Sharif Digital Repository

Offline procedures for estimating parameters of robot dynamics are practically based on the parameterized inverse dynamic model. In this paper, we present a novel approach to parameter estimation of robot dynamics which removes the necessity of parameterization (i.e. finding the minimum number of parameters from which the dynamics can be calculated through a linear model with respect to these parameters). This offline approach is based on a simple and powerful swarm intelligence tool: the particle swarm optimization (PSO). In this paper, we discuss and validate the method through simulated experiments. In "Part Two" we analyze our method in terms of robustness and compare it to robust... 

Two-user Multiple Access Channel with a Wire- Tapper (MAC-WT) is considered. A general outer bound for the secrecy capacity region is given. Also, we have defined the Deterministic MAC-WT, where the channel input of each user is a deterministic function of the channel output and the channel input of the other user. For this network single-letter inner and outer bounds for the secrecy capacity region are given. Furthermore, it is shown that in the Deterministic MAC-WT, if the wiretapper channel is a degraded version of the main channel, inner and outer bounds meet and the secrecy capacity region is characterized  

The concept of information theoretic security is introduced. Secrecy capacity of two receiver broadcast channel for a new scenario is derived in which it is assumed that the legitimate receiver has access to a noisy version of eavesdroppers channel outputs. Also the ideas of code designing to achieve zero error on main channel and perfect secrecy on the eavesdropper's channel, without invoking complicated capacity achieving codes are provided  

This paper illustrates how a 3 degrees of freedom, Cartesian robot can be given the task of playing ping-pong against a human player. We present an algorithm based on particle swarm optimization for the robot to calculate when and how to hit an approaching ball. Simulation results are shown to depict the effectiveness of our approach. Although emphasis is placed on sending the ball to a desired point on the ping pong table, it is shown that our method may be adjusted to meet the requirements of a variety of ball hitting strategies  

Mu and Varadharajan proposed an electronic voting scheme and claimed that their scheme authenticates the Voters, protects the anonymity of them, and detects the identity of double voters. Due to some weaknesses in Mu-Varadharajan scheme, several modified schemes have been proposed by Lin et al., Hwang et al., Rodríguez-Henríquez et al. and Asaar et al.; however this paper shows that these schemes suffer from some weaknesses in fulfilling the pointed properties. For this purpose, we get Hwang et al. scheme as a case study and apply our new attacks on it. Also we consider the applicability of the attacks on other pointed schemes. In addition, we present a new scheme and show that the scheme... 

In the present work we obtained a series of NIR luminescent platinum(II) complexes with a pincer N^N^C ligand based on the conjugated {benzoimidazo[1,2-a]pyrazine} system with the [Pt(N^N^C)L]n+ structural motif (L = phosphine, alkynyl or pyridine-type ligands). We have also synthesized two complexes with bidentate phosphines that demonstrate different types of coordination: 1) as chelating ligand (in case of 1,2-bis(diphenylphosphino)benzene), that led to de-coordination of pyridine ring of N^N^C ligand and formation of a [Pt(N^C)dppb]+ complex; 2) as a bridging ligand (in case of bis(diphenylphosphino)methane) between two {Pt(N^N^C)} fragments in a dimeric complex of type... 

The combined action of ultraviolet irradiation and microwave heating onto acetonitrile solution of [Re((Formula presented.))(CO)3(NCMe)]OTf ((Formula presented.) =phenantroline and neocuproine) afforded cis,trans-Re((Formula presented.))(CO)2(NCMe)2]+ acetonitrile derivatives. Substitution of relatively labile NCMe with a series of aromatic N-donor ligands (pyridine, pyrazine, 4,4’-bipyridine, N-methyl-4,4’-bipyridine) gave a novel family of the diimine cis,trans-[Re((Formula presented.))(CO)2(L)2]+ complexes. Photophysical studies of the obtained compounds in solution revealed unusually high absorption across the visible region and NIR phosphorescence with emission band maxima ranging from... 

