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alamdar--alireza
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Design, Analysis, and Experimental Study of a Slave Robot for Minimally Invasive Beating Heart Surgery
, Ph.D. Dissertation Sharif University of Technology ; Farahmand, Farzam (Supervisor)
Abstract
In this study, a practical approach for robotic beating heart surgery was proposed. This approach eliminates lateral movements of the heart and compensates for normal heart movement by using 1 DOF heart stabilizer and 1 DOF heart compensator simultaneously. It is a compromise between complete fixation of the heart, which damages the heart tissue, on one hand and complex and impractical compensation of the free heart movement on the other. One of the core components of the proposed system is the slave robot, which includes a 1 DOF compensator and a 4 DOF tool holder robot. Based on the selected laparoscopic tool, a modified agile-eye mechanism for activating the wrist was introduced,...
Color quantization with clustering by F-PSO-GA
, Article Proceedings - 2010 IEEE International Conference on Intelligent Computing and Intelligent Systems, ICIS 2010, 29 October 2010 through 31 October 2010 ; Volume 3 , 2010 , Pages 233-238 ; 9781424465835 (ISBN) ; Bahmani, Z ; Haratizadeh, S ; Sharif University of Technology
2010
Abstract
Color quantization is a technique for processing and reduction colors in image. The purposes of color quantization are displaying images on limited hardware, reduction use of storage media and accelerating image sending time. In this paper a hybrid algorithm of GA and Particle Swarm Optimization algorithms with FCM algorithm is proposed. Finally, some of color quantization algorithms are reviewed and compared with proposed algorithm. The results demonstrate Superior performance of proposed algorithm in comparison with other color quantization algorithms
Design and Fabrication of a 4DOF Robotic Arm for Tool Manipulation in Remote Surgery
, M.Sc. Thesis Sharif University of Technology ; Durali, Mohammad (Supervisor) ; Farahmand, Farzam (Supervisor)
Abstract
The aim of this project was to design, analyze and fabricate a 4 DOF robotic arm to be used as a slave robot for tool handling in laparoscopic surgery. The mechanism used for this purpose should have a remote center of motion in order to be able to manipulate the tool through the small incision point. The robot should also provide sufficient force to handle endoscopic tools used for large organ manipulation and be capable of measuring these forces. A variety of mechanisms were studied thoroughly, and the best solution was chosen by considering the design parameters such as workspace, manipulability, accuracy, ease of fabrication, etc. The final design consists of a 2 DOF serial spherical...
Design of a 4 DOF laparoscopic surgery robot for manipulation of large organs
, Article Studies in Health Technology and Informatics ; Volume 173 , 2012 , Pages 8-12 ; 09269630 (ISSN) ; 9781614990215 (ISBN) ; Mirbagheri, A ; Farahmand, F ; Durali, M ; Sharif University of Technology
2012
Abstract
In this paper, a 4-DOF robotic arm for tool handling in laparoscopic surgery is introduced. The robot provides sufficient force to handle endoscopic tools used for large organ manipulation and is capable of measuring the tool-tissue forces. The RCM constraint is achieved using a spherical mechanism and roll and insertion motions are provided using time pulley and spindle-drive, respectively. The forward and inverse kinematics of the robot was solved and the dimensions of its links were determined, using particle swarm optimization method, so that the maximum kinematic and dynamic performance could be achieved
Modeling of tail dynamic behavior and trajectory control of a fish-robot using fuzzy logic
, Article 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010, 14 December 2010 through 18 December 2010 ; 2010 , Pages 885-890 ; 9781424493173 (ISBN) ; Dehghani, M. R ; Alasty, A ; Sharif University of Technology
2010
Abstract
To have a complete model of a thunniform Fish-Robot, models of both body and tail are required. The dynamic model of the body is developed according to the parameters of a thunniform Fish-Robot built in MIT University, while, as the main part of this paper, the dynamic model of the tail is developed using fuzzy logic. Using experimental data and table look-up scheme, a fuzzy black box is introduced that gives the value of thrust force generated for any value of the Fish-Robot's input parameters: frequency of tail oscillation, amplitude of tail oscillation and speed of the Fish-Robot. In the second part, a trajectory fuzzy controller is designed for the Fish-Robot. The output of trajectory...
