Sharif Digital Repository

Aim: SHARIF-HMIS is a new inertial sensor designed for movement analysis. The aim of the present study was to assess the inter-tester and intra-tester reliability of some kinematic parameters in different lumbar motions making use of this sensor. Materials and methods: 24 healthy persons and 28 patients with low back pain participated in the current reliability study. The test was performed in five different lumbar motions consisting of lumbar flexion in 0, 15, and 30° in the right and left directions. For measuring inter-tester reliability, all the tests were carried out twice on the same day separately by two physiotherapists. Intra-tester reliability was assessed by reproducing the tests... 

This paper initially deals with the design of a new customized reconfigurable mobile parallel mechanism. This mechanism is called the 'Taar Reconfigurable ParaMobile' (TRPM), consisting of three mobile robots as the main actuators. Then, the kinematics and path planning for this mechanism are presented. The newly proposed mechanism is expected to circumvent some shortcomings of inspection operation in unknown environments with unexpected changes in their workspace, for example, in a water pipe with a non-uniform cross-sectional area. In this paper, 'Artificial Potential Field' (APF) has been assumed to be the path planning algorithm and its resulting attractive and repulsive forces are only... 

Affordable motion sensors that are recently developed for video gaming have formed a budding line of research in the field of physical rehabilitation. These sensors have been used in many task-based applications to analyze the patients' status based on their completion of assigned tasks. However, as the accuracy of such sensors is lower than that of the clinical ones, their measured data has had very limited use in quantitative motion analysis to this date. The aim of this article is to determine Kinect's ability and accuracy in calculating higher-order kinematic parameters, such as velocity and acceleration, in hand movements. Four methods, i.e. moving average, Butterworth filter, B-spline,... 

We use the weighted integral form of spherical Bessel functions and introduce a new analytical set of complete and biorthogonal potential-density basis functions. The potential and density functions of the new set have finite central values and they fall off, respectively, similar to r-(1+ l) and r-(4+ l) at large radii, where l is the latitudinal quantum number of spherical harmonics. The lowest order term associated with l = 0 is the perfect sphere of de Zeeuw. Our basis functions are intrinsically suitable for the modelling of three-dimensional, soft-centred stellar systems and they complement the basis sets of Clutton-Brock, Hernquist & Ostriker and Zhao. We test the performance of our... 

In the application of parallel kinematic machine tools (PKM), because of errors in the geometric parameters, it is necessary to calibrate the PKM to improve the positioning accuracy. In existing self-calibration methods, either some redundant sensors on passive joints or some mobility constraints on the kinematic chains are used. However, the mobility constraints imposed on kinematic chains might apply large forces during the test on legs and passive joints. Also, these kinds of calibrating are applicable only on PKMs in which their actuated joints can be used as passive joints. To overcome weaknesses of existing methods, a novel approach to calibration based on imposing position constraints... 

A thermo-mechanical finite element model is developed to accurately predict residual stresses of the multiple beads laser cladding process, incorporating the cyclic plasticity into the analysis by utilizing the nonlinear kinematic hardening behavior. Finite Element results are presented for Inconel 718, a material for which the laser cladding process is widely used. The FE results are compared with the results of incremental center hole drilling conducted on three specimens with different clad beads to evaluate the effect of cyclic plasticity modeling on the residual stresses. The results indicate that incorporating the nonlinear kinematic hardening model into the analysis can reduce the... 

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 the present paper, some new basis-free expressions for an arbitrary objective corotational rate of the general Eulerian strain measures are provided which are in compact form. Moreover, a complete discussion on the requirements for the continuity of the objective corotational rates are presented. © 2008 Springer Science+Business Media B.V  

I utilize the Petrov-Galerkin formulation and develop a new method for solving the unsteady collisionless Boltzmann equation in both the linear and nonlinear regimes. In the first-order approximation, the method reduces to a linear eigen-value problem which is solved using standard numerical methods. I apply the method to the dynamics of a model stellar disk which is embedded in the field of a soft-centered logarithmic potential. The outcome is the full spectrum of eigen-frequencies and their conjugate normal modes for prescribed azimuthal wavenumbers. The results show that the fundamental bar mode is isolated in the frequency space, while spiral modes belong to discrete families that... 

