Sharif Digital Repository

Vibration measurement is an important tool in many research fields; there are several methods for measuring vibration of a system. In conventional methods accelerometers are fixed to the body, so there is a systemic error due to fixing an external object to the body surface that interferes with the true vibration of the body. We have proposed image processing as a new method to record and determine the frequency response of human body. This method provides vibration measuring without using contacting sensors. Moreover the main advantage is its lower noise sensitivity in comparison to accelerometers. Further more another important point is the fact that all devices used in our developed... 

Various urban, industrial, and agricultural pollutions discharge more than river self-purification potential damages river ecosystem and increases water treatment costs. As different decision-makers and stakeholders are involved in the water quality management in river systems, a new bankruptcy form of the game theory is used to resolve the existing conflict of interests related to waste load allocation in downstream river. The river restoration potential can allocate to the conflicting parties with respect to their claims, by using bankruptcy solution methods. In this research, dischargeable pollution loads to Karun River are determined by pollution sources in various scenarios using... 

Dam construction in arid and semiarid regions is generally related to the risk of increased salinity, due to water passage in contact with salty formations. Hence, it is important to take reservoir thermal and salinity stratification into account in operational rules. In the present study, a simulation–optimization model was developed to determine the amount of water release from various outlets to discharge the brine from hypolimnion layer considering the downstream water quality limitations. The most appropriate time, rate, and concentration to release brine were determined based on water consumption conditions and downstream water demand and river ecology characteristics. The proposed... 

Various urban, industrial, and agricultural pollutions discharge more than river self-purification potential damages river ecosystem and increases water treatment costs. As different decision-makers and stakeholders are involved in the water quality management in river systems, a new bankruptcy form of the game theory is used to resolve the existing conflict of interests related to waste load allocation in downstream river. The river restoration potential can allocate to the conflicting parties with respect to their claims, by using bankruptcy solution methods. In this research, dischargeable pollution loads to Karun River are determined by pollution sources in various scenarios using... 

A new non-symmetric 5R-SPM is introduced and a geometrical approach is developed to analyze its configurations and singularities. The proposed methodology determines the type of configuration of a 5R-SPM, i.e. regular, singular, or out-of-workspace and also the type of singularity, i.e. instantaneous or finite, only based on geometric parameters and without solving verbose kinematic equations. It also provides insights into the workspace and singularities of 5R-SPMs, in the preliminary stage of design. The mechanism was analyzed by both the new geometrical approach and conventional methods for comparison. The geometrical approach could intuitively detect all the singularities observed by the... 

A robotic system was designed and developed to perform the camera handling task during laparoscopic surgery. The system employs an effective low cost mechanism, with a minimum number of actuated DOFs, enabling spherical movement around a remote centre of motion positioned at the the insertion point of the laparoscopic stem. Kinematic analysis showed a high manipulability measure for the system, with the left/right movements directly governed by rotation of the first rotary actuator, and zoom and up/down movements by the simultaneous motions of the linear and second rotary actuators. A prototype of the robot was developed for practical use in an operating room environment. Hands-free operator... 

Data related to force-deformation behaviour of soft tissue plays an important role in medical/surgical applications such as realistically modelling mechanical behaviour of soft tissue as well as minimally invasive surgery (MIS) and medical diagnosis. While the mechanical behaviour of soft tissue is very complex due to its different constitutive components, some issues increase its complexity like behavioural changes between the live and dead tissues. Indeed, an adequate quantitative description of mechanical behaviour of soft tissues requires high quality in vivo experimental data to be obtained and analysed. This paper describes a novel laparoscopic grasper with two parallel jaws capable of... 

Many research and development projects are being performed worldwide to develop new products and applications for computer-assisted and medical robotic systems. In this paper, an overview of selected state-of-the-art applications of robotic technology in medicine is presented. Four key areas of image-guided surgery, virtual reality in medicine, surgical robots, and robotic rehabilitation systems, are studied. As well, current challenges in research and development are discussed. Copyright  

There has been a rising trend towards robotic tele-surgery operations in recent years. A major concern, however, is the lack of direct contact between the surgeon and patient's body. Several researchers have proposed various designs of tactile sensors for surgical instruments to improve the dexterity of surgeons. Previously designed sensors, however, are mostly suitable for instruments with small contact areas. In this paper, a novel tactile sensor is introduced in integration with the teeth of a surgical grasper for large organs. It includes strain gauges embedded underneath a toothed plate, which also act as grasping teeth of the jaws of the instrument. The thickness of the plate and the... 