Modeling of tail dynamic behavior and trajectory control of a fish-robot using fuzzy logic
, Article IEEE International Conference on Robotics and Biomimetics ; 2010 , pp. 885-890 ; ISBN: 9781424493173 ; Dehghani, M. R ; Alasty, A ; Sharif University of Technology
2010
Abstract
To have a complete model of a thunniform Fish-Robot, models of both body and tail are required. The dynamic model of the body is developed according to the parameters of a thunniform Fish-Robot built in MIT University, while, as the main part of this paper, the dynamic model of the tail is developed using fuzzy logic. Using experimental data and table look-up scheme, a fuzzy black box is introduced that gives the value of thrust force generated for any value of the Fish-Robot's input parameters: frequency of tail oscillation, amplitude of tail oscillation and speed of the Fish-Robot. In the second part, a trajectory fuzzy controller is designed for the Fish-Robot. The output of trajectory...
A geometrical approach for configuration and singularity analysis of a new non-symmetric 2DOF 5R spherical parallel manipulator
, Article Mechanism and Machine Theory ; Volume 147 , 2020 ; Farahmand, F ; Behzadipour, S ; Mirbagheri, A. R ; Sharif University of Technology
Elsevier Ltd
2020
Abstract
A new non-symmetric 5R-SPM is introduced and a geometrical approach is developed to analyze its configurations and singularities. The proposed methodology determines the type of configuration of a 5R-SPM, i.e. regular, singular, or out-of-workspace and also the type of singularity, i.e. instantaneous or finite, only based on geometric parameters and without solving verbose kinematic equations. It also provides insights into the workspace and singularities of 5R-SPMs, in the preliminary stage of design. The mechanism was analyzed by both the new geometrical approach and conventional methods for comparison. The geometrical approach could intuitively detect all the singularities observed by the...
A minimally invasive robotic surgery approach to perform totally endoscopic coronary artery bypass on beating hearts
, Article Medical Hypotheses ; Volume 124 , 2019 , Pages 76-83 ; 03069877 (ISSN) ; Hanife, S ; Farahmand, F ; Behzadipour, S ; Mirbagheri, A ; Sharif University of Technology
Churchill Livingstone
2019
Abstract
The currently available robotic systems rely on rigid heart stabilizers to perform totally endoscopic coronary artery bypass (TECAB) surgery on beating hearts. Although such stabilizers facilitate the anastomosis procedure by immobilizing the heart and holding the surgery site steady, they can cause damage to the heart tissue and rupture of the capillary vessels, due to applying relatively large pressures on the epicardium. In this paper, we propose an advanced robotic approach to perform TECAB on a beating heart with minimal invasiveness. The idea comes from the fact that the main pulsations of the heart occur as excursions in normal direction, i.e., perpendicular to the heart surface. We...
Investigation of a hybrid kinematic calibration method for the 'sina' surgical robot
, Article IEEE Robotics and Automation Letters ; Volume 5, Issue 4 , 2020 , Pages 5276-5282 ; Samandi, P ; Hanifeh, S ; Kheradmand, P ; Mirbagheri, A. R ; Farahmand, F ; Sarkar, S ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2020
Abstract
Calibrating the inverse kinematics of complex robots is often a challenging task. Finding analytical solutions is not always possible and the convergence of numerical methods is not guaranteed. The model-free approaches, based on machine learning and artificial intelligence, are fast and easy to work, however, they need a huge amount of experimental training data to provide acceptable results. In this article, we proposed a hybrid method to benefit the advantage of both model-based and model-free approaches. The forward kinematics of the robot is calibrated using a model-based approach, and its inverse kinematics using a neural network. Hence, while there is no need to solve the nonlinear...
