نشریه مهندسی مکانیک مدرس
سال پانزدهم شماره 12 (اسفند 1394)

In the present paper, nondeterministic CFD has been performed using polynomial chaos expansion and Gram-Schmidt orthogonalization method. The Gram-Schmidt method has been used in the literature for constructing orthogonal basis of polynomial chaos expansion in the projection method. In the present study, for the first time the Gram-Schmidt method is used in regression method. For the purpose of code verification, the output numerical basis of code for uniform and Gaussian probability distribution functions is compared to their corresponding analytical basis. The numerical method is further validated using a classical challenging function. Comparison of numerical and analytical statistics shows that developed numerical method is able to return reliable results for statistical quantities of interest. Subsequently, the problem of stochastic heat transfer in a grooved channel was investigated. The inlet velocity, hot wall temperature and fluid conductivity were considered uncertain with arbitrary probability distribution functions. The UQ analysis was performed by coupling the UQ code with a CFD code. The validity of numerical results was evaluated using a Monte-Carlo simulation with 2000 LHS samples. Comparison of polynomial chaos expansion and Monte-Carlo simulation results reveals an acceptable agreement. In addition a sensitivity analysis was carried out using Sobol indices and sensitivity of results on each input uncertain parameter was studied.

Laser forming is a flexible forming process that needs no hard tooling or external forces. In this paper, laser forming of cylindrical surfaces with arbitrary radius of curvature is investigated analytically and experimentally. As the laser forming process is a die-less forming process, production of a desired shape from initial blank is very difficult with this process. Because in the laser forming process, there are some variable parameters such as laser power, laser beam diameter, laser scanning speed and dimensions of initial blank that directly affect the final shape of the produced part. Also, in addition to above mentioned parameters, in the laser forming process of a cylindrical surface, a new parameter says number of irradiating lines is added to variable parameters. Therefore complexity of laser forming of a cylindrical surface will be more than a simple laser bending. In this paper, an analytical method for laser forming of cylindrical surfaces with arbitrary radius of curvature is proposed. In the proposed method, with the aim of technical limitations of laser machine such as laser power, laser beam diameter and laser scanning speed, the number of irradiating lines and the distance between neighbor lines are proposed for production cylindrical surfaces with arbitrary radius of curvature. Also, using experimental tests the performance and accuracy of the proposed method are investigated and verified. Analytical and experimental results show that with the proposed analytical method, cylindrical surfaces with any arbitrary radius of curvature can be produced with a very good accuracy.

Early crack detection in structures prevents the occurrence of damage. Therefore, there is challenge in the literature to provide efficient methods in the field of structural health monitoring. A lot of researches that have been done on the crack identification in structures, are based on the models which ignore crack closure effects that make a significant error in the crack identification. Since it is more difficult to identify breathing crack than other damages, the purpose of this research is providing an efficient algorithm to identify breathing crack in beam-type structures which are important elements in various types of structures. In order to calculate natural frequencies of the beam accurately, in this research the fatigue crack model is used, which considers crack as breathing one with opening and closing behaviour. Then the problem of identifying crack parameters (location and depth of the crack) is defined as an optimization problem with the aim of minimizing the differences between natural frequencies calculated by the model and measured natural frequencies. In order to choose an appropriate algorithm to identify breathing crack, algorithms among various meta-heuristic algorithms are selected, which is able to identify the crack using only two natural frequencies. Regarding the surveys conducted, the optimization problem is solved using cat swarm optimization (CSO) algorithm. Moreover, in order to validate, the results are obtained for different crack parameters, have been compared with those of experimental tests. The results indicate that the proposed method has good accuracy

