Sharif Digital Repository

Inverted pendulum (IP) has been broadly used to model locomotor systems. In this paper, we demonstrate that an IP-like model could simulate stable periodic handspring maneuvers with passive flight phases. The model is a 2-D symmetric rigid body which is merely controlled during the contact phase. To benefit from an open-loop sensorless strategy, the control policy is implemented only by an unvaried torque input. The system's dynamics is an example of nonlinear impulsive systems studied and analyzed by the Poincaré section method. The numerical results reveal that the stable periodic solutions are sufficiently robust for a broad range of the parameter space. © 2020 Elsevier Ltd  

Inspired by the effects of a switching surface on the stability of passive dynamic walking (Safa and Naraghi in Robotica 33(01):195–207, 2015; Safa et al. in Nonlinear Dyn. 81(4):2127–2140, 2015), this paper suggests a new control strategy for stabilization of dynamic bipedal locomotion. It verifies that the stability improvement of a dynamic walking system is feasible while preserving the speed, step-length, period, natural dynamics, and the energy effectiveness of the gait. The proposed control policy goes behind the three primary principles: (i) The system’s switching surface has to be replaced by a new one if an external disturbance is induced. (ii) The new switching surface has to be... 

Inspired by the effects of a switching surface on the stability of passive dynamic walking (Safa and Naraghi in Robotica 33(01):195–207, 2015; Safa et al. in Nonlinear Dyn. 81(4):2127–2140, 2015), this paper suggests a new control strategy for stabilization of dynamic bipedal locomotion. It verifies that the stability improvement of a dynamic walking system is feasible while preserving the speed, step-length, period, natural dynamics, and the energy effectiveness of the gait. The proposed control policy goes behind the three primary principles: (i) The system’s switching surface has to be replaced by a new one if an external disturbance is induced. (ii) The new switching surface has to be... 

The main focus of this paper is on how the biped robot has a stable passive gait cycle as well as going through a stable journey on a level ground merely with push-off actuation. During recent years humanoids have been in the center of attention due to several reasons some of which are: compactness of the structure, low energy consumption, humanoid behavior and last but not least being of great use in medical field. In this paper, equations of motion regarding the passive phase as well as push-off are simulated in MATLAB software. For the next step, a comparison between these two stable gait cycles is made so as to figure out the difference between energy injected to the system by push-off... 

By employing a few simple models of passive dynamic walking mechanism, we have shown the possibility of extending the boundaries of the maximum stable speed of these autonomous robots merely by changing their terrain. The replaced terrain consists of a series of parallel local slopes and is recognized as a general form of a ramp-stair surface. Although here, the mechanism of stabilization of the unstable locomotion patterns is not clearly known, the technique is quite simple and works effectively. The merit to the method over other strategies, could be described in two separate aspects: First, it is still completely passive; so we do not need any external energy to control the robot. Second,... 

Limit cycle walkers are known as a class of walking robots capable of presenting periodic repetitive gaits without having local controllability at all times during motion. A well-known subclass of these robots is McGeer’s passive dynamic walkers solely activated by the gravity field. The mathematics governing this style of walking is hybrid and described by a set of nonlinear differential equations along with impulses. In this paper, by applying perturbation method to a simple model of these machines, we analytically prove that for this type of nonlinear impulsive system, there exist different switching surfaces, leading to the same equilibrium points (periodic solutions) with different... 

Recently, it has been proved that a different switching surface can preserve the walking trajectory while varying the walking stability [1], [2]. In this paper, by employing the simplest passive dynamic biped, we optimize the switching surface to maximize the robot's stability. Here, the stability measure is preferably the size of the basin of attraction, i.e. the collection of all possible initial conditions leading to the system's equilibrium point. Numerical investigations indicate that the maximum stability is obtained for neither the highest nor the lowest walking speed  

The stability analysis of cantilevered curved microtubules in axons regarding various size elements and using the generalized differential quadrature method for solving equations is reported. The impacts of covering MAP Tau proteins along with cytoplasm are taken into account as the elastic medium. Curved cylindrical nanoshell considering thick wall is used to model the microtubules. The factor of length scale (l/R = 0.2) used in modified couple stress theory would result in more accuracy when it comes to comparison with experiments, while alternative theories presented in this paper provide less precise outcomes. Due to the reported precise results, at the lower value of the time-dependent... 

The stability analysis of cantilevered curved microtubules in axons regarding various size elements and using the generalized differential quadrature method for solving equations is reported. The impacts of covering MAP Tau proteins along with cytoplasm are taken into account as the elastic medium. Curved cylindrical nanoshell considering thick wall is used to model the microtubules. The factor of length scale (l/R = 0.2) used in modified couple stress theory would result in more accuracy when it comes to comparison with experiments, while alternative theories presented in this paper provide less precise outcomes. Due to the reported precise results, at the lower value of the time-dependent... 

Particle transport and deposition in a channel flow with elliptic obstruction is studied. Numerical simulation of fluid flow is performed using two-dimensional lattice Boltzmann method, while one-way coupling Lagrangian method for particle tracking is used. Standard particles are injected in the inlet of the channel. Gravity, Drag force, Brownian forces, and the Saffman lift are considered in equation of particle motion. The influence of geometrical parameter, ellipse aspect ratio, is studied on dispersion and deposition of particles as well as the flow parameters, such as Reynolds number. In addition, the effect of particles size -particles of 0.01-10μm in diameter- on dispersion and... 

