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Robust stable control of haptic devices based on transparency maximization
, Article ASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010, Vancouver, BC, 12 November 2010 through 18 November 2010 ; Volume 8, Issue PARTS A AND B , 2010 , Pages 773-780 ; 9780791844458 (ISBN) ; Ahmadian, M ; Vossoughi, G ; Sharif University of Technology
2010
Abstract
Performance of a haptic device is evaluated based on the concept of transparency. Stability of a haptic device prevalently has been evaluated based on the passivity criterion. Due to conservativeness of passivity, it appears as an obstacle to improve transparency. In this paper, passivity is suggested to be replaced by the complementary stability criterion which accounts for the robust stability of the interaction in the presence of uncertain user hand dynamics. In this respect, an algorithm is proposed which guarantees transparency of the haptic device in a stable manner. Assuming that the dynamics of the device is known, a certain compensatory structure is assigned. This special structure...
Robust stable control of haptic devices based on transparency maximization
, Article Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering ; Volume 225, Issue 7 , 2011 , Pages 954-967 ; 09596518 (ISSN) ; Vossoughi, G ; Tajaddodianfar, F ; Sharif University of Technology
2011
Abstract
The performance of hapticdevicesisevaluatedbasedontheconceptoftransparency, whiletheirstabilityhasprevalentlybeenevaluatedbasedonthepassivitycriterion. Duetotheconservativenessofpassivity, itappearsasanobstacletoimprovingtransparency.Inthepresentpaper, passivityissuggestedtobereplacedbythecomplementarystabilitycriterionwhichaccoun tsfortherobuststabilityoftheinteractioninthepresnceofuncertainuserhanddynamics. Inthisrespect, analgorithmisproposedwhichguaranteestransparencyofthehapticdeviceinastablemanne r.Assumingthatthedynamicsofthedeviceisknown, acertaincompensatorystructureisassigned. Thisspecialstructureguaranteestransparencyofthedevicebycompensatingforthedynami...
Design and fuzzy control of a moving magnetic levitation device for 3D manipulation of small objects
, Article ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010, 12 July 2010 through 14 July 2010 ; Volume 5 , 2010 , Pages 255-261 ; 9780791849194 (ISBN) ; Vossoughi, G ; Tajaddodianfar, F ; Sharif University of Technology
2010
Abstract
Magnetic levitation is an appropriate solution for noncontact 3D manipulation. Workspace of the previously proposed maglev systems are confined to a relatively small cube, and this severely limits application of this technology. In addition, most of the previously given mechanisms require design and application of a subsystem for unifying their magnetic field. In this paper, a moving magnet is implemented which results in horizontally extendable work space; moreover, the field unifying section is not needed since one electromagnet only is used. Further, details of the mechanism and finite element based design procedure of the magnet are presented. Dynamic equations of the system derived by...
Continuum models calibrated with atomistic simulations for the transverse vibrations of silicon nanowires
, Article International Journal of Engineering Science ; Volume 100 , 2016 , Pages 8-24 ; 00207225 (ISSN) ; Afsharmanesh, B ; Tajaddodianfar, F ; Sharif University of Technology
Elsevier Ltd
2016
Abstract
We have conducted Molecular Dynamics (MD) simulations with the Environment-Dependent Interatomic Potential (EDIP) to obtain the natural frequency of ultra-thin Silicon Nanowires (SiNWs) with various crystallographic structures, boundary conditions and dimensions. As expected, results show that the mechanical properties of SiNWs are size-/orientation-dependent. The observed phenomena are ascribed to the surface effects which become dominant due to the large surface-to-volume number of atoms at the investigated range of dimensions. Due to their accuracy, atomistic simulations are widely accepted for the investigations of such nano-scaled systems; however, they suffer from high computational...
Dynamics of bistable initially curved shallow microbeams: Effects of the electrostatic fringing fields
, Article IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM ; July , 2014 , p. 1279-1283 ; Yazdiو M. H ; Pishkenariو H. N ; Sharif University of Technology
2014
Abstract
Effects of fringing electrostatic fields on the behavior of a double clamped initially curved microbeam are investigated. Galerkin's decomposition method is applied on the governing Euler-Bernoulli equation with distributed electrostatic force to obtain the lumped-parameter model of the system. The resulting single degree of freedom model is obtained with the Palmer's formula as a model for the fringing field effects. To derive an applied form of the fringing field effect in lumped model, we have used Genetic Algorithms as an optimization method. Then using the lumped model, we have investigated the system nonlinear dynamics. Comparison of the obtained bifurcation diagrams with the...
Throughput Analysis in Multi Hop Cellular Networks
, M.Sc. Thesis Sharif University of Technology ; Ashtiani, Farid (Supervisor)
Abstract
OFDMA multi-hop cellular network (MCN) is the topic of a wide range of research today. In this thesis, we analyse this type of networks, regarding shadowing status, mobility patterns and different service requirements. In the multi-hop (MH) scenario, six fixed relays are set up in each cell, which split the cell into seven subcells. For mobility modeling, each subcell is split into several sub-regions. Mobile nodes are able to maintain at each sub-region with a random time distribution and migrate from it to one of its neighboring sub-regions. We also consider three types of services requiring specific number of subcarriers with specific BERs. The set of subcarriers is distributed among...
Throughput Analysis of a Cognitive Multi-hop Wireless Network Overlaid on a Cellular Network
, M.Sc. Thesis Sharif University of Technology ; Ashtiani, Farid (Supervisor)
Abstract
In this thesis, we evaluate the maximum stable throughput of a cognitive multi-hop IEEE 802.11-based WLAN overlaid on a cellular network. In the considered scenario, the secondary users operate in the downlink or uplink frequency band of primary network and transmit their data in free primary channels using OFDM technique. The activity of primary nodes is modeled independently by ON-OFF alternating states. To model the scenario, each secondary user is modeled with an open queueing network. The queueing network can model the transmission of data as well as the effect of primary users. By writing the traffic equations of the queueing network and applying the stability conditions, we are able...
Network Coding-based Packet Relaying in Wireless Networks
, M.Sc. Thesis Sharif University of Technology ; Ashtiani, Farid (Supervisor)
Abstract
In this thesis, we propose two new network coding-based packet relaying schemes suitable for multiple unicast scenarios in a random access network. In such networks the channels may have memory dependent upon the random access scheme. Thus, the optimal scheme for memoryless channels reported recently in the literature is not necessarily optimal in random access networks. In our proposed schemes, we convert a multiple unicast scenario to a combination of multiple anycast and a few multicast scenarios. By such an approach, we exploit the channels between relay node and the other nodes, instead of using only one channel at each packet transmission, for as many as possible. By simple analytical...
Analysis of the Effect of Frame Aggregation in IEEE 802.11 Standard
, M.Sc. Thesis Sharif University of Technology ; Ashtiyani, Farid (Supervisor)
Abstract
In this thesis the effect of frame aggregation mechanism in maximizing throughput in Wireless Local Area Networks (WLANs) have been investigated. Frame aggregation has become a part of the IEEE 802.11 standard as the amendment IEEE 802.11n. First, we have a quick review on access control layer in IEEE 802.11 standard then illustrate the necessity of frame aggregation. Afterwards, we propose an analytical model for the analysis of an IEEE 802.11n network comprised of an Access Point (AP) and several conventional nodes, all in the coverage area of each other. This analytical model focuses on downlink throughput; therefore only AP uses frame aggregation and the other nodes use basic IEEE 802.11...
Performance Analysis of Cognitive Radio Networks With Capability of Spectrum Mobility
, M.Sc. Thesis Sharif University of Technology ; Ashtinani, Farid (Supervisor)
Abstract
In cognitive radio networks, secondary users try to use empty channels that primary users provide for transmitting data. First, the secondary users sense the target channels. If the selected channel is empty, they send their data. When the primary user returns, the secondary user has to find another empty channel for transmitting data. The process of changing channel is called hand off. In recent years, there are challenges in the spectrum mobility of for reducing delay time of secondary users packet. In this thesis, we assume that the secondary users network is an ad-hoc network. We use contestation based method for reducing collision between secondary users. In this thesis, we present an...