In this study, the design and optimization of a honeycomb energy absorber is performed using genetic algorithm. The main design goal is to absorb almost whole impact energy. Simultaneously, the reducing of the shock force level is also considered as a main objective. In the first part, the crashworthiness behavior of honeycomb structure is parametrically studied. The results are utilized in the second part to optimize shock absorber design. In this part, aluminum honeycomb structure under dynamic loading is investigated using simulation in LS-dyna finite element code. Parametric studies are invoked to identify the influence of different model parameters on crashworthiness characteristics of honeycomb structure. Reducing the computational cost, a repeatable model of 'Y' cross section column is numerically simulated. The effects of changes in material properties including Young's modulus, yield stress, tangent modulus, geometrical properties such as cell size, foil thickness, as well as the effects of impact velocity on the deformation behavior of the structure were investigated. A number of 25 different geometries with same height and various cell sizes and thicknesses are studied and effects of thickness and cell size on the energy absorption properties is investigated. Results showed that crashworthiness parameters such as mean and peak stress depend mainly on cell size and thickness values, while the friction coefficient and young's modulus are of less importance. Any change in absorber’s geometry affects the mean collapse stress more severe than the peak stress. In the meantime, thickness change is more effective in comparison with cell size change.

In this study, honeycomb energy absorber is optimized using genetic algorithm. The design goal is to absorb whole impact energy within a ‎limited shock load level. First the crashworthiness and parameter sensitivity of honeycomb structure is extracted as explicit functions that ‎are utilized to find optimized shock absorber configuration. Energy absorber must depreciate the impact kinetic energy and mitigate its ‎defects on the structure and aboard. So the energy absorption capacity while the shock load is kept limited are the main design objectives. ‎The volume and mass restrictions are also important objectives from an application point of view. Based on the simulation results ‎available in the article Part I, the honeycomb response surfaces of crashworthiness parameters including the mean and peak crushing ‎stresses are extracted. Utilizing the genetic algorithm based on response functions, the multi-objective optimized energy absorber is ‎investigated. The main objective of the optimization problem is set to minimization of mass or volume while the maximum allowable shock ‎and minimum energy absorption capacity are included as the problem constraints. The geometric specifications of honeycomb structure ‎including cell-size, foil thickness, height and absorber face area are among the design variables with optimization outputs of energy ‎absorption capacity, volume, mass, and shock level. Some optimization results are compared with those available in the literature and a ‎typical problem is handled. Results show that mass and volume optimized geometries are almost similar and reduction of acceptable shock ‎level makes the optimized geometry height to rise.‎

Accurate determination of the electro-elastic fields of quantum nanostructures within piezoelectric media is an important issue for realizing the electro-mechanical behavior of these nanostructures. In this paper, the governing partial differential equations corresponding to piezoelectric media containing quantum nanostructures are presented and subsequently, generalized analytical solutions based on Fourier series technique are developed for determination of the coupled electro-elastic fields in transversely isotropic piezoelectric barrier due to periodically distributed quantum nanostructures. The electro-elastic couplings of the piezoelectric barrier as well as the interactions between the quantum nanostructures are exhibited within the framework of the presented analytical solution. It is observed that no electric field and no electric potential will be induced anywhere in the medium for periodic distribution of quantum wires. The presented analytical solution is capable of treating different shapes and geometries of quantum wires/quantum dots. The electro-elastic fields of various shapes of sections of quantum wires and different geometries of quantum dots are studied and the effects of the geometry of periodically distributed quantum nanostructures are demonstrated. The results show that geometry of quantum nanostructures may highly affect the induced electro-elastic fields and therefore, accurate determination of the geometry of quantum nanostructures as well as the induced electro-elastic fields would be essential for employment of these nanostructures in different fields of research and technology.

The fabrication of nano‐composites is quite challenging because uniform dispersion of nano‐sized reinforcements in metallic substrate is difficult to achieve using powder metallurgy or liquid processing methods. Friction stir processing (FSP) is a new solid-state process used to modify the refinement of microstructure, improvement of material’s mechanical properties and production of surface layer composites. In this investigation via friction stir processing, metal matrix composite surface (MMCs) was fabricated on surface of 5083 aluminum sheets by means of 5 μm and 80 nm TiO2 particles. The friction processed surface composite layer was analyzed throughoptical and scanning electron microscopical studies. Effects of reinforcing particle size and FSP pass number on the microstructure, microhardness, on tensile and wear properties of the developed surfaces were investigated. Results show that the created nanocomposite layer by TiO2 particles exhibits a microstructure with smaller grains and higher hardness, strength, and elongation compared to the composite TiO2 layer by particles. Increasing FSP pass number results in improved distribution of particles, finer grains, and higher hardness, strength, elongation, and wear resistance. The surface composite layer resulted in four passes with change in rotation direction with nano particle reinforcement exhibited better properties in hardness, tensile behavior and wear resistance compared tothe behavior of the base metal.

