Sharif Digital Repository

In this chapter we present the steps of reconstruction procedure for writing down the Langevin and jump diffusion stochastic dynamical equations for uni- and bivariate time series, sampled with time intervals τ. © 2019, Springer Nature Switzerland AG  

In this chapter we present the steps of reconstruction procedure for writing down the Langevin and jump diffusion stochastic dynamical equations for uni- and bivariate time series, sampled with time intervals τ. © 2019, Springer Nature Switzerland AG  

An improved method for deriving elastic generalized coordinates is considered. Then Kane's equations of motion for multibody systems consisting of an arbitrary number of rigid and elastic bodies is presented. The equations are in general form and are applicable for any desired holonomic system. Flexibility in choosing generalized speeds in terms of generalized coordinate derivatives in Kane's method is used. It is shown that proper choice of a congruency transformation between generalized coordinate derivatives and generalized speeds leads to equations of motion for holonomic multibody systems consisting of an arbitrary number of rigid and elastic bodies. These equations are decoupled in... 

In this paper, we present a novel structure of a snake-like robot. This structure enables passive locomotion in snake-like robots. Dynamic equations are obtained for motion in a horizontal plane, using Gibbs-Appell method. Kinematic model of the robot include numerous nonholonomic constraints, which can be omitted at the beginning by choosing proper coordinates to describe the model in Gibbs-Appell framework. In such a case, dynamic equations will be significantly simplified, resulting in considerable reduction of simulation time. Simulation results show that, by proper selection of initial conditions, joint angles operate in a limit cycle and robot can locomote steadily on a passive... 

In this study a new method is introduced to suppress libration of a tethered satellite system (TSS). It benefits from coupling between satellites and tether libration dynamics. The control concept uses the main satellite attitude maneuvers to suppress librational motion of the tether, and the main satellites actuators for attitude control are used as the only actuation in the system. The study considers planar motion of a two body TSS system in a circular orbit and it is assumed that the tethers motion will not change it. Governing dynamic equations of motion are derived using the extended Lagrange method. Controllability of the system around the equilibrium state is studied and a linear LQG... 

This paper is devoted to study the effects of pressure drop in heat exchangers on the dynamics of a free piston Stirling engine. First, the dynamic equations governing the pistons as well as the gas pressure equations for hot and cold spaces of the engine are extracted. Then, by substituting the obtained pressure equations into the dynamic relationships the final nonlinear dynamic equations governing the free piston Stirling engine are acquired. Next, effects of the gas pressure drop in heat exchangers on maximum strokes of the pistons and their velocities and accelerations are investigated. Furthermore, influences of pressure drop increase in the heat exchangers on maximum and minimum gas... 

Based on Lagrangian mechanics, we present a novel and computationally efficient set of equations of motion in the matrix notation, for unconstrained or constrained mechanical systems including ignorable coordinates. The equations are applicable to multibody systems including holonomic or nonholonomic constraints. It is shown that by appropriate selection of generalized speeds as a new set of motion variables, the constraint reaction forces can be automatically eliminated from the set of developed reduced dynamical equations in a straightforward manner, resulting in a minimal set of dynamic equations. We present simulation results on one constrained and one unconstrained system to demonstrate... 

Arrays of N weakly coupled oscillators are considered in different configurations. The locking bandwidth for these arrays is defined statistically. Various factors affecting the locking bandwidth and the effect of the coupling network topology on locking bandwidth are studied by solving the dynamic equations of the array numerically. The analytical locking bandwidth for two configurations of arrays is computed and the results are compared with the numerical solution of dynamic equations. © The Institution of Engineering and Technology 2008  

A decentralized control scheme for multiple cooperative manipulators system is developed to achieve the desired performance in motion and force tracking in the presence of uncertainties in the dynamic equations of the robots. To reduce the effects of uncertainties in the closed-loop performance, a robust control algorithm using a robustifying term is proposed. Based on the Lyapunov stability method, it is proved that all the signals in the closed-loop, composed of a robot, an observer and a controller are uniformly ultimately bounded. Also to avoid the difficulties of using velocity sensors within the hand architecture an output feedback control scheme with a linear observer is used. © 2005... 