Content Distribution Service Analysis in Vehicular Ad-Hoc Networks
, M.Sc. Thesis Sharif University of Technology ; Ashtiani, Farid (Supervisor)
Abstract
Car accident damages take about 7 percent of GPD of Iran every year. As a result of car accidents, the economy of the country is damaging irreparably. The amount of road casualties equals casualties in a complete war. Considering the aforementioned conditions, the researchers are thinking about new technologies to reduce the cost of the accidents. So the use of Vehicular ad-hoc Networks (VANET) is inevitable in the near future. Content distribution service is one of the emerging services of VANETs. This service is used in both safety and comfort related applications. Content distribution describes delivery of media content such as Video, Audio, Image, Text, Software, and Video Games over...
Energy Harvesting in Wireless Communication Networks
, Ph.D. Dissertation Sharif University of Technology ; Ashtiani, Farid (Supervisor)
Abstract
In this dissertation, we focus on two types of EH cooperative networks. In the first type, the source and relay nodes access a shared channel according to a random access protocol. Also, they harvest energy from non-RF environmental resources. The relay node has data and energy buffers to store the packets of the source and the harvested energy, respectively. Our main goal is to find the optimal relaying protocol at the relay node. In this regard, the first type of the EH cooperative networks are investigated in two different scenarios. In the first one, the MAC channels of the nodes are independent of the applied policy at the relay node, and thus the throughput of the network is fixed....
Cooperative Networks from the MAC Layer Viewpoint
, Ph.D. Dissertation Sharif University of Technology ; Ashtiani, Farid (Supervisor)
Abstract
Cooperative networks have attracted much attention in the last decade. Being introduced to mitigate the inefficiencies in the physical layer, cooperation can also be beneficial in upper layers, such as MAC layer. Using cooperative communications is specifically more challenging in the random access networks, where collision is a main concern. Delay, as one of the main performance metrics in random access networks, can decrease significantly by using cooperative communications. Transmission delay, i.e., the required time for delivering one packet form its source to destination, is an important metric in many communication networks, such as the networks in which each node generates and...
Analysis of Age of Information in Multisource Communication Networks
, M.Sc. Thesis Sharif University of Technology ; Ashtiani, Farid (Supervisor)
Abstract
In this thesis, we investigate the age of information in multisource networks. To this end, in the first phase of this thesis, we evaluate the Age of Information (AoI) in slotted ALOHA network. Regarding the interactions among the nodes in such a network, we model the memory of this network with a Trellis and find the peak Age of Information (PAoI) by using this Trellis. Then, we evaluate Age of Information-constrained regions and achievable throughput regions in the slotted ALOHA network and optimize Age of information in a symmetric case. In the second phase, we propose an efficient prioritizing scheme from AoI point of view and find the distribution of AoI and PAoI in such a scheme with...
Analysis and Reduction of the Age of Information in a Random Access Relay Network
, M.Sc. Thesis Sharif University of Technology ; Ashtiani, Farid (Supervisor)
Abstract
In data transmission from a transmitter to a receiver, in some applications receiving updated data is crucial. To this end, a metric called Peak Age of Information has been introduced, the minimum of which is equivalent to having more updated packets. In this thesis, a method for calculating the probability distribution function of this random variable in a random access network with a transmitter, a relay, and a receiver in which the error probability of the channels between the transmitter and the relay and also the relay and the receiver is less than the error probability of the channel between the transmitter and the receiver, is proposed. The transmitter and the relay send their packets...