This paper presents implementation of position control for planar cable-driven parallel robots using Visual servoing. The main contribution of this paper contains three objectives. First, a method is used toward kinematic modeling of the robot using four-bar linkage kinematic concept, which could be used in online control approaches for real-time purposes due to decreasing of the unknown parameters and computation time. In order to track the position of End-Effector, an online image processing procedure is developed and implemented. Finally, as the third contribution, two different controllers in classic and modern approaches are applied in order to validate the model with plant and obtain the most promising controller. As classic controller, pole placement approach is suggested and results demonstrate weaknesses in modeling the uncertainties although they represent acceptable performance. Due to the latter incapability, sliding mode controller is utilized and experimental tests represent effectiveness of this method. Result of the latter procedure is an inimitable operation on the desired task however, it suffers from chattering effect. Moreover, results of these controllers confirm accommodation between the model and robot. The whole procedure imposed, could be applied for any kind of cable-driven parallel robot.

The right selection of the type and the number of driver nodes, play an important role in improving the controllability and the performance of the dynamical networks. In this paper the controllability and the performance of a network has been studied when a new approach for selecting the driver nodes, based on the three main node centrality criteria, has been proposed. For each criterion, the percentage of the least number of driver nodes to achieve the desired performance has been calculated for several network model structures. The results for pure random networks show that for the ‘’betweenness centrality criterion’’ the number of driver nodes is minimal. Similar results hold for Small World networks subject to the fact that for dense, the number of driver nodes increases. It is shown that the ‘’closseness centrality criterion’’ is the proper choice for the State Free networks especially when the network is dense. Another important result is that in Small World networks, increasing the nearest neighborhood coefficient, decrease the number of driver nodes for a desired performance. Similar results hold for Scale Free networks where increasing the heterogeneity coefficient improves the network pinning controllability.

A family of rotating disks used in Iranian turbine and compressor industry is investigated. Mechanical and thermal loads due to working condition would lead to the crack initiation in the inner surface of the disk. The aim of this paper is the development of the two-dimensional weight function for the rotating disks containing semi-elliptical longitudinal cracks. The general form of the two-dimensional weight function is related to the proposed weight functions for embedded cracked domain in literature. In order to determine the unknown coefficient of the weight function, the reference stress intensity factors for cracked geometry subjected to reference loads are calculated. The analysis indicated that the results are independent of the number of terms in proposed weight function expansion. Extracting the weight function for disks with from 90 to 420 mm thickness enables one to predict the stress intensity factor for cracks in the structure subjected to arbitrary loading. The stress intensity factor for each point on the crack front subjecting to one or two dimensional loads would be calculated using the derived weight function. The results reveal that the increasing of the height to thickness ratio in rotating disks leads to the increase of the stress intensity factor for high depth ratio crack ones. Results show that the configuration of the disk sections affects the stress intensity factors of the same aspect ratio cracks in the structures. The comparison of the results obtained from the weight function method and those obtained with FEM are in good agreement.

