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In this article singular points of a parallel manipulator are obtained based on a novel geometrical method. Here we introduce the constrained plain method (CPM) and some of its application in parallel mechanism. Given the definition of constraint plane (CP) and infinite constraint plane (ICP) the dependency conditions of constraints is achieved with the use of a new theorem based on the Ceva geometrical theorem. The direction of angular velocity of a body is achieved by having three ICPs with the use of another theorem. Finally, with the use of the above two novel theorems singularities of the 3UPF_PU mechanism are obtained. It should be emphasized that this method is completely geometrical,... 

One of the most challenging problems in dealing with parallel manipulators is identifying their forward singular configurations. In such configurations these mechanisms become uncontrollable and cannot tolerate any external force. In this article a geometrical method, namely Constraint Plane Method (CPM), is introduced with the use of which one can easily obtain the singular configurations in many parallel manipulators. CPM is a methodical technique based on the famous Ceva plane geometry theorem. It is interesting to note that CPM involves no calculations and yields te result quickly. In addition, some of the previous geometrical methods led to many separate singular configurations;... 

A parallel manipulator is a closed loop mechanism in which a moving platform is connected to the base by at least two serial kinematic chains. The main problem engaged in these mechanisms, is their restricted working space as a result of singularities. In order to tackle these problems, many methods have been introduced by scholars. However, most of the mentioned methods are too much time consuming and need a great amount of computations. They also in most cases do not provide a good insight to the existence of singularity for the designer. In this paper a novel approach is introduced and utilized to identify singularities in parallel manipulators. By applying the new method, one could get a... 

New methods for the Inverse and forward kinematic analysis of the novel six Degrees of Freedom (6DOF) parallel manipulator which has only two legs are presented. The actuation of the new mechanism is through two base-mounted spherical actuators. In the inverse pose kinematic, active joint variables are directly calculated with no need for the evaluation of passive joint variables. In the forward pose kinematic, closed form solution adopting a new approach is presented. It is shown that the inverse and forward pose kinematic have sixteen and four different solutions, respectively. Moreover, closed form equations for the rate kinematic analysis are proposed. Finally, two different categories... 

In this paper we present a novel planar structure of a snake-like robot. This structure enables passive locomotion in snake-like robots through an auxiliary link in joint and a torsional spring. Dynamic equations are derived, using Gibbs-Appell method. Kinematic model of the robot include numerous non-holonomic constraints, which can be omitted at the beginning by choosing proper coordinates to describe the model in Gibbs-Appell framework. In such a case, dynamic equations will be significantly simplified, resulting in significant reduction of simulation time. Simulation results show that, by proper selecting initial conditions, joint angles operate in a limit cycle and robot can locomote... 

In this paper conception and dynamic modeling of a snake-like robot with passive wheels and compliant joints is investigated. The proposed robot has the ability to follow a socalled Serpenoid curve passively by using an appropriate set of initial conditions. Introduction of a unique structure at each joint enables the robot to achieve passive motion. A torsional spring is used in series with an actuator between each two consecutive links. Using wheels at the middle of each link imposes many non-holonomic constraints to the system. These constraints reduce the degrees of freedom of the system to only two. Due to the existence of these non-holonomic constraints, dynamic equations governing the... 

The insect circulatory system contains an open hemocoel, in which the mechanism of hemolymph flow control is ambiguous. As a continuous fluidic structure, this cavity should exhibit pressure changes that propagate quickly. Narrow-waisted insects create sustained pressure differences across segments, but their constricted waist provides an evident mechanism for compartmentalization. Insects with no obvious constrictions between segments may be capable of functionally compartmentalizing the body, which could explain complex hemolymph flows. Here, we test the hypothesis of functional compartmentalization by measuring pressures in a beetle and recording abdominal movements. We found that the... 

Four 5-, 10-, 20- and 30-story moment frames, representing low-, mid-, and two high-rise structures, were subjected to a great number of idealized directivity pulses. The amplitudes and periods of pulses vary from 0.02 g to 1.0 g and 0.5 to 12 sec, respectively. Over 1400 nonlinear dynamic analyses of low- to high-rise moment frames were performed which were feasible through using modified fish-bone model. The distribution of interstory drift along the height was studied and two applied contours were proposed: (i) the maximum interstory drift contour, and (ii) the critical story contour. These contours were demonstrated versus the ratio of natural period of the structure to the pulse period... 

An analytical model is proposed to study the effect of particle size on melting enthalpy and entropy of metallic nanoparticles (NPs). The Mott's and Regel's equations for melting entropy in the combination of core average coordination number (CAC) and surface average coordination number (SAC) of freestanding NPs are considered. Clusters of icosahedral (IC), body centered cubic (BCC), and body centered tetragonal (BCT) structure without any vacancies and defects are modeled. Using the variable coordination number made this model to be in good agreement with experimental and molecular dynamic (MD) results of different crystal structures. The model predicts melting entropy and enthalpy of... 

