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Optimization of kinematic redundancy and workspace analysis of a dual-arm cam-lock robot
, Article Robotica ; Volume 34, Issue 1 , 2016 , Pages 23-42 ; 02635747 (ISSN) ; Ghaemi Osgouie, K ; Meghdari, A ; Sharif University of Technology
Cambridge University Press
2016
Abstract
In this paper, the problem of obtaining the optimal trajectory of a Dual-Arm Cam-Lock (DACL) robot is addressed. The DACL robot is a reconfigurable manipulator consisting of two cooperative arms, which may act separately. These may also be cam-locked in each other in some links and thus lose some degrees of freedom while gaining higher structural stiffness. This will also decrease their workspace volume. It is aimed to obtain the optimal configuration of the robot and the optimal joint trajectories to minimize the consumed energy for following a specific task space path. The Pontryagin's Minimum Principle is utilized with a shooting method to resolve kinematic redundancy. Numerical examples...
Optimization of Kinematic Redundancy and Manipulability Analysis of a Dual-Arm Cam-Lock Robot
, M.Sc. Thesis Sharif University of Technology ; Ghaemi Osguei, Kambiz (Supervisor) ; Meghdari, Ali ($item.subfieldsMap.e)
Abstract
Cooperative systems have been widely studied in literature. The Dual-Arm Cam-Locked (DACL) robot manipulators are reconfigurable arms formed by two parallel cooperative manipulators which operate redundantly but they may lock into each other in specific joints to increase structural stiffness in the cost of losing some degrees of freedom. Obtaining the optimal configuration demands lots of computational time and is not practical in real-time applications. In the present work, considering the kinematics of the manipulator, the optimal control problem of redundancy is formulated in the framework of tasks with the order of priority. The optimal control formulation is derived by using the...
Synthesis and electrochemical properties of LiNi0.8Co 0.2O2 nanopowders for lithium ion battery applications
, Article Journal of Power Sources ; Volume 196, Issue 1 , 2011 , Pages 337-342 ; 03787753 (ISSN) ; Asgari, S ; Sharif University of Technology
2011
Abstract
Nitrates of lithium, cobalt and nickel are utilized to synthesize LiNi 0.8Co0.2O2 cathode material through sol-gel technique. Various synthesis parameters such as calcination time and temperature as well as chelating agent are studied to determine the optimized condition for material processing. Using TG/DTA techniques, the optimized calcination temperatures are selected. Different characterization techniques such as ICP, XRD and TEM are employed to characterize the chemical composition, crystal structure, size and morphology of the powders. Micron and nano-sized powders are produced using citric/oxalic and TEA as chelating agent, respectively. Selected powders are used as cathode material...
Synthesis of LiNi0.8Co0.2O2 Nano Particles Coated with LiCoO2 Using Sol-Gel Method
, M.Sc. Thesis Sharif University of Technology ; Asgari, Sirous (Supervisor)
Abstract
Nitrates of lithium, cobalt and nickel were used to synthesize LiNi0.8Co0.2O2 cathode material through sol-gel technique. Various synthesis parameters such as calcination time, temperature, chelating agent and the solvent were studied to determine the optimized condition for processing the cathode nono materials. TG/DTA tests were used to identify the optimized calcination temperature. Different techniques such as ICP, XRD and TEM were employed to characterize the chemical composition, crystal structure, size and morphology of the powders. Micron and nano-sized powders were produced using citric / oxalic and TEA as chelating agent, respectively. Results show that the best condition for...
Robust Control of Spacecraft Rendezvous in Halo Orbits in the Three Body Problem
, M.Sc. Thesis Sharif University of Technology ; Pourtakdoust, Hossein (Supervisor)
Abstract
The problem of spacecraft rendezvous on periodic orbits around the L_1Lagrange point of the Earth-Moon system is investigated. For this purpose, the nonlinear relative equations of motion are drived within the contex of the Circular Restricted Three Body (CRTB) problem. Subsequently, several types of rendezvous missionas well as control teqniques are considered for analysis and simulation. Application of different control approaches allows for partial verification as well as comparison of results achieved with various teqniques. The considered control approaches include optimal closed loop Linear Quadratic Regulator (LQR), nonlinear Feedback Linearazation (FL) as well as the nonlinear...