Latency Analysis and Improvement in Distributed Storage Systems
, M.Sc. Thesis Sharif University of Technology ; Ashtiani, Farid (Supervisor)
Abstract
Today, with the proliferation of smart devices and the advent of various innovative applications, there has been an exponential surge in the number of users in telecommunication networks. Consequently, the data traffic rate is escalating considerably. This has created a major predicament for wireless networks due to the limited frequency spectrum. Therefore, the conventional centralized architecture makes it difficult for the network to address these numerous simultaneous requests. This issue can be solved by designing new architectures. In a way, network information is disseminated to the network's periphery and the contents of the primary data center are provided temporarily in closer...
Traffic Analysis in Cellular Networks based on OFDMA Access
, M.Sc. Thesis Sharif University of Technology ; Ashtiani, Farid (Supervisor)
Abstract
OFDMA modulation method is a multiple access technique that is resistant to fading effect in cellular communication systems. In OFDMA, multiple access is performed both in time and frequency, so more users can be served with less delay than other protocols. In this thesis, based on queuing theory, we seek to present a traffic model for OFDMA system traffic analysis in single-cell mode and in the next section in multi-cell mode. Then, by examining and comparing the analytical results and the simulation results, we show that our proposed model for traffic analysis of the OFDMA system is a suitable and effective model. Also, since users in the multimedia environment need different types of...
Robustly stabilizing controller synthesis for haptic devices with maximized transparency
, Article ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010, 12 July 2010 through 14 July 2010, Istanbul ; Volume 5 , 2010 , Pages 125-132 ; 9780791849194 (ISBN) ; Ahmadian, M ; Vossoughi, G ; Molavian Jazi, M ; Sharif University of Technology
2010
Abstract
Performance of a haptic device is evaluated based on the concept of transparency which indicates the match between the impedance transmitted to the user and the target virtual impedance. Stability of a haptic device prevalently has been evaluated based on the passivity criterion. Due to conservativeness of passivity, it appears as an obstacle to improve transparency. In this paper, passivity is suggested to be replaced by the complementary stability criterion which accounts for the robust stability of the interaction in the presence of uncertain user hand dynamics In this respect, an algorithm is proposed which guarantees transparency of the haptic device in a stable manner. Assuming that...
On the chaotic vibrations of electrostatically actuated arch micro/nano resonators: a parametric study
, Article International Journal of Bifurcation and Chaos ; Volume 25, Issue 8 , July , 2015 ; 02181274 (ISSN) ; Hairi Yazdi, M. R ; Nejat Pishkenari, H ; Sharif University of Technology
World Scientific Publishing Co. Pte Ltd
2015
Abstract
Motivated by specific applications, electrostatically actuated bistable arch shaped micro-nano resonators have attracted growing attention in the research community in recent years. Nevertheless, some issues relating to their nonlinear dynamics, including the possibility of chaos, are still not well known. In this paper, we investigate the chaotic vibrations of a bistable resonator comprised of a double clamped initially curved microbeam under combined harmonic AC and static DC distributed electrostatic actuation. A reduced order equation obtained by the application of the Galerkin method to the nonlinear partial differential equation of motion, given in the framework of Euler-Bernoulli beam...
Nonlinear dynamics of MEMS/NEMS resonators: analytical solution by the homotopy analysis method
, Article Microsystem Technologies ; 2016 , Pages 1-14 ; 09467076 (ISSN) ; Hairi Yazdi, M. R ; Nejat Pishkenari, H ; Sharif University of Technology
Springer Verlag
2016
Abstract
Due to various sources of nonlinearities, micro/nano-electro-mechanical-system (MEMS/NEMS) resonators present highly nonlinear behaviors including softening- or hardening-type frequency responses, bistability, chaos, etc. The general Duffing equation with quadratic and cubic nonlinearities serves as a characterizing model for a wide class of MEMS/NEMS resonators as well as lots of other engineering and physical systems. In this paper, after brief reviewing of various sources of nonlinearities in micro/nano-resonators and discussing how they contribute to the Duffing-type nonlinearities, we propose a Homotopy Analysis Method (HAM) approach for derivation of analytical solutions for the...