In this paper, a comprehensive model is used to describe dynamic behavior of SDA and its components during stepwise motion. In this model, Hamilton’s principle and Newton's method are used to extract dynamic equations of the SDA plate and dynamic equation for the linear motion of SDA. Comparison between the modeling results and available experimental data shows that this model is very effective in predicting some design objectives such as step size and output force for this type of actuators  

In this study, we deal with passive dynamic object manipulation. During passive dynamic object manipulation, a passive object is manipulated using passive manipulators. Like other passive robotic systems, there are no actuators in these systems. The object follows a path and travels along it under the effect of its own weight, as well as, the interaction force applied by each manipulator on it. The objects are not necessarily rigid, but we manipulate passive multibody objects as well as rigid ones. Thus, for a passive walking system, we assume that the passive walker is a multibody object and is manipulated by the ground (zero degree-of-freedom manipulator). As an example, we show that a... 

The application of manipulators is becoming more and more popular in object handling especially when it is desired to have access to remote areas in destructive or hazardous taskspaces. For this purpose, a hand-like mechanism must be designed to be used as an end-effector, which can grasp objects. In this paper a cable driven grasping mechanism has been presented. In the proposed mechanism each finger consists of three phalanxes which are actuated by a single motor. Locking and unlocking constraints are used in the mechanism in order to generate an anthropomorphic motion, in which, the order of reaching phalanxes to the object is sequential. In this way, each phalanx starts moving toward the... 

In this paper, a detailed analytical model for dynamic analysis of the Brushless Doubly-Fed Machine is presented. The model is capable to predict the machine behavior under different modes of operation including: simple induction mode, cascade mode and synchronous mode, both with and without winding faults and unbalanced excitations. The proposed approach employs the basic principles of the generalized harmonic theory for calculating self inductances and mutual inductances of circuits with any distribution of conductors. Dynamic equations of modified coupled-circuit method are then solved to compute the currents flowing in the stator windings and rotor loops  

In this work, we introduce a category of dynamic manipulation processes, namely passive dynamic object manipulation, according to which an object is manipulated passively. Specifically, we study passive dynamic manipulation here. We define the main concept, discuss the challenges, and talk about the future directions. Like other passive robotic systems, there are no actuators in these systems. The object follows a path and travels along it under the effect of its own weight, as well as the interaction force applied by each manipulator on it. We select some simple examples to show the concept. For each example, dynamic equations of motion are derived and the stability of the process is taken... 

In certain types of biomimetic surgery systems, micro robots inspired by Paramecium are designed to swim in a capillary tube for gaining access to internal organs with minimal invasion. Gaining insight into the mechanics of Paramecium swimming in a capillary tube is vital for optimizing the design of such systems. There are two approaches to modeling the physics of micro swimming. In the envelope approach, which is widely accepted by researchers, Paramecium is approximated as a sphere, self-propelled by tangential and normal surface distortions. However, not only is this approach incapable of considering the specific geometry of Paramecium, but it also neglects short range hydrodynamic... 

We introduce a dynamical picture, referred to as correlation picture, which connects a correlated bipartite state to its uncorrelated counterpart. This picture allows us to derive an exact dynamical equation for a general open-system dynamics with system-environment correlations included. This exact dynamics is in the form of a Lindblad-like equation even in the presence of initial system-environment correlations. For explicit calculations, we also develop a weak-correlation expansion that allows us to introduce systematic perturbative approximations. This expansion provides approximate master equations that can feature advantages over existing weak-coupling techniques. As a special case, we... 

This paper discusses the determination of the transition curves for a pair of spur gear with coulomb friction. Transition curves are the loci of periodic response of parametrically excited systems and separate the stable and unstable solutions. A discrete model of a pair of spur gear is developed and the friction forces are calculated base on instantaneous dynamic force between gear teeth. The dynamic equation of the system is a linear ordinary differential equation with periodic coefficients. Periodic friction torque, as the parametric excitation is represented by Fourier series. The loci of periodic solutions are determined in μ - Γ plane (coefficient of friction-contact ratio) by strained... 

In this paper a combination of Kalman filter and feedback linearization methods is used to present a controller-identifier system for synchronizing two different chaotic systems. The drive system has some unknown parameters which are supposed to have linear form within its dynamic equation. An identifier based on Kalman filter approach is designed to estimate the unknown parameters of the drive system, and simultaneously a feedback linearizing controller is used to synchronize the chaotic behavior of the response system with the drive chaotic system. The method proposed in this paper is applied to the Lure' and the Genesio dynamic systems as the drive and response chaotic systems. The... 

Topological defects are interesting phenomena which can be observed in ordered phases such as oriented active fluids or nematic liquid crystals. Topological defects are determined by the overall structure of the director field in an active fluid in nematic phase and by exerting force to the units of the active particles they can interact or cause motion in the environment. Studying them as particles with dynamical equations, instead of studying the director field of the nematic environment, would provide us the power to study the characteristics of their motion. The equations of motion for multi-defect systems have been previously studied and in this work we focus on the chaotic properties...