Optimal Sensors Placement for Passive Source Localization Considering NLOS Conditions
, M.Sc. Thesis Sharif University of Technology ; Behnia, Fereidoon (Supervisor)
Abstract
Passive Location is to obtain the location and velocity of a radio source using a source-generated signal in the environment and extract its parameters, which today have many applications in controlling security activities, tracking people and vehicles, emergency services, radar, Sonar, electronic warfare, and etc. . The location of a source is obtained by using a variety of methods such as received signal strength (RSS), signal angle of arrival (AOA), signal time of arrival (TOA), time difference of arrival (TDOA), and frequency difference of arrival (FDOA) of received signals. Many studies have been done in measuring and extracting data and solving the equations. However, little research...
An enhancement in the photocatalytic activity of TiO 2 by the use of Pd: The question of layer sequence in the resulting hierarchical structure
, Article Journal of Coatings Technology Research ; Volume 8, Issue 1 , January , 2011 , Pages 75-81 ; 15470091 (ISSN) ; Ghorbani, M ; Mohsenzadeh, M ; Sharif University of Technology
2011
Abstract
TiO 2 and Pd-modified TiO 2 photocatalysts were prepared by sol-gel method. X-ray diffraction (XRD) data showed that the presence of Pd in TiO 2 catalyst decreases the crystalline size of TiO 2 and stabilizes anatase phase. The study of the photocatalytic activity of the films via Linear Sweep Voltametry (LSV) plots and antibacterial test against Escherichia coli ATCC 25922-a gram negative bacterium-showed that Pd increases the photocatalytic activity of the coatings. Besides, the sequence of layer deposition (TiO 2 and Pd-modified TiO 2) influences the photocatalytic properties. In other words, more photocatalytic activity is obtained when Pd-modified layer is deposited first
Optimization of kinematic redundancy and workspace analysis of a dual-arm cam-lock robot
, Article Robotica ; 2014 ; ISSN: 02635747 ; Osgouie, K. G ; Meghdari, A ; Sharif University of Technology
2014
Abstract
In this paper, the problem of obtaining the optimal trajectory of a Dual-Arm Cam-Lock (DACL) robot is addressed. The DACL robot is a reconfigurable manipulator consisting of two cooperative arms, which may act separately. These may also be cam-locked in each other in some links and thus lose some degrees of freedom while gaining higher structural stiffness. This will also decrease their workspace volume. It is aimed to obtain the optimal configuration of the robot and the optimal joint trajectories to minimize the consumed energy for following a specific task space path. The Pontryagin's Minimum Principle is utilized with a shooting method to resolve kinematic redundancy. Numerical examples...
Application of Artificial Intelligence for Screening of Improved Oil Recovery Methods
, M.Sc. Thesis Sharif University of Technology ; Jamshidi, Saeid (Supervisor) ; Jahanbakhshi, Saman (Co-Supervisor)
Abstract
To achieve the highest amount of FOPT during reservoir life and the most net present value, the parameters that are effective in the production of the field are adjusted to be the best performance. In order to achieve these conditions, the reservoir model and the surface will be checked integrated so that the optimal mode of each parameter is determined in interaction with other parameters, so the first integrated model of the reservoir and the surface and then optimizing the target functions of cumulative production and the net present value is performed using the genetic algorithm.Since the number of parameters of reservoir model and surface in the studied field in this study is high,...
Computer simulation of knee arthrometry to study the effects of partial ACL injury and tibiofemoral contact
, Article 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08, Vancouver, BC, 20 August 2008 through 25 August 2008 ; 2008 , Pages 895-898 ; 9781424418152 (ISBN) ; Farahmand, F ; Rezaeian, T ; Parnianpour, M ; Sharif University of Technology
IEEE Computer Society
2008
Abstract
We simulated the knee arthrometry test to obtain a deeper understanding of the joint's stability behavior and interpret the arthrometric results more effectively. A 2D sagittal plane finite element model of the lower limb in the standard configuration of knee arthrometry was developed using ANSYS APDL. A detailed model of the knee joint was considered including the femoral articulating contour represented by an ellipse, the tibial plateau represented by a circular arc, and four major knee ligaments and their individual bundles represented by linear and nonlinear tensile springs. A deformable layer of articular cartilage was also considered over the tibial plateau to simulate the bones...
