transmissionsystem is considered to be ideal. Afterward, system identification routine is adopted to model the dynamic behavior of the power transmission system. By... 

Concepts like peculiar velocity, gravitational force, and power spectrum and their inter-relationships are of utmost importance in the theories of structure formation. The observational implementation of these concepts is usually based on the Newtonian hydro-dynamic equations, but used up to scales where general relativistic effects come in. Using a perturbation of FRW metric in harmonic gauge, we show that the relativistic effects reduce to light cone effects including the expansion of the universe. Within the Newtonian gravitation, the linear perturbation theory of large scale structure formation predicts the peculiar velocity field to be directly proportional to gravitational force due to... 

Al86Ni10MM4 (MM: Mischmetal) amorphous ribbons were prepared by melt spinning on a child copper wheel. Non-isothermal crystallization kinetics of the amorphous alloy was studied by differential scanning calorimetry (DSC). The crystallized phases were determined by X-ray diffraction method and transmission electron microscopy. DSC traces were analyzed by Kissinger method to determine the apparent activation energy of crystallization. Changes in the activation energy (Eα) with progression of crystallization were also evaluated by differential iso-conversional method of Friedman. For the precipitation of nanometer-sized Al particles, the activation energy slightly increased with increasing the... 

Transmission of natural gas from its sources to end users in various geographical locations is carried out mostly by natural gas transmission pipeline networks (NGTNs). Effective design and operation of NGTNs requires insights into their steady-state and, particularly, dynamic behavior. This, in turn, calls for efficient computer-aided approaches furnished with accurate mathematical models. The conventional mathematical methods for the dynamic simulation of NGTNs are computationally intensive. In this paper, the use of autoregressive neural networks for cost-effective dynamic simulation of NGTNs is proposed. Considering the length, diameter, roughness, and elevation as the main... 

Artificial intelligence (AI) as a suite of technologies can complement systematic review and meta-analysis studies and answer questions that cannot be typically answered using traditional review protocols and reporting methods. The purpose of this protocol is to introduce a new protocol to complete systematic review and meta-analysis studies. In this work, systematic review, meta-analysis, and meta-analysis network based on selected AI technique, and for P < 0.05 are followed, with a view to responding to questions and challenges that the global population is facing in light of the COVID-19 pandemic. Finally, it is expected that conducting reviews by following the proposed protocol can... 

A two-machine flowshop scheduling problem is addressed to minimize setups and makespan where each job is characterized by a pair of attributes that entail setups on each machine. The setup times are sequence-dependent on both machines. It is shown that these objectives conflict, so the Pareto optimization approach is considered. The scheduling problems considering either of these objectives are N p - hard, so exact optimization techniques are impractical for large-sized problems. We propose two multi-objective metaheurisctics based on genetic algorithms (MOGA) and simulated annealing (MOSA) to find approximations of Pareto-optimal sets. The performances of these approaches are compared with... 

A bicriteria two-machine flowshop scheduling problem is addressed to minimize the number of setups and makespan. The jobs have sequence dependent setup times. Scheduling problems considering either of these objectives are NP-hard. Two multi-objective metaheurisctics based on genetic algorithms (MOGA) and simulated annealing (MOSA) are proposed to find approximations of Pareto-optimal frontiers. The performances of these approaches are compared with lower bounds for small problems. In larger problems, their performance is compared with each other. Experimentations revealed that both algorithms perform very similar on small problems and that MOGA outperforms MOSA in terms of the quality of... 

Using a proposed evolutionary algorithm, we have solved the inverse problem of finding the incident field on a high-aperture lens for generating a desired focused field, for the first time (to our knowledge). Further, we have achieved the global solution to the problem using this novel algorithm  

We consider a planar gravitating thick domain wall of the λφ4 theory as a space-time with finite thickness glued to two vacuum space-times on each side of it. Darmois junction conditions written on the boundaries of the thick wall with the embedding space-times reproduce the Israel junction condition across the wall in the limit of infinitesimal thickness. The thick planar domain wall located at a fixed position is then transformed to a new coordinate system in which its dynamics can be formulated. It is shown that the wall's core expands as if it were a thin wall. The thickness in the new coordinates is not constant anymore and its time dependence is given. © World Scientific Publishing... 

We extend our previous formalism in order to analyse the dynamics of a general shell of matter with an arbitrary finite thickness immersed in a curved spacetime. Within this new formulation, we obtain the equations of motion of a spherically symmetric dust thick shell immersed in vacuum as well as Friedmann-Robertson-Walker spacetimes. © 2006 IOP Publishing Ltd  

The Haptic device is capable of interacting dynamically with the operator by the forces it can exert on human's hand. Controlling the haptic device and constraining it through the desired trajectory is the common task in the most of the training systems. Haptic interface application in virtual Persian handwriting learning system is investigated in this paper. Two different modes of learning is investigated: The full guidance mode, guides the user to follow a prerecorded trajectory by applying proper force to operator's hand; whereas in partial guidance, combination of haptics andvisual feedback guides the operator and prevents deviation from the desired trajectory. © 2009 IEEE  

User churn is an important issue in online services that threatens the health and profitability of services. Most of the previous works on churn prediction convert the problem into a binary classification task where the users are labeled as churned and non-churned. More recently, some works have tried to convert the user churn prediction problem into the prediction of user return time. In this approach which is more realistic in real world online services, at each time-step the model predicts the user return time instead of predicting a churn label. However, the previous works in this category suffer from lack of generality and require high computational complexity. In this paper, we... 

In this paper, the authors analyze conditions under which they can be certain on the intensity addition of a given device, such as tapped-delay lines, used in digital incoherent all-optical communication systems. A general expression for phase-induced intensity noise that is applicable to all types of semiconductor lasers is derived by defining an optical self-SNR expression that can be used to analyze and measure phase-induced intensity noise. The result shows that in order to have a minimal phase-induced intensity noise in most digital optical incoherent systems, a large optical self-SNR, e.g., 20 dB or more, is needed. This in turn is shown to place a limit on the maximum rate of... 

Concepts developed in the gravitational lensing techniques such as shear, convergence, tangential, and radial arcs maybe used to see how tenable inhomogeneous models proposed to explain the acceleration of the universe models are. We study the widely discussed Lemaitre-Tolman-Bondi (LTB) cosmological models. It turns out that for the observer sitting at origin of a global LTB solution the shear vanishes as in the Friedmann-Robertson-Walker models, while the value of convergence is different, which may lead to observable cosmological effects. We also consider Swiss-cheese models proposed recently based on LTB with an observer sitting in the Friedmann-Robertson-Walker part. It turns out that...