Maintaining and restoring robot balance in the presence of external disturbances is a significant capability for a quadruped robot. This is due the fact that these robots move over uneven terrains which may be themselves the sources of the disturbances. In this article, the balance recovery problem of a quadruped robot after an external disturbance will be investigated. To this end, as first stage, the equations of motion of a whole-body model of a robot and also a constraint elimination method will be proposed. In order to recover robot balance, the desired accelerations will be computed based on the concepts of a PD controller and by using the desired velocities and the positions of the main body. However, these accelerations maybe lead to slip stance feet or lose robot stability. Therefore, an optimization problem will be defined to calculate the admissible accelerations and the contact forces simultaneously. The optimal regulation of the contact forces will be done to distribute the contact forces among all stance legs to avoid feet slippage. Since the stability and the slippage avoidance conditions are formulated as linear constraints, the optimization can be solved as a linear constrained least squares error. To evaluate the effectiveness of the proposed algorithm, it will be examined on a quadruped robot in the simulation in two different case studies: in standing situation and walking gait. Finally, obtained results will be discussed.

"DEFORM" three-dimensional finite element software is used to describe the behavior of plastic deformation of Ti-6Al-4V workpiece during blade preform extrusion process. Under different conditions of extrusion, numerical analysis of the process force parameter during extrusion process is presented. The relative effects of billet temperature, friction coefficient and die temperature on process force were investigated. To determine the process friction coefficient, the ring compression test of Ti-6Al-4V alloy with glass lubrication was performed. Also experimental tests were successfully done in order to manufacture blade preform. It was observed that billet temperature has much effect on force of Ti-6Al-4V alloy blade preform extrusion process. Die temperature has effect on the process force but its effect is not as much as the effect of the billet temperature. By increasing of the die temperature, the process force decreases. Experimental tests showed that the billet transfer process from the furnace to die has important effect on done or not done of the extrusion process because the billet transfer process from the furnace to die is cause of alters the billet initial temperature just before extrusion process. By reducing of the placing and transfer time of billet from the furnace to die, due to the vicinity of the billet and air, billet temperature have less reduction and therefore it becomes easier to shape. Also by increasing the friction coefficient, the force required for extrusion of Ti-6Al-4V alloy blades preform increased.

This research investigates notch effect on fatigue life of HSLA100 steel which is widely applicable in the marine industry. Experimental tensile tests and rotating bending fatigue tests were performed on both smooth and notched cylindrical specimens and the corresponding mechanical properties and S-N curves were obtained. To better investigate the notch and also size effect on fatigue life of the specimens, two different notch geometries and specimen dimensions were used. To calculate the fatigue strength factor, stress distribution under bending load is simulated for smooth and notched specimens. Then, the stress distribution under bending load is converted to stress distribution under rotating bending load using an in-house developed code. Finally, using an in-house developed code, the fatigue strength factor of the specimens is calculated by weakest link theory. In order to better investigate the weakest-link theory, in calculating the fatigue strength factor, this factor is calculated from the classical methods and compared with experimental results. Finally, Comparison of theoretical with experimental results shows that the weakest-link theory gives better predictions than other classical methods and the results are closer to experimental ones. Also, Weakest-link theory uses the finite element results to predict notch effect. This facilitates the use of this theory in fatigue design of complicated specimens.

The modeling and optimization of a rectangular finned multi stream plate-fin heat exchangers is presented in this paper. The proposed method for thermal modeling of this type of heat exchangers is based on uniform heat distribution along the plates. So, the heat streams are distributed along the multi stream heat exchanger based on two principles: equal quantity of stream channel distribution and uniform heat distribution in each of the channels. The geometric, thermal and hydraulic modeling and design of the multi stream heat exchanger is carried out based on rectangular fin specifications. The total annual cost (TAC), the summation of capital investment and operating and maintenance costs are regarded as objective function to be minimized. The main variables are heat exchanger core dimension such as length, width, height and the fin geometric parameters such as fin pitch and height. The genetic algorithm is utilized as optimization tool to minimize the total annual cost of the multi stream plate fin heat exchanger. The proposed method is applied to a case study. The results of the current method is compared with the literatures.

