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3D-Path Simulation and Robust Control of Bevel-Tip Needles in Uncertain Model of Soft Tissues
, M.Sc. Thesis Sharif University of Technology ; Sadati, Naser (Supervisor) ; Ranjbar, Ali Mohammad (Co-Supervisor)
Abstract
In this thesis, first we simulate the needle penetration in the soft tissues via finite element and adaptive finite elemet methods. Then, we design a proper controller for the model of tissue-needle interaction model considering some uncertain parameters and conditions in the needle-tisuue model. Needle penetration speed into the soft tissue and the applied force to needle are supposed to be the system’s inputs in the model. Deformations of tissue particles are modeled based on the tissue particles’ velocities through a set of equations. To solve these equations, numerical methods are used which are conceptually based on finite element methods. In the control step, the needle’s velocity and...
Molecular Dynamics Simulation of Membrane Continuum Models on Triangulated Meshes
, Ph.D. Dissertation Sharif University of Technology ; Ejtehadi, Mohammad Reza (Supervisor) ; Seyed Reyhani, Nader (Co-Supervisor)
Abstract
Lipid bilayers are one of nature’s solutions to confine and compartmentalize molecules and microorganisms. Usually, the thickness of the membrane is very small compared to the length scale at which it is studied. Therefore it is convenient to represent it with a 2-dimensional surface that has a stretch, shear, and curvature energy. Triangulated surfaces are the most popular discretization method to study the mechanical behavior of vesicles and fluid membranes since their elastic and bending moduli can be rigorously defined. Fluid membranes pose a particular challenge because they do not have a shear modulus. The dynamic triangulation algorithm is the state-of-the-art method developed to...
Design and Development of an IIOT Dongle and Gateway for Outdoor Applications
, M.Sc. Thesis Sharif University of Technology ; Farhadi, Alireza (Supervisor)
Abstract
In this MSc. thesis a dongle and gateway are designed and developed for outdoor applications. In addition, a mesh networking protocol is developed for these dongle and gateway that does not impose the deficiencies of the other available protocols in the literature. The developed dongle supports a Lora LPWAN module, which is very popular in IIOT applications. It also supports the ESP32 module, which is a very popular IIoT module in the WiFi family. The developed dongle supports one-wire temperature and humidity sensor, analog and digital sensors, CAN and RS485 data communication protocols and it is able to produce on/off outputs. The developed gateway supports LAN and 4G protocols in order to...