Sharif Digital Repository

The main purpose of this paper is modeling and simulation of in-situ releasing of smart nano-sized core-shell particles at the water-oil interface during polymer flooding. During the polymer flooding process, when these nano-particles reach the water-oil interface, migrate to the oil phase and the hydrophobic layer of them dissolves in this phase. After dissolution of this protective nano-sized layer, the hydrophilic core containing a water-soluble ultra high molecular weight polymer diffuses back into the water phase and with dissolving in this phase, dramatically increases viscosity of flooding water in the neighborhood of the water-oil interface. In this study, two different... 

Proper modeling of the human arm dynamic, as it interacts with telemanipulation and haptic systems, is important in enhancing the transparency of these systems. In this article, we introduced an adaptive identifier to estimate the impedance characteristic of a human operator as it interacts with a single translational degree of freedom mechanism. The five parameter model, including an extra spring and damper for a better approximation of the dynamic behavior of human arm, has been used. Since the impedance characteristic of human arm differs from one individual to another, it is important to estimate these parameters for each individual and update the controller to enhance the transparency... 

For simulating the surgical procedures in a virtual environment, it is necessary to propose a suitable virtual environment model which can reflect the real physical tool-tissue interaction behavior and a proper human user interface appropriate dynamic model. In this study, a linear Kelvin-Voigt and a nonlinear Hunt-Crossley models have been utilized to describe human hand dynamics during interaction with a haptic interface. Using the Lyapunov stability criteria, an adaptive neural network based controller being designed for guaranteeing the stability of the entire system, considering a nonlinear model for the environment, an inertia for a virtual tool, a constant time delay for data... 

Haptic interfaces, a kinesthetic link between a virtual environment and a human operator play a pivotal role in the reproduction of realistic haptic force feedback of the virtual reality-based simulators. Since most of the practical control theories are model-based, the identification of the robot’s dynamics, for precise modeling of the system dynamics, is a process of high significance and usage. This research addresses dynamic characterization, performance issues, and structural stability, associated with a parallel haptic device interaction with an admittance type virtual environment. In this regard, considering the Lion identification scheme, we characterized the dynamics of a robot... 

In this article, a nonlinear adaptive impedance control strategy is proposed to adjust the impedance of a one-degree of freedom Falcon robot to a pre-defined nonlinear impedance which is an approximate mathematical representation of the sino-nasal tissue. Further developments can be used for a training simulator system for the otolaryngology surgery training purposes. The stability of the proposed control strategy and convergence of tracking error are proved by using Lyapunov Stability Theorem. Two different scenarios are considered for simulation studies including a declining contact force and also an oscillatory contact force between the user hand and the haptic interface device.... 

Tactile sense is a key element in developing virtual reality simulators or surgical training systems. In this regard, haptic interfaces, the generator of a sense of touch, play a significant role in producing a realistic haptic feedback force. Since the majority of practical control theories are model-based, the identification of the robot dynamic model is a process of high importance and application. The main concern, accordingly, is to find a precise dynamic model for the aforementioned user interfaces. In this research, we have implemented the Lion identification method to characterize the dynamics of a parallel haptic device in actuating a surgery simulation. We chose the Novint Falcon... 

The low salinity water injection has become one of the most important studies in the oil industry for improving oil recovery compared to conventional seawater injection. Thus, extensive studies have been conducted in carbonate and sandstone reservoirs to investigate how the physical properties of rocks and the chemical composition of fluids influence low salinity effect, while, the carbonate reservoir rocks requires more investigation of the effect of molecular and/or ionic interactions. In this experimental work, the effectiveness of various water flooding schemes in carbonate reservoir rock samples is investigated. In this regard, the oil recovery potential of seawater (SW), reservoir... 

Engineered water (EW) flooding is one of the enhanced oil recovery (EOR) techniques in carbonate reservoirs. In this method, the wettability of reservoir rock is altered by controlling the amount of various ions in the injected brine. The thermodynamics of wettability is related to the surface interactions and stability of water film on a rock surface. It can be identified by calculating disjoining pressure isotherms. In this study, core flooding tests, contact angle and zeta potential measurements along with the disjoining pressure isotherm calculation by the DLVO theory were used to investigate the wettability alteration of dolomite rock. Four brines include reservoir formation water...