Sharif Digital Repository

Cable-driven parallel robots have several outstanding characteristics that make them unique in many robotic applications. Since cables can only pull, one of the most important issues associated with these robots is obtaining their workspace. In this paper a spatial translational cable-driven robot with active/passive cables is considered and its workspace is investigated from several points of views. First the moment resisting capability of the robot is discussed and the effects of some robot's parameters on the workspace are studied. Then, both force-feasibility and moment-resisting capability of the robot are considered to find the region where the end-effector may exert the required... 

Building new transmission lines has grown increasingly difficult in recent years due to ever-increasing environmental concerns and rising construction costs. An alternative would involve investing in distributed energy resources (DERs) which can reduce the need for new transmission lines by reducing the load. This study presents a new stochastic multi-objective planning model for DERs as a replacement for transmission network reinforcement. The proposed model aims to minimize the investment costs of DERs and the congestion costs of transmission networks while maximizing the absorption of private investments. The uncertainties in the future electric loads and generators' offer prices are... 

Object handling is one of the most important applications of cable-suspended robots, which can be obtained by use of a gripper as its end-effector. In this paper, a novel cable-driven multi-finger gripper assembled on a cable-suspended robot has been presented. Using lock/unlock mechanisms, the under-actuated finger mechanism has been designed to have a human like motion. A cable-suspended robot structure with 3 position degrees of freedom is also proposed by employing active/passive cables in such a way that makes it capable of resisting external moments, while it may be simplified to a spatial point-mass cable robot during positioning operation. Furthermore, the robot workspace has been... 

The rapid proliferation of electric vehicles (EVs), if not properly integrated, has the potential to impact the secure and economic operation of distribution systems. To tackle this challenge, the system operators and planners have two primary options: 1) expanding system capacity and 2) implementing charging management programs. In this article, we consider an exclusive dc feeder for supplying multiple EV charging stations, connected to the main grid via the grid-tie converter. In addition, a two-stage coordination algorithm is proposed in which the EV charging stations' daily quotas from the grid-tie converter capacity and their day-ahead scheduling plans are determined in the first stage.... 

Million miles of gravity-fed drinking water and sewage pipelines around the world, especially in rural and urban areas in mountain ranges, have introduced a new renewable energy sources (RES), i.e., in-pipe hydropower systems (IHS). Output power of this technology, similar to other types of RES, suffers from intermittency, while it is still more predictable in comparison to other technologies of RESs. Besides, energy storage systems (ESS) are introduced as a pivotal technology for dealing with the intermittent and non-dispatchable characteristics of IHS through spatio-temporal arbitrage. This paper aims to develop a stochastic mixed-integer linear programming (MILP) formulation that... 

Nowadays, the high penetration of renewable energy resources, with variable and unpredictable nature, poses major challenges to operation and planning studies of power systems. Employing energy storage systems (ESSs) has been introduced as an effective solution to alleviate these challenges. Several studies have been presented in the literature to provide a framework for expansion planning studies of ESSs. However, they usually have two main drawbacks: i) ignoring the positive effect of independent-locally operated ESSs on the bulk power system preferences, ii) inability to model the charge/discharge schedule of independent-locally operated ESSs based on their investors' acceptable risk... 

Designing transactive energy (TE) markets in distribution systems has been a hot topic due to the increased presence of residential prosumers. In the literature, several residential market platforms have been proposed; however, they usually have two main drawbacks: 1) ignoring the effect of single-phase distributed energy resources on the voltage unbalance (VU) in active distribution networks to develop a transactive coordination model that will effectively mitigate the VU and 2) inability in providing a user-friendly strategy for home occupants to adjust the willingness to pay/accept of responsive assets according to their comfort and economic purposes. This article amends the shortcomings... 

In recent years, the high expansion of independent energy sources and development of multiagent structures have resulted in new challenges in the efficient power management of distribution networks. In this regard, decentralized management along considering operational concerns of the system will be a key factor in running the future multiagent systems. Therefore, this article proposes a decentralized framework based on the alternating direction method of multipliers for managing the peer-to-peer (P2P) energy trading in a multiagent distribution system while considering the technical constraints and reliability of the network. This strategy facilitates considering the effects of the network... 

The current expansion of renewable energies, restructuring in power systems, and high tendency to preserve the privacy of energy customers could lead to significant changes in distribution systems. Accordingly, studies on local markets have introduced a suitable framework for energy trading known as the Peer-to-Peer (P2P) market in distribution systems. Several research works have been done on the P2P market modeling and optimization in recent years. This paper aims to develop an appropriate P2P market framework in which the distribution system operator (DSO) can rerun the P2P market and maneuver in the case of the network failure. Respectively, in case of any grid failure, the P2P market... 

This paper proposes a new energy management model for residential buildings to handle the uncertainties of demand and on-site PV generation. For this purpose, the building energy management system (BEMS) organizes a transactive energy (TE) market among plug-in electric vehicles (PEVs) to determine their charge/discharge scheduling. According to the proposed TE framework, the PEV owners get reimbursed by the BEMS for the flexibility they offer. In this regard, the PEV owners submit their response curves for reimbursement upon arrival. Then, the BEMS solves an optimization problem to maximize its own profit and determine the real-time TE market-clearing price. Afterward, based on the clearing... 

In order to decrease CO 2 emission into the atmosphere and develop renewable energy sources for carbon capture, an integrated system is considered for co-production of electricity and methanol. In this research, methanol synthesis unit through captured CO 2 from fossil fuel power plant and produced H 2 from water electrolysis unit by wind renewable energy is developed. An oxy-fuel combustion carbon capture method is considered in large scale Matiant power plant based on utilization of oxygen from water electrolysis unit. Technical and economical analysis of the proposed system shows that when the price of natural gas is 7.8US$/GJ, the total CO 2 avoided cost is 93US$/(tonne of CO 2) and... 

This paper presents a framework for expansion planning studies of distributed energy storage systems (DESSs) in high wind penetrated power systems. The main objective is to find optimal location and capacity of DESSs in the viewpoint of independent system operator (ISO) while ensuring the maximum usage of wind farms output generation. Three different criteria are introduced for expansion planning studies. Minimizing wind curtailment cost together with transmission congestion cost are considered to properly deal with the issues associated with the curtailment of wind energy and constraints of transmission network. Furthermore, the minimum normalized profit for all DESSs' owners needs to be... 

Nanomedicine has seen a significant rise in the development of new research tools and clinically functional devices. In this regard, significant advances and new commercial applications are expected in the pharmaceutical and orthopedic industries. For advanced orthopedic implant technologies, appropriate nanoscale surface modifications are highly effective strategies and are widely studied in the literature for improving implant performance. It is well-established that implants with nanotubular surfaces show a drastic improvement in new bone creation and gene expression compared to implants without nanotopography. Nevertheless, the scientific and clinical understanding of mixed oxide... 

Nanomedicine has seen a significant rise in the development of new research tools and clinically functional devices. In this regard, significant advances and new commercial applications are expected in the pharmaceutical and orthopedic industries. For advanced orthopedic implant technologies, appropriate nanoscale surface modifications are highly effective strategies and are widely studied in the literature for improving implant performance. It is well-established that implants with nanotubular surfaces show a drastic improvement in new bone creation and gene expression compared to implants without nanotopography. Nevertheless, the scientific and clinical understanding of mixed oxide...