Sharif Digital Repository

The main scope of this study is to analyse muscle-driven forward dynamics simulation of stair locomotion to understand the functional differences of individual muscles during the movement. A static optimization was employed to minimize a performance criterion based on the muscle energy consumption to resolve muscle redundancy during forward dynamics simulation. The proposed method was employed to simulate a musculoskeletal system with ten degrees of freedom in the sagittal plane and containing 18 Hill-type musculotendon actuators per leg. Simulation results illustrated that simulated joint kinematics closely tracked experimental quantities with root-mean-squared errors less than 1 degree. In... 

Particle separation has a variety of applications in biology, chemistry and industry. Among them, circulating tumor cells (CTCs) separation has drawn significant attention to itself due to its high impact on both cancer diagnosis and therapeutics. In recent years, there has been growing interest in using inertial microfluidics to separate micro/nano particles based on their sizes. This technique offers label-free, high-throughput and efficient separation and can be easily fabricated. However, further improvements are needed for potential clinical applications. In this study, a novel inertial separation technique using spiral microchannel having stair-like cross section is introduced. The... 

This study addresses optimal walking pattern generation for SURENA III humanoid robot in a stair-climbing scenario. To this end, the kinematic configuration of the 31-DOF humanoid robot is studied. Integrating the detailed dynamic properties of the robot, a comprehensive and precise dynamic model is developed for its lower-limb. In order to generate the optimal walking pattern for the considered humanoid robot, trajectories for feet and pelvis are first designed, and then joint angles are derived by means of inverse kinematics. Such a complete model provides the designer with the necessary tools to optimize the trajectory generation. Using two different types of objective functions, namely... 

An inverse dynamics musculoskeletal model of the lower extremity was combined with an optimization technique to estimate individual muscular forces and powers during stair ascent and descent. Eighteen Hill-type musculotendon actuators per leg were combined into the eleven functional muscle groups based on anatomical classification to drive the model in the sagittal plane. Simulation results illustrate the major functional differences in plantar flexors of the ankle and extensors of the knee and hip joints during ascent and descent. The results of this study not only could be employed to evaluate the rehabilitation results in the elderly but also could be used to design more anthropometric... 

An inverse dynamics musculoskeletal model of the lower extremity was combined with an optimization technique to estimate individual muscular forces and powers during stair ascent and descent. Eighteen Hill-type musculotendon actuators per leg were combined into the eleven functional muscle groups based on anatomical classification to drive the model in the sagittal plane. Simulation results illustrate the major functional differences in plantar flexors of the ankle and extensors of the knee and hip joints during ascent and descent. The results of this study not only could be employed to evaluate the rehabilitation results in the elderly but also could be used to design more anthropometric... 

The aim of this study is to employ feedback control loops to provide a stable forward dynamics simulation of human movement under repeated position constraint conditions in the environment, particularly during stair climbing. A ten-degrees-of-freedom skeletal model containing 18 Hill-type musculotendon actuators per leg was employed to simulate the model in the sagittal plane. The postural tracking and obstacle avoidance were provided by the proportional - integral - derivative controller according to the modulation of the time rate change of the joint kinematics. The stability of the model was maintained by controlling the velocity of the body's centre of mass according to the desired... 

The aim of this study is to employ feedback control loops to provide a stable forward dynamics simulation of human movement under repeated position constraint conditions in the environment, particularly during stair climbing. A ten-degrees-of-freedom skeletal model containing 18 Hill-type musculotendon actuators per leg was employed to simulate the model in the sagittal plane. The postural tracking and obstacle avoidance were provided by the proportional-integral-derivative controller according to the modulation of the time rate change of the joint kinematics. The stability of the model was maintained by controlling the velocity of the body's centre of mass according to the desired centre of... 

The main scope of this study is to analyse muscle-driven forward dynamics simulation of stair locomotion to understand the functional differences of individual muscles during the movement. A static optimization was employed to minimize a performance criterion based on the muscle energy consumption to resolve muscle redundancy during forward dynamics simulation. The proposed method was employed to simulate a musculoskeletal system with ten degrees of freedom in the sagittal plane and containing 18 Hill-type musculotendon actuators per leg. Simulation results illustrated that simulated joint kinematics closely tracked experimental quantities with root-mean-squared errors less than 1°. In... 

Hybrid Multi-Level Cache Architectures (HCAs) are promising solutions for the growing need of high-performance and cost-efficient data storage systems. HCAs employ a high endurable memory as the first-level cache and a Solid-State Drive (SSD) as the second-level cache. Spin-Transfer Torque Magnetic RAM (STT-MRAM) is one of the most promising candidates for the first-level cache of HCAs because of its high endurance and DRAM-comparable performance along with non-volatility. However, STT-MRAM faces with three major reliability challenges named Read Disturbance, Write Failure, and Retention Failure. To provide a reliable HCA, the reliability challenges of STT-MRAM should be carefully addressed.... 

It is well known that photonic structures with subwavelength features can be homogenized and thus be accurately approximated by homogeneous yet spatially dispersive structures. This idea is here applied to nonuniform superconducting transmission lines with subwavelength nonuniformities, i.e. subcentimeter features in the microwave regime. A closed form expression is found for the equivalent characteristic impedance and propagation constant of a uniform transmission line that can accurately model the transverse electromagnetic (TEM) propagation within nonuniform superconducting transmission lines with subwavelength inhomogeneities. It is shown that electromagnetic wave propagation, in... 

This paper presents a closed-loop laser cladding process used in nonplanar deposition of desired metallic materials. In the proposed system, the deposited layer geometry is continuously controlled via a sliding mode controller (SMC). The controller, which uses the scanning speed as the control input, is designed based on a parametric Hammerstein model. The model is a parametric dynamic model with several unknown parameters, which are identified experimentally using the recursive least squares method. The designed SMC is robust to all model parameters' uncertainties and disturbances. The results showed that the tracking accuracy improves and the chattering effect reduces if an integrator on...