The orbital rendezvous and docking with Position and attitude nonlinear dynamics is one of the most challenging problems in the Aerospace engineering. The attitude and position of a chaser spacecraft, desired to rendezvous with a target spacecraft, have to be determined with respect to the target, as a result relative equations have to be considered. The chaser is controlled by actuators to rendezvous safely and stably under the conditions and requirements. In this paper rendezvous dynamics for target in a circular orbit is assumed as nonlinear second-order clohessy-wiltshire relative motion equations. Shauner and hempel relative equations are considered for target in elliptical orbit. Cost function has been chosen in a manner to minimize the control effort and to give smooth states. Nonlinear optimal control for rendezvous with a target in circular orbit using state dependent riccati equation by means of eigen vectors of the Hamiltonian matric is compared with linear quadratic regulator method for both linear and nonlinear systems and then stability and robustness of the results are analysed. Optimal control of a elliptical rendezvous is discussed independently. For navigational porpose it is important to express relative motion in inertial frame, this is accomplished by introducing an appropriate transformation.

Unlike HAWT, Darrieus wind turbines is faced with the self-start problem and high fluctuations at output torque. Because of the need for techniques based on meshing and coupling Eulerian fluid equations and the Lagrangian equations for moving rigid body, the calculation of rigid body acceleration and fluctuations torque of VAWT is very complicated and it is a function of the moment of inertia of the turbine. In most studies, regardless of this effect, the angular velocity of turbine is assumed to be fixed. In this study, for calculating the turbine rotational speed and position, the sum of wind-driven aerodynamic forces and external forces caused by friction and generators are calculated and placed into Newton's second law to calculate the acceleration, and integrating it in time steps. The simulation is performed unsteady and dynamic mesh is used for moving the rotor. The results could check the interaction between wind and rigid blades on the in the process of increasing the rotational speed of turbine, and simulate the rotor from the moment of rest until the turbine reaches its final rotational speed. The causes of reduction in torque at low rotational speed is investigated and it has been shown that high dynamic stall and passing high exergy flow into the rotor without interaction with blades results the power reduction. Moment of inertia has significant impact on the frequency and amplitude of rotational velocity, fluctuations of output torque and output power, which is important in mechanical analysis of blades’ fatigue.

Mechanical behavior of live cells and tissues is non-linear and their deformations are large. Using a suitable mechanical model that could predicts this behavior, is an important step in the prevention and treatment of various diseases and the production of artificial tissues. In this paper, using the non-linear elasticity theory and non-linear Mooney-Rivlin model, mechanical analysis of human arteries has been studied under internal pressure and axial tension. In the first By using the experimental study was conducted of biaxial test, the elastic constants of the arteries are calculated. For modeling, the arteries are considered as long homogeneous and isotropic cylinders. Radial and circumferential stress distribution on the minimum and maximum blood pressure is calculated. Variation of artery radius due to internal pressure is calculated and compared with the reported experimental data, and a good agreement is seen. The stress distribution curves versus radius are plotted which show that the inner layers of the arteries have much greater role in stress distribution than the outer layers. The elastic constants which are calculated for different ages show that the arteries of older people become stiffer and their flexibility decrease.

Boiling is a remarkably efficient heat transfer method and is commonly used in daily life and industrial applications. Changing the physical and chemical structure of hot surface in some methods as making a porosity in a manner of enhancing boiling process is an interesting topic in recent decay. In this paper, porous metal micro/nano structural surfaces is produced in order to augmentation of boiling heat transfer on copper surface by the one- and two-stage electrodeposition method. The pictures in micro and nanoscale are captured to identification of structure and surface characteristics as porosity and capillarity are estimated. Next, the effects of structures in enhancing the pool boiling are measured experimentally. So then, boiling heat transfer profiles that demonstrate heat flux versus wall superheat, are derived for water fluid. Pool boiling curves of enhanced surfaces is compared with polished surface and results of other researchers to determine the efficiency improvement. Furthermore, comparison the effect of electrodeposition process time on obtained structures shows higher porosity, capillary and strength of structure with lower process time (30 sec) lead to further enhancement of pool boiling.