Rcci Curvature for Metric-Measure Space via Optimal Transport
, M.Sc. Thesis Sharif University of Technology ; Bahraini, Alireza (Supervisor) ; Ranjbar Motlagh, Alireza (Co-Advisor)
Abstract
One of the important questions in mathematics is generalized. In case of metric spaces, one of the questions is: Can we extend notions of Riemannian geometry to arbitrary metric spaces smoothly? Ricci curvature is one of the most important concepts in differential geometry. Ricci curvature is defined for the Riemannian manifold and has many applications in mathematics and physics like Einstein’s equation in relativity theory. There is a good notion for a metric space having “sectional curvature bounded below by K” or “sectional curvature bounded above by K”, due to Alexandrov. Can we define the concept of Ricci curvature in metric space? A motivation for this question comes from Gromov’s...
, M.Sc. Thesis Sharif University of Technology ; Khaloo, Alireza (Supervisor)
Abstract
Seismic design codes reduce loads by using response modification factor. Because of the reserved strength in structural elements and capacity of structure to dissipate energy, structures can be designed for lower seismic loads. This factor has modified over time. In this thesis, the effect of the reduction in behavior factor on the response of two kinds of reinforced concrete systems were evaluated. Moment resisting frames and dual systems with different heights and regularity in plan, heve been design according to the behavior factor which is recommended in the 3rd edition of the Iranian codes of practice for seismic resistance design of buildings (Standard No. 2800). Drift and...
Prediction of Financial Markets Using Combination of Artificial Intelligence and Technical Analysis
, M.Sc. Thesis Sharif University of Technology ; Haji, Alireza (Supervisor)
Abstract
Generally, nowadays, machine learning methods are used in many different areas for their superiority over other methods of prediction. Although being a tough task, stock market prediction with machine learning approaches is being spread due to satisfying results published ever yday. Machine learning methods usually use varied kinds of data ,including structured data such as market data, technical indicators and some fundamental data as well as unstructured one entailing text and graph data in order to enhance their predictability capacity. In this thesis we aimed to find out more about the importance and the contribution of structured data in prediction and we tried to attain a framework...
, M.Sc. Thesis Sharif University of Technology ; Hajji, Alireza (Supervisor)
Abstract
This thesis presents an inventory control system which is based on Meta-heuristic Algorithms.In this thesis we will optimize the input values of our tree-echelon inventory model (keeping costs,stock worth,reorder costs,...) with these Algorithms. The presented method is able to determine the optimal stock level, costs of system and number of shipments in the system. The method is basically a decision support system (DES) and it is able to provide the order scheduling parameters of goods at operational level. The aim of the current research is to demonstrate that a Meta-heuristic algorithmis capable of solving complex inventory problems and with future improvements it is able to achieve...
Experimental Investigation of the Behavior of Squat Composite Corrugated Shear Walls Under In-Plain Shear
,
M.Sc. Thesis
Sharif University of Technology
;
Khalu, Alireza
(Supervisor)
Abstract
The new lateral load resisting system introduced in this dissertation is a kind of squat composite shear wall consisting of a concrete core as filler and two steel corrugated sheets as cover. Reinforced bars are not used in this kind of construction. Load resisting process of the walls is provided by 3 factors: concrete core, steel corrugated covers on both sides of the central core and shear-friction interaction between the core and covers. There is not any specific formula for their design because of their novelty and few researches on this kind of walls and absence of code provisions. In this project, squat composite walls were constructed with dimensions of 106.8×90 (cm2) from corrugated...
Loading and Design Considerations of Strutures Under Tsunami
, M.Sc. Thesis Sharif University of Technology ; Khalu, Alireza (Supervisor)
Abstract
A tsunami is a series of tides most commonly caused by the deformation of the sea floor during a submarine earthquake. They are extremely long waves with the distance between successive peaks or troughs on the order of 10’s to 100’s of miles. They are also generated by landslides, volcanic eruptions or more rarely by asteroid impact. These causes change in location on the surface of the water which in turn creates numerous waves that spread out from the zone of turbulence. Few current design codes for coastal structures include tsunami. Even those that do, the bases for taking the hydrodynamic loads into the design are often grossly simplified and may be overly conservation and/or...