Performance prediction of axial flow two-stage turbine based on different losses models
, Article Proceedings of the ASME Turbo Expo, 11 June 2012 through 15 June 2012 ; Volume 8, Issue PARTS A, B, AND C , June , 2012 , Pages 1391-1399 ; 9780791844748 (ISBN) ; Eftari, M ; Shahhosseini, M ; Rad, M ; Sharif University of Technology
2012
Abstract
The flow field in axial turbines is complex and threedimensional. Therefore, experimental flow field is essential to determine the performance characteristics. However, such testing is always expensive and complex. Simulation of gas turbines is a simple way to reduce testing costs and complexity. The main objective of this paper is to make a detailed systematic analysis of two-stage, axial flow turbine by using of different loss models and a new suggested algorithm based on one-dimensional simulation. In one-dimensional modeling, the loss models have to be used to determine the entropy increase across each section of axial turbines stage at both the design and off-design conditions. The...
Application of unmanned aerial vehicle Dem in flood modeling and comparison with global dems: case study of atrak river basin, Iran
, Article Journal of Environmental Management ; Volume 317 , 2022 ; 03014797 (ISSN) ; Khojeh, S ; Hosseini, S. M ; Jouybari Moghadam, Y ; Sharif University of Technology
Academic Press
2022
Abstract
Digital Elevation Models (DEMs) play a significant role in hydraulic modeling and flood risk management. This study initially investigated the effect of Unmanned Aerial Vehicle (UAV) DEM resolutions, ranging from 1 m to 30 m, on flood characteristics, including the inundation area, mean flow depth, and mean flow velocity. Then, the errors of flood characteristics for global DEMs, comprising ALOS (30 m), ASTER (30 m), SRTM (30 m), and TDX (12 m) were quantified using UAV DEM measurements. For these purposes, the HEC-RAS 2D model in steady-state conditions was used to simulate the flood with return periods of 5- to 200 years along 20 km reach of Atrak River located in northeastern Iran....
Experimental and Numerical Study of The Production of Alginate Microgels and Cancer Spheroids by Droplet-Based Microfluidic
, M.Sc. Thesis Sharif University of Technology ; Shamloo, Amir (Supervisor) ; Kazemzadeh Hannani, Siamak (Supervisor)
Abstract
Significant advances in biotechnology have led to the emergence of a cost-effective way with less ethical issues to study disease, organ functions, tumors, and their response to drugs besides studying on animals. Microfluidic devices and organ on a chip (tumor on a chip) were introduced to remove those obstacles. Organ on a chip is a powerful tool for studying different types of tissues and simulating diseases, especially cancers, for biological and medical applications. Organ (tumor) on a chip is considered as a smaller scale of the real organ or tumor and it causes to the real-time study of tissues and their functions more accurately. In this study, to fabricate a droplet-based...
Implementation of optical tracker system for marker-based human motion tracking
, Article 15th IASTED International Conference on Applied Simulation and Modelling, Rhodes, 26 June 2006 through 28 June 2006 ; Volume 2006 , 2006 , Pages 252-257 ; 0889865612 (ISBN); 9780889865617 (ISBN) ; Hoviatalab, M ; Rezaeian, T ; Alizadeh, M ; Bostan, M ; Sharif University of Technology
2006
Abstract
In this paper a complete design of a high speed optical human motion tracking system has been described for biomechanical human motion analysis and animation craft applications. The main core of the image processing unit that is implemented by the differential algorithm procedure and some intelligent and conservative procedures that facilitate the search algorithm have also been proposed and implemented for the processing of human motions tracking images. In the next step an optimized modified direct linear transformation (MDLT) method has been used to reconstruct 3D locations of markers as an input data for animation unit. The low computational cost and the high precision in detecting and...
Green synthesis of silica nanoparticles from olive residue and investigation of their anticancer potential
, Article Nanomedicine ; Volume 16, Issue 18 , 2021 , Pages 1581-1593 ; 17435889 (ISSN) ; Afjoul, H ; Shamloo, A ; Maleki, A ; Afjoul, N ; Sharif University of Technology
Future Medicine Ltd
2021
Abstract
Graphical abstract
Analytical modeling of performance characteristics of axial flow two-stage turbine engine using pressure losses models and comparing with experimental results
, Article World Applied Sciences Journal ; Volume 21, Issue 9 , February , 2013 , Pages 1250-1259 ; 18184952 (ISSN) ; Eftari, M ; Kaliji, H. D ; Ghadak, F ; Rad, M ; Sharif University of Technology
2013
Abstract
The main objective of this paper is to make a detailed systematic analysis of two-stage, axial flow turbine by using of different losses models and a new suggested algorithm based on one-dimensional simulation. The suggested method is found to be effective, fast and stable, in obtaining performance characteristics of multi-stage axial flow turbines. In one-dimensional modeling, mass flow rate, pressure ratio and efficiency are unknown, with define turbine geometry, inlet total pressure and temperature the turbine performance characteristics can be modeled. This modeling is based on common thermodynamics and aerodynamics principles in a mean stream line analysis under steady state condition....