Recent development in applications of magnetic nanoparticles makes them a good candidate as drug carriers especially for tumor treatment.Therefore it is important to analyze the behavior of magnetic nanoparticles in the blood vessel and tissue. The purpose of the current study is to investigate the magnetic nanoparticles movement and absorption in blood vessel and healthy and cancerous tissue under the influence of non-uniform external magnetic field. An in house finite volume based code is developed and utilized to solve the coupled governing nonlinear differential equations, mass, momentum and concentration under the influence of non-uniform external magnetic field. The 2D cannel is considered as geometry of vessel and blood is assumed to be non-Newtonian. The power law equation is used for blood viscosity. Results show the absorption of magnetic nanoparticles is low in cancerous tissue without of magnetic field, but by applying magnetic field absorption of them multiplied. Also, ratio of magnetic nanoparticles absorption in healthy tissue to cancerous tissue decrease sorely by applying magnetic field. Therefore, treatment is more effective and has fewer side effects by applying magnetic field.

Hard steels are widely used in automotive industry, molding and production of well drilling bits because of its high wear resistance and strength. The tendency to hard machine of these steels is growing in order to achieve high dimensional and geometrical accuracy, increased productivity and improved workpiece properties. In this research, relation between cutting parameters and final surface integrity in hard milling process of a workpiece made out of 4340 steel while using minimum quantity lubrication system is studied. Different parameters were considered in three levels as main milling parameters including: cutting speed, feed rate, axial and radial depth of cut and consequently the effect of these parameters on surface microhardness and white layer thickness were studied using Response Surface Methodology (RSM). The analysis of variance (ANOVA) showed that a model of quadratic polynomial function would work perfectly in order to estimate microhardness and it can also estimate experimental results while a linear model can evaluate white layer thickness changes, better. Also, Statistical analysis revealed that all cutting parameters increase microhardness and white layer thickness. Feed rate with 73.1% and cutting speed with 14.4% had more effect on microhardness comparatively. White layer thickness also varied between 7.6 μm to 16.1 μm while different cutting conditions were applied and cutting speed with 81.3% and feed rate with 9.4% had the most effects on white layer thickness.

Engineering components during service are exposed to destructive phenomena such as wear which may lead to their destruction. For their protection and reduction of costs of replacement of these defective components and also increasing productivity, attention is given to welding processes for depositing a wear-resistant layer on the components. In this research, the effect of welding current on last layer weld quality deposited on carbon steel by shielded metal arc welding process using Fe-based hardfacing electrodes is investigated. The chemical composition of the weld deposit layers was studied by quantometery. Optical and scanning electron microscopes, energy dispersive X-ray fluorescence and X-ray diffraction were used for microstructural studies. Microhardness and pin on disk wear tests were also employed for microhardness and wear resistance evaluations. The metallography and X-ray diffraction results show presence of martensite and retained austenite in the microstructure of the last deposited weld layer. The results of chemical analysis and microhardness and wear-resistant tests show that increasing the current increases weld dilution which leads to reduction of alloying elements affecting hardness and wear resistance of the weld deposit and hence these properties decrease slightly. Evaluation of the worn surfaces shows that the wear mechanism on the last deposited layer is of abrasive wear type.

In this paper, the adaptive second order sliding mode (SOSM) controller is designed for two input - two output (TITO) uncertain nonlinear systems and the robustness properties are ensured in the presence of uncertainties and bounded external disturbances. The objective is to design a controller that ensure stability and path tracking despite the effects of coupling. To this end, the system model is divided into two subsystems, and the coupling effects between such subsystems are considered as uncertainties. The sliding mode approach with PI sliding surface is used to remove the offset and converge the steady state error to zero. To avoid chattering phenomenon, Second order sliding mode method is proposed. Using adaptive switching gain, a new method is presented which unlike other methods, does not require the upper bound of the system uncertainties in the design procedure. Robustness properties against system uncertainties and external disturbances is shown by the Lyapunov stability theorem. Finally, the proposed method is used to control azimuth and elevation angle of as a laboratory helicopter with two degrees of freedom. Simulation results show performance of the algorithm in the presence of perturbations.