Efficiency of Post-Tensioning Approach in Design of Bridge
, M.Sc. Thesis Sharif University of Technology ; Khaloo, Alireza (Supervisor)
Abstract
Post-tensioning is the most versatile form of prestressing, a technique which enables engineers to make the most effective use of the material properties of concrete, and so to design structural elements which are strong, slender, and efficient. Design of post-tensioned concrete structures is not difficult and, if done properly can contribute significantly to the economy and the aesthetic qualities of a structure. Post-tensioned building floors and bridge girders have found widespread use in office buildings, parking structures and bridges. They are also frequently employed in warehouses and public buildings. Now a days bridges and other type of structures, in many countries are designed...
Finite Element Modeling of Replaceable Steel Coupling Beam in Reinforced Concrete Shear Wall
, M.Sc. Thesis Sharif University of Technology ; Khalu, Alireza (Supervisor)
Abstract
Using mixed building system of structural steel and reinforced concrete improves the resistance of the structure in comparison with using either material alone. Coupled shear walls is one of these new systems. Coupled shear walls by definition is a series of walls coupled by beams as a central core structure with opening to accommodate doors, elevator wells, windows and corridors. Coupled shear walls can provide an efficient structural system to resist horizontal force due to axial and seismic loads. One type of coupled beams is Steel Coupling Beams (SCB) which consists of steel beams and reinforced concrete shear walls which represents a cost and time-effective type of construction. Some...
Exploring of Influence of Boron on Acidity of Organic Functional Groups by DFT Calculation
, M.Sc. Thesis Sharif University of Technology ; Fattahi, Alireza (Supervisor)
Abstract
Acidity values of some compound (e.g., alkanes, alcohols, carboxylic acids and amines) with or without boron substitute have been studied theoretically to evaluate the influence of boron on acidity of organic functional groups. We have derived the unoccupied reactive orbital that show the maximum localization on the boron pπ atomic orbital overlapping with the lone-pair orbital of an electron donor. Localization of unoccupied reactive orbital on the boron pπ atomic and the polarizability of the boron center are two factors which affect acidity values of functional groups. Conformational searching was performed using MM (Molecular Mechanics). The most important conformations were optimized at...
Reduction of Residual Displacement of Concrete Structures by use of High Strength Rebars
, M.Sc. Thesis Sharif University of Technology ; Khalu, Alireza (Supervisor)
Abstract
Reinforced concrete bridge columns located in regions of high seismicity are designed with large ductility capacity for adequate protection against collapse. This type of design tends to result in large permanent displacements. To maximize post-event operability and to minimize repair costs, new design strategies to reduce these residual displacements are necessary. Even though seismic codes ensure life safety for bridges, large residual displacement after severe earthquake may make the bridge useless. For example, after 1995 Hyogo-ken Nanbu earthquake (Japan), more than 100 reinforced concrete bridge columns experienced a tilt angle of more than 1 degree (1.75% drift). These columns had to...
Feasibility And Study(CNG Cylinder Production Plant)
, M.Sc. Thesis Sharif University of Technology ; Haji, Alireza (Supervisor)
Abstract
Nowadays best using of fossil fuels sources of the country (and) importance of comparison against lack of capacity in petrol production make determined the programmers and the directors to foresee and design expanded programs of the goals, to use natural gas for car fuels. To reach fulfillment of these programs, the confirmed needs of the natural gas cylinders are improved and make it essential to invest on producing compressive natural gas cylinders. In this way economical and technical change researches has been done in order to construct on department to produce 200,000 compressive natural gas cylinders in a year during two sets.(shifts) According to the results of technical researches...