The effect of non-uniform magnetic field on the efficiency of mixing in droplet-based microfluidics: a numerical investigation
, Article Micromachines ; Volume 13, Issue 10 , 2022 ; 2072666X (ISSN) ; Nouri, M ; Hassani Gangaraj, M ; Shamloo, A ; Nasiri, R ; Sharif University of Technology
MDPI
2022
Abstract
Achieving high efficiency and throughput in droplet-based mixing over a small characteristic length, such as microfluidic channels, is one of the crucial parameters in Lab-on-a-Chip (LOC) applications. One solution to achieve efficient mixing is to use active mixers in which an external power source is utilized to mix two fluids. One of these active methods is magnetic micromixers using ferrofluid. In this technique, magnetic nanoparticles are used to make one phase responsive to magnetic force, and then by applying a magnetic field, two fluid phases, one of which is magneto-responsive, will sufficiently mix. In this study, we investigated the effect of the magnetic field’s characteristics...
Design of a marker-based human motion tracking system
, Article Biomedical Signal Processing and Control ; Volume 2, Issue 1 , 2007 , Pages 59-67 ; 17468094 (ISSN) ; Hoviattalab, M ; Rezaeian, T ; Alizadeh, M ; Bostan, M ; Mokhtarzadeh, H ; Sharif University of Technology
2007
Abstract
In this paper a complete design of a high speed optical motion analyzer system has been described. The main core of the image processing unit has been implemented by the differential algorithm procedure. Some intelligent and conservative procedures that facilitate the search algorithm have also been proposed and implemented for the processing of human motions. Moreover, an optimized modified direct linear transformation (MDLT) method has been used to reconstruct 3D markers positions which are used for deriving kinematic characteristics of the motion. Consequently, a set of complete tests using some simple mechanical devices were conducted to verify the system outputs. Considering the system...
Electromyographic analysis of anterior cruciate deficient knees with and without functional bracing during lunge exercise
, Article Prosthetics and Orthotics International ; Volume 40, Issue 2 , 2016 , Pages 270-276 ; 03093646 (ISSN) ; Farahmand, F ; Rezaeian, T ; Ramsey, D. K ; Mousavi, S. M. E ; Sharif University of Technology
SAGE Publications Inc
2016
Abstract
Background: The use of functional knee braces for returning to sports or during demanding activities following anterior cruciate ligament rupture is common; yet despite being commonly prescribed, its mechanism of action remains unknown. Objectives: To examine the effect of functional knee braces on mean muscle activity when performing lunge exercises. Study design: Pre-/post-test (within-subject research design). Methods: A total of 10 male participants with unilateral isolated anterior cruciate ligament deficiency participated. Electromyographic activities of six muscles around the knee were recorded during lunge exercises, with and without wearing a custom functional knee brace. The lunge...
A multiobjective integrated multiproject scheduling and multiskilled workforce assignment model considering learning effect under uncertainty
, Article Computational Intelligence ; Volume 36, Issue 1 , February , 2020 , Pages 276-296 ; Seyyed Esfahani, M. M ; Mahdavi, I ; Mahdavi Amiri, N ; Rezaeian, J ; Sharif University of Technology
Blackwell Publishing Inc
2020
Abstract
Today, organizations try to decline academically expenses using humans and resources in addition to rising managers and operators' satisfaction. Meantime, a very important step in the process of decision is the assignment of human resources, particularly in connection with research and development (R&D) projects in which the system is highly dependent on the capabilities of human resources. In this study, we tried all the assumptions that come true in the real world, considered a model for applied R&D projects to reduce costs and increase the efficiency of projects. Therefore, an integrated multiproject scheduling and multiskill human resource assignment model under uncertainty has developed...