A Deza graph with parameters (n, k, b, a) is a k-regular graph with n vertices such that any two of its vertices have b or a common neighbours, where b ≥ a. In this paper we investigate spectra of Deza graphs. In particular, using the eigenvalues of a Deza graph we determine the eigenvalues of its children. Divisible design graphs are significant cases of Deza graphs. Sufficient conditions for Deza graphs to be divisible design graphs are given, a few families of divisible design graphs are presented and their properties are studied. Our special attention goes to the invertibility of the adjacency matrices of Deza graphs. © 2020, © 2020 Informa UK Limited, trading as Taylor & Francis Group  

A Deza graph with parameters (Formula presented.) is a k-regular graph with n vertices such that any two of its vertices have b or a common neighbours, where (Formula presented.). In this paper we investigate spectra of Deza graphs. In particular, using the eigenvalues of a Deza graph we determine the eigenvalues of its children. Divisible design graphs are significant cases of Deza graphs. Sufficient conditions for Deza graphs to be divisible design graphs are given, a few families of divisible design graphs are presented and their properties are studied. Our special attention goes to the invertibility of the adjacency matrices of Deza graphs. © 2020 Informa UK Limited, trading as Taylor &... 

The influence of the addition of the nonionic surfactants C12DMPO, C14DMPO, C10OH, and C10EO5 at concentrations between 10-5 and 10-1 mmol/L to solutions of β-casein (BCS) and β-lactoglobulin (BLG) at a fixed concentration of 10-5 mmol/L on the dilational surface rheology is studied. A maximum in the viscoelasticity modulus |E| occurs at very low surfactant concentrations (10-4 to 10-3 mmol/L) for mixtures of BCS with C12DMPO and C14DMPO and for mixtures of BLG with C10EO5, while for mixture of BCS with C10EO5 the value of |E| only slightly increased. The |E| values... 

The aim of this work was to study the treatment of strong beet sugar wastewater by an upflow anaerobic fixed bed (UAFB) at pilot plant scale. Three fixed bed bioreactors (each 60 L) were filled with standard industrial packing, inoculated with anaerobic culture (chicken manure, cow manure, anaerobic sludge digested from domestic wastewater) and operated at 32-34 °C with 20 h hydraulic retention time (HRT) and influent COD ranging between 2000-8000 mg/L. Under these conditions the maximum efficiency of organic content reduction in the reactor ranged from 75% to 93%. The reactor filled with standard pall rings made of polypropylene with an effective surface area of 206 m2/m3 performed best in... 

Let two coordinate systems, in possession of Alice and Bob, be related to each other by an unknown rotation R∈ SO (3). Alice is to send identical states | ψ⟩ to Bob who will make measurements on the received state and will determine the rotation R. The task of Bob is to estimate these parameters of the rotation R by the best possible measurements. Based on the quantum Fisher information, we show that Greenberger–Horne–Zeilinger (GHZ) states are near optimal states for this task. We show concrete measurements which will allow Bob to determine the rotation R. This shows that GHZ states, as superposition of macroscopically distinct states, are useful in yet another context in quantum... 

A Deza graph G with parameters (n,k,b,a) is a k-regular graph with n vertices such that any two distinct vertices have b or a common neighbours. The children GA and GB of a Deza graph G are defined on the vertex set of G such that every two distinct vertices are adjacent in GA or GB if and only if they have a or b common neighbours, respectively. A strongly Deza graph is a Deza graph with strongly regular children. In this paper we give a spectral characterisation of strongly Deza graphs, show relationships between eigenvalues, and study strongly Deza graphs which are distance-regular. © 2021 Elsevier B.V  

A Deza graph G with parameters (n,k,b,a) is a k-regular graph with n vertices such that any two distinct vertices have b or a common neighbours. The children GA and GB of a Deza graph G are defined on the vertex set of G such that every two distinct vertices are adjacent in GA or GB if and only if they have a or b common neighbours, respectively. A strongly Deza graph is a Deza graph with strongly regular children. In this paper we give a spectral characterisation of strongly Deza graphs, show relationships between eigenvalues, and study strongly Deza graphs which are distance-regular. © 2021 Elsevier B.V  

The reaction of thiooxindoles with various 2- and 3-substituted pyridinium salts afforded a variety of functionalized thiazocinoindoles. The products have been prepared in good to excellent yields by regioselective dinucleophilic C/S-cyclocondensation of thiooxindoles with pyridinium salts  

This paper presents synthesis and photophysical investigation of a very rare type of the ReI diimine complexes, [Re(diimine)(CO)3(OPR3)]+, R = Ph, