Sharif Digital Repository

In this paper, thermo mechanical finite element analysis of orthogonal machining process with a flexible tool is carried out to study the dynamic behaviour of the machining system and its stability against chatter vibration. By combining the simulation of chip formation in metal cutting with the dynamic phenomena leading to chatter development, the influence of various phenomena, including thermal effects resulting from friction and plastic deformations on the stability of the process are investigated. The novelty of this model is in its ability to evaluate the effect of temperature rise in the cutting zone on the stability of cutting process. Process stability is analyzed and compared for... 

Due to the nonlinear dynamics of hydraulic systems, applying high performance closed-loop controllers is complicated. In this paper, a single-rod hydraulic actuator is considered in which load displacement (for positioning purposes) is controlled via manipulation of the input voltage to the servo-valve. Dynamics of the servo-valve is described by first and second order transfer functions (named as Models 1 and 2). Through linearization of the system around its operating points, dynamics of the hydraulic actuator is represented in the state space. A full-order observer is designed for on-line states estimation. Then, feedback control system is designed for both regulation and tracking... 

Control problem in a biological system is the problem of finding an interventional policy for changing the state of the biological system from an undesirable state, e.g. disease, into a desirable healthy state. Boolean networks are utilized as a mathematical model for gene regulatory networks. This paper provides an algorithm to solve the control problem in Boolean networks. The proposed algorithm is implemented and applied on two biological systems: T-cell receptor network and Drosophila melanogaster network. Results show that the proposed algorithm works faster in solving the control problem over these networks, while having similar accuracy, in comparison to previous exact methods. Source... 

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... 

Power augmentation is known to be one of the important applications of Exoskeletons. This paper designs a control strategy to reduce the energy consumed by users in power augmentation mode. The strategy aims to calculate and apply the interaction force between humans and robots according to human intentions. To realize human intentions, the movement's kinematic characteristics and the user's muscular activity were used. The movement patterns were learned by the robot using a set of adaptive oscillators. The human movement pattern in each movement cycle was considered the basis for predicting human intention in the next cycle. Thereby, the robot's optimal path and interaction torque were... 

The high demand for radiotherapy services, combined with the limited capacity of available resources, patient unpunctuality, and series of appointments, makes Patient Appointment Scheduling (PAS) in radiotherapy centers very challenging. Although most centers use a First-Come-First-Serve (FCFS) policy for appointment scheduling, this approach does not consider patients’ behaviors, and consequently, it performs poorly. This type of inappropriate scheduling usually leads to inefficiency at the center and/or patient dissatisfaction. This study provides a data-driven approach to patient appointment scheduling to deal with the challenges mentioned above, and it considers patients’ histories of... 

In this study, the artificial neural network (ANN) was used for the prediction of WDT. The inputs to network are molar mass and pressure, and the output is WDT at each input. A two-layer network with different hidden neurons and different learning algorithms such as LM, SCG, GDA and BR were examined. The network with 16 hidden neurons and Levenberg-Marquardt (LM) train function showed the best results in comparison with the other networks. Also, the predicted results of this network were compared with the thermodynamic models and better accordance with experimental data for ANN was concluded  

In this study, 40% CaO/γ-Al2O3 catalyst was used for biodiesel production from corn oil. A transesterification reaction was done for 5h at a temperature of 65°C in the presence of corn oil, methanol (methanol to oil molar ratio of 12:1), and CaO/γ-Al2O3 catalyst (0.06g/g (6wt%)). Catalyst used in this study was synthesized using the sol-gel method. In this method, two parameters of gelation temperature and nitric acid concentration were used as variables in the catalyst synthesis step, and experiments were designed using central composite design (CCD). The results indicate that the optimal point is achieved at a gelation temperature of 70°C and... 

To achieve high rate of data transfer, tape mechanisms must be able to transport the tape with a constant velocity for scanning. During this process, it is desired to make the rise time minimized without timing and data transfer errors. In this paper, three servo systems including the take-up and supply reel servos for tape tension control and capstan servo for speed control are considered. So, tape transport mechanisms can be described with a nonlinear multi-input multi-output system (MIMO). After state-space representation of the problem, feedback control is designed for tracking objective. It should be mentioned that an increase in the speed of time response of system corresponds to an... 

During the milling process, self-excited vibration or chatter adversely affects tool life, surface quality and productivity rate. In this paper, nonlinear cutting forces of milling process are considered as a function of chip thickness with a complete third order polynomial (instead of the common linear dependency). An optimal control strategy is developed for chatter suppression of the system described through nonlinear delay differential equations. Counterbalance forces exerted by actuators in x and y directions are the control inputs. For optimal control problem, an appropriate performance index is defined such that the regenerative chatter is suppressed while control efforts are... 