In aerospace applications structures weight is considered as a major performance parameter. One of the most effective manufacturing methods for weight reduction is superplastic forming. By this technique, not only the weight, but also the stress concentration, the cost, and the manufacturing time are noticeably reduced. Additionally, the components with complicated shapes could be formed in a single manufacturing step. Due to the wide demand for whiskers reinforced metal matrix composites (MMCs) in aerospace industries, many research works have been designed to extend the borders of superplastic forming to MMCs materials. In the present study, a 3-D symmetric micromechanical finite element... 

A pH-responsive drug delivery system based on core shell structure of mesoporous silica nanoparticle (MSN) and chitosan-PEG copolymer was prepared and characterized by Fourier transform infrared spectroscopy (FT-IR), thermogravimetric analysis (TGA), scanning electron microscope (SEM), and high-resolution transmission microscope (HR-TEM) techniques. In order to improve compatibility MSN and drug, mesoporous nanosilica was modified by 3-aminopropyl triethoxysilane. The release of erythromycin (a macrolide antibiotic) as a model drug was investigated in two pHs, 7.4 and 5.5  

Due to the remarkable progress in the field of the manufacturing process, smart composites have become the desired target for high-tech engineering applications. Accordingly, for the first time, thermal buckling, critical voltage and vibration response of a thermally affected graphene nanoplatelet reinforced composite (GPLRC) microdisk in the thermal environment are explored with the aid of generalized differential quadrature method (GDQM). Also, the current microstructure is coupled with a piezoelectric actuator (PIAC). The extended form of Halpin-Tsai micromechanics is used to acquire the elasticity of the structure, whereas, the variation of thermal expansion, Poisson’s ratio, and density... 

Due to the remarkable progress in the field of the manufacturing process, smart composites have become the desired target for high-tech engineering applications. Accordingly, for the first time, thermal buckling, critical voltage and vibration response of a thermally affected graphene nanoplatelet reinforced composite (GPLRC) microdisk in the thermal environment are explored with the aid of generalized differential quadrature method (GDQM). Also, the current microstructure is coupled with a piezoelectric actuator (PIAC). The extended form of Halpin-Tsai micromechanics is used to acquire the elasticity of the structure, whereas, the variation of thermal expansion, Poisson’s ratio, and density... 

Gas-phase acidities of nucleosides, combined with the knowledge of deprotonation sites, could improve our understanding of chemical reactions to biological systems. In this paper, we mainly focus our attention on the influence of cation coordination on acidities of multiple sites in cytosine nucleosides. The acidities of multiple sites in M +-L (where L represents cytosine nucleosides and M + is an alkali metal ion, including Li +, Na + and K +) complexes have been investigated theoretically, employing B3LY P6-311++G(d,p) basis sets. The geometrical characters, gas-phase acidities, sugar puckering and electronic properties of non-deprotonated and/or deprotonated complexes have been... 

In recent years, there has been increasing interest in damaged DNA and RNA nucleobases. These damaged nucleobases can cause DNA mutation, resulting in various diseases such as cancer. Alkylating agents are mutagenic and carcinogenic in a variety of prokaryotic and eukaryotic organisms. The present study employs density functional theory (DFT/B3LYP) with the 6-311++G(d,p) basis set to investigate the effect of chemical damage in O-alkyl pyrimidines such as O4-methylthymine, O2-methylcytosine and O 2-methylthymine. We compared the intrinsic properties, such as proton affinities, gas phase acidities, equilibrium tautomerization and nucleobase pair's hydrogen bonding properties, of these... 

Glutathione tripeptide (γ-glutamyl-cysteinyl-glycine) is a flexible molecule and its conformational energy landscape is strongly influenced by forming intramolecular hydrogen bond, its charge and the environment. This study employs DFT-B3LYP method with the 6-31+G (d,p) basis set to carry out conformational analysis of neutral, zwitterionic, cationic, and anionic forms of glutathione. In analyzing the structural characteristics of these structures, intramolecular hydrogen bonds were identified and characterized in details by topological parameters such as electron density ρ(r) and Laplacian of electron density Δ2 ρ(r) from Bader's atom in molecules theory. Charge transfer energies based on... 

This is a fundamental study on the nonlinear vibrations considering large amplitude in multi-sized hybrid Nano-composites (MHC) disk (MHCD) relying on nonlinear elastic media and located in an environment with gradually changed temperature feature. Carbon fibers (CF) or carbon nanotubes (CNTs) in the macro or nano sizes respectively are responsible for reinforcing the matrix. For prediction of the efficiency of the properties MHCD's modified Halpin-Tsai theory has been presented. The strain-displacement relation in multi-sized laminated disk's nonlinear dynamics through applying Von Karman nonlinear shell-theory and using third-order-shear-deformation-theory (TSDT) is determined. The energy... 

A novel implementation of a membrane bioreactor (MBR) has been studied in this paper. It is utilised as combination of rotating biological contractor (RBC) and an external membrane for oily wastewater treatment. The performance of MBR was compared with the standalone RBC. The RBC used in this investigation is the same one combined with the membrane to form the MBR. Wastewater biodegradability has been evaluated by two factors: chemical oxygen demand (COD) and total petroleum hydrocarbon (TPH). They are both compared together for different hydraulic retention times (HRTs) and petroleum pollution concentrations in RBC and MBR. The ratio of TPH to COD of molasses has been varied between 0.2 to...