Background: Many deficiencies of minimally invasive robotic surgery systems can be eliminated by using automated laparoscopic tools with force measurement and control capability. Method: A fully modular, automated laparoscopic instrument with a proximal force sensory system was designed and fabricated. The efficacy of the instrument was evaluated experimentally when functioning in an autonomous force-controlled grasping scheme. Results: The designed instrument was shown to work easily with standard laparoscopic tools, with the whole distal part detachable for autoclave sterilization. The root mean squared error (RMSE) of the actual pinch force from the target ramp was 0.318 N; it was 0.402 N... 

Background: Autonomous grasping of soft tissues can facilitate the robotic surgery procedures. The previous attempts for implementing auto-grasping have been based on a simplistic representation of the actual surgery maneuvers. Method: A generalized three-zone grasp model was introduced to consider the effect of the pull force angulation on the grasp mode, that is, damage, slip, or safe grasp. Also, an extended auto-grasping algorithm was proposed in which the trigger force is automatically controlled against the pull force magnitude and direction, to achieve a safe and secure grasp. Results: The autonomous grasping experiments against a varying pull force in a phantom study indicated a good... 

High molecular mass of naphthalene make it non-biodegradable and the biological methods for treated the pollutant are much time consuming. In this paper, two methods of ozonation and aeration are used to remove naphthalene. Because of the industrial wastewater has a great range of pH, in this study different concentrations of soluble naphthalene are placed in variable pH conditions, different contact times and changes in amount of aeration and ozonation. ANOVA results indicated a significant difference between two methods. The average removal of naphthalene by use of ozonation is 55 % and 37 % for aeration. As results, the best conditions that naphthalene are removed is in acidic environment... 

Background: Secure grasping and effective manipulation of delicate large organs during robotic surgery operations needs especially designed instruments that can enclose a large amount of tissue and feed back the pinch forces. Methods: A large organ triple-jaw grasper was instrumented using practical force sensory and actuating systems. A force tracking scheme was proposed to facilitate auto-grasping of large organs during robotic teleoperation surgery. An on-site force commanding/reflecting mechanism was also implemented to use the device as an independent hand-held robotic instrument. The efficacy of the robotic grasper was examined in phantom tests. Results: The instrument grasped large... 

The currently available laparoscopic instruments are unable to manipulate and grasp the large intra-abdominal organs, such as spleen and kidney, with sufficient stability and safety. This paper describes a novel three-fingered endoscopic instrument, based on parallelogram mechanism, which can fully constrain the large organs and provide an effective grasping function. We first evaluated the efficacy of the design using a 3D model and finite element analysis. Then, a fully functional prototype was fabricated for experimental evaluations, including force propagation and pull force limitation characteristics. Finally, the instrument's capability for effective grasping was investigated on animal... 

During laparoscopic surgery, grasping of large body organs such as spleen, kidney, and liver, is a difficult task using conventional instruments. This paper describes the design and analysis of a novel actuated endoscopic grasper for manipulation of large internal organs. The designed instrument resembles a miniaturized three fingered hand with each finger consisting of two links. It could pass through a 10 mm trocar and then be opened inside the abdomen to grasp body organs up to 80 mm diameter. A detailed force analysis of the mechanism revealed that high actuating forces are required to grasp large organs. In order to facilitate the actuation of the grasper, its dimensions were optimized... 

This study conceptualizes the consumers' engagement with social media activation campaigns, which are important tools in improving the interactions between brands and consumers. We offer a comprehensive definition of this construct and discuss the nature and dimensionality of it. Further, this paper reports the development and validation of a 12-item scale for measuring the aforementioned construct. This scale development process comprises four studies. Study 1 begins by generating a pool of items and then employs both a panel of experts and some Instagram users to examine the content validity of the items. To validate the scale, this paper carries out several online surveys in subsequent...