This paper presents a recursive approach for solving kinematic and dynamic problem in snake-like robots using Kane's equations. An n-link model with n-nonholonomic constraints is used as the snake robot model in our analysis. The proposed algorithm which is used to derive kinematic and dynamic equations recursively enhances the computational efficiency of our analysis. Using this method we can determine the number of additions and multiplications as a function of n. The proposed method is compared with the Lagrange and Newton-Euler's method in three different aspects: Number of operations, CPU time and error in the computational procedures. Copyright © 2005 by ASME  

In this paper we present a novel planar structure of a snake-like robot. This structure enables passive locomotion in snake-like robots through an auxiliary link in joint and a torsional spring. Dynamic equations are derived, using Gibbs-Appell method. Kinematic model of the robot include numerous non-holonomic 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 significant reduction of simulation time. Simulation results show that, by proper selecting initial conditions, joint angles operate in a limit cycle and robot can locomote... 

Optimal control frameworks are very important in optimization of multiple-arm robotic systems, although complexity, non-linearity and having large scales usually cause some computational problems in the capacity and time needed. In this paper, coordination of multiple-arm robotic systems in order to carry a rigid object is considered and the state space equations for the overall system are developed. Coordination of the robot arms is done through minimizing a related cost function based on the gradient method. This method is simple and easy to be used  

The main objective of the current work is to utilize Lattice Boltzmann Method (LBM) for simulating buoyancy-driven flow considering the hybrid thermal lattice Boltzmann equation (HTLBE). After deriving the required formulations, they are validated against a wide range of Rayleigh numbers in buoyancy-driven square cavity problem. The performance of the method is investigated on parallel machines using Message Passing Interface (MPI) library and implementing domain decomposition technique to solve problems with large order of computations. The achieved results show that the code is highly efficient to solve large scale problems with excellent speedup. Copyright © 2004 by ASME  

One of the main requisites for multi agent researchers is a multi-purpose infrastructure that enables them to create, test and evaluate protocols, methods and algorithms. RoboCupRescue simulation environment is a flexible and configurable environment that can fill this gap. With changes in its configuration files, it will gain different features, so different methods can be designed, implemented, and tested. This environment is actually suitable for most multi-agent research issues such as cooperation, coordination, agent communication languages, and agent micro level issues. Sensible roles and tasks in the system motivate more research and make this environment a suitable infrastructure for... 

In this article, we have investigated the possibility to distinguish between different galactic models through microlensing parallax studies. We show that a systematic search for parallax effects can be done using the currently running alert systems and complementary photometric telescopes, to distinguish between different lens distance distributions. We have considered two galactic dark compact object distributions, with total optical depths corresponding to the EROS current upper limits. These models correspond to two extreme hypotheses on a three component galactic structure made of a thin disk, a thick disk, and a spherically symmetric halo. Our study shows that for sub-solar mass... 

This paper presents the kinematics and dynamic modeling of a three-link (3-DOF) underwater manipulator where the effects of hydrodynamic forces are investigated. In our investigation, drag and added mass coefficients are not considered as constants. In contrast, the drag coefficient is a variable with respect to all relative parameters. Experiments were conducted to validate the hydrodynamic model for a one degree-of-freedom manipulator up to a three degrees-of-freedom manipulator. Finally, the numerical and experimental results are compared and thoroughly discussed  

A manipulator mounted on a moving vehicle is called a mobile manipulator. A mobile manipulator with an appropriate suspension system can pass over uneven surfaces, thus having an infinite workspace. If the manipulator could operate while the vehicle is traveling, the efficiency concerning with the time and energy used for stopping and starting will be increased. This paper presents the kinematic and dynamic modeling of a one degree of freedom manipulator attached to a vehicle with a two degrees of freedom suspension system. The vehicle is considered to move with a constant linear speed over an uneven surface while the end effector tracks a desired trajectory in a fixed reference frame. In... 

Background: Kinematic indices (KIs) are frequently used as objective measures to assess the upper extremities motor performance in post stroke patients. The clinimetric analysis of these indices has been mostly limited to their averaged values over different directions of reaching movements. Recent studies indicate direction dependencies of such motor performances due to neural and/or biomechanical causes. The direction dependencies of such indices and their clinimetric parameters remains to be investigated. Methods: An apparatus was built to perform and measure planar point-to-point reaching tasks in 8 directions using a virtual reality environment. 24 stroke and 18 healthy individuals... 

In this paper, a novel spatial six-degree-of freedom parallel manipulator actuated by three base-mounted partial spherical actuators is studied. This new parallel manipulator consists of a base platform and a moving platform, which are connected by three legs. Each leg of the manipulator is composed of a spherical joint, prismatic joint and universal joint. The base-mounted partial spherical actuators can only specify the direction of their corresponding legs. In other words, the spin of each leg is a passive degree-of-freedom. The inverse pose and forward pose of the new mechanism are described. In the inverse pose kinematics, active joint variables are calculated with no need for...