Grinding is widely used for manufacturing of components that require fine surface finish and good dimensional accuracy. In this study a thermo-mechanical finite element analysis is conducted to find out how grinding parameters can affect temperature and residual stress distribution in the workpiece. Results of parametric study presented in this work indicate, by carefully selecting the grinding parameters, minimum thermal and mechanical damage can be achieved. Higher workpiece velocities produce higher surface residual stress. By increasing depths of cut, depth of tensile residual stresses increases. Convection heat coefficient does not have any considerable effect on surface residual stress... 

Adaptive Noise Cancellation (ANC) is a well-known technique for background noise reduction in automobile and vehicular environments. The noise fields in automobile and other vehicle interior obey the diffuse noise field model closely. On the other hand, the ANC does not provide sufficient noise reduction in the diffuse noise fields. In this paper, a new multistage post-filter is designed for ANC as a solution to diffuse noise conditions. The designed post-filter is a single channel Linear Prediction (LP) based speech enhancement system. The LP is performed by an adaptive lattice filter and attempts to extract speech components by using intermediate ANC signals. The post-filter has no... 

Shot peening is widely used to improve the fretting fatigue strength of critical surfaces. Fretting fatigue occurs in contacting parts that are subjected to fluctuating loads and sliding movements at the same time. This paper presents a sequential finite element simulation to investigate the shot peening effects on normal stress, shear stress, bulk stress and slip amplitude, which are considered to be the controlling parameters of fretting damage. The results demonstrated that among the modifications related to shot peening, compressive residual stress has a dominant effect on the fretting parameters  

One-dimensional (1D) MgO structures were successfully synthesized via carbothermic reduction of mechanically activated mixture of MgO and graphite. Mechanical activation of source materials before carbothermic reduction can substantially enhance the formation of MgO products at a temperature (1000 °C) relatively lower than that required in previous approaches (≥1200 °C). However, the morphology of MgO formed is dependent on the degree of mechanical activation and the condition of the subsequent carbothermic reduction. Two distinctive morphologies were found for MgO products synthesized using our method: single crystalline nanorods with rectangular cross-sections whose diameters range from 50... 

Attitude and vibration control of a general form of flexible satellites is addressed in this paper. Partial differential dynamic equations are derived considering new details such as multi sectioned solar panels and elastic connections between main hub and solar panels. Boundary control approach is adopted to eliminate simplification errors of discrete models, using just one actuator in the hub. Asymptotic stability of attitude dynamics is proved for a group of boundary controllers and necessary conditions for asymptotic stability of vibrations are discussed. Being independent of modeling accuracy and using easily measurable feedbacks are among advantages of the proposed class of... 

Characterization and calcination behavior of a low-grade manganese ore, as a part of Mn ferroalloys production, was studied by XRF, ex-situ XRD, in-situ XRD, and SEM-EDS techniques. Calcination experiments were carried out at and up to 900 °C (1173 K) in air and argon atmospheres. The samples were in particles and powder forms. The results indicated that both quartz and calcite phases in the ore exhibit a bimodal spatial distribution; as relatively large regions and finely distributed in the Mn- and Fe-containing phases. By Rietveld analysis of the in-situ XRD data, the reactions occurring upon heating during the calcination process were deduced. Thermal decomposition and reactive diffusion... 

Estimating the position of a mobile set is of great importance in new mobile services. However, in most cases, the accuracy should be less than 100 meters. This accuracy is hard to reach especially in urban areas. The main problem is that there are a lot of obstacles like buildings between the BTS and the mobile set. Thus the time measured between BTS and the mobile set is somehow greater than the time it takes the wave to travel directly between two points. This paper introduces an optimized solution for TDOA as one of the most efficient ways for finding the location of a mobile phone. Considering the standards and limitations of both GSM and UMTS, the Authors present a solution for... 

Weighting elements to achieve radiation patterns with desired characteristics is a classical work in phased array antennas. These characteristics can be low sidelobe level, narrow beamwidth, high directivity, pattern nulling in special angle and etc. For each of these characteristics, different methods have been introduced. Most of methods have been presented for uniform arrays, however there are lots of methods to obtain a desired pattern for antennas with non-uniform element distances. The problem with these methods is complexity or not very good results. In this paper, fast and easy methods based on Least Square Error that leads to good results are presented. In addition, weighting of... 

The elastic behavior of an edge dislocation, which is positioned outside of a nanoscale elliptical inhomogeneity, is studied within the interface elasticity approach incorporating the elastic moduli and surface tension of the interface. The complex potential function method is used. The dislocation stress field and the image force acting on the dislocation are found and analyzed in detail. The difference between the solutions obtained within the classical-elasticity and interface-elasticity approaches is discussed. It is shown that for the stress field, this difference can be significant in those points of the inhomogeneity-matrix interface, where the radius of curvature is smaller and which... 

In this paper, optimal control strategy is applied to parallel three-phase inverters using SVPWM technique. The three-phase system is transformed to a synchronous-stationary frame, suitable cost functions are defined, and the switching schemes are determined for the inverters. The control strategy minimizes the circulating current between the inverters, therefore, proper load sharing scheme is achieved. Simulations are performed for steady state and load change operation, and the results which show the suitability of the controller are provided. ©2009 IEEE