In this study, surface ECG recordings have been used to accomplish a non-invasive method which can predict spontaneous termination of Atrial Fibrillation (AF) and discriminate terminating (T) and non-terminating (N) AF episodes. The data set was provided by Physionet including holter recordings of 50 patients (20 training and 30 test sets). Concerning that most relevant information about the AF exists in the atrial fibrillatory wave, Several spectral and time-frequency parameters were extracted from the ECG signal after canceling the QRST complex. Also a temporal feature, RR interval variation, representing the ventricular activity was calculated. These parameters were evaluated using a... 

Spacecraft rendezvous and docking are two processes in which a chaser pursues and meets a leader spacecraft in order to perform several mission based tasks. Although in some preliminary design analysis, these two operations may be pursued independently there could be circumstances in which the spacecraft trajectory and attitudes are coupled and interdependent. The present study is based on the presumption that the often independent translational and rotational motions of the spacecraft are coupled as a result of thrust misalignment. So the thrusters not only contribute to the rendezvous translational motion, but also affect the docking reorientation maneuver through their disturbing effects.... 

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... 

Background MicroRNAs (miRNAs) are frequently deregulated in various types of cancer. While antisense oligonucleotides are used to block oncomiRs, delivery of tumour-suppressive miRNAs holds great potential as a potent anti-cancer strategy. Here, we aim to determine, and functionally analyse, miRNAs that are lowly expressed in various types of tumour but abundantly expressed in multiple normal tissues. Methods The miRNA sequencing data of 14 cancer types were downloaded from the TCGA dataset. Significant differences in miRNA expression between tumor and normal samples were calculated using limma package (R programming). An adjusted p value < 0.05 was used to compare normal versus tumor miRNA... 

Recently, receptance coupling substructure analysis (RCSA) is used for stability prediction of machine tools through its dynamic response determination. A major challenge is the proper modelling of the substructures joints and determination of their parameters. In this paper, a new approach for predicting tool tip FRF is presented. First, inverse RCSA formulation is extended so that the holder FRFs can be identified directly through experimental modal tests. The great advantage of this formulation is its implementation in arbitrary point numbers along joint length. Therefore, in comparison with previous inverse RCSA approaches, a more realistic joint model can be considered. In addition, due... 

Receptance coupling substructure analysis (RCSA) is extensively used to determine the dynamic response of milling tool at its tip for the purpose of prediction of machining stability. A major challenge in using this approach is the proper modelling of the joint between the substructures and determination of its parameters. In this paper, an inverse RCSA is developed for experimental extraction of tool-holder frequency response function (FRF) including joint parameters. The accuracy and efficiency of this method is evaluated through an analytical investigation. It is shown that the extracted holder FRF can provide a highly accurate prediction of the tool tip FRF. The developed method is used... 

In mechanical assemblies, the performance, quality, cost and assemblability of the product are significantly affected by the geometric errors of the parts. This paper develops the statistical error analysis approach for dimensional control in automotive body multi-station assembly process. In this method, the homogeneous transformation matrices are used to describe the location and orientation of part and assembly features and the small homogeneous transformation matrices are used to model the errors. In this approach, the effective errors in automotive body assembly process are classified in three categories: manufacturing errors (dimensional and geometric tolerances), locating errors... 

Fluopyram, flupyradifurone, and indaziflam are novel systemic pesticides developed by Bayer. Based on available data, these pesticides appears to have a favorable safety profile in the case of pesticide residue problems. Herein, we report an effective analytical method for the determination of novel pesticides were developed using ultra-high performance liquid chromatography with tandem mass spectrometry coupled with a quick, easy, cheap, effective, rugged, and safe procedure. These target compounds were extracted with acetonitrile and cleaned up with PSA, and were separated successfully between 10.2 and 18.3 min using a C18 chromatographic column connected to an electrospray ionization... 

Transesterification reaction was performed in the presence of soybean oil, methanol, and Demineralized water plant sedimentation catalyst at 60°C for 8 h in this study. Central composite design method was used to study the effect of catalyst concentration and methanol to oil molar ratio on purity and yield of produced biodiesel. The results showed catalyst concentration of 9.08 wt% and methanol to oil molar ratio of 22.49 as the optimum condition in which the values of purity and yield of the produced biodiesel in the second-order models were 99.89% and 81.83%, respectively. Experiments are in good agreement with the mentioned values as corresponded values are 99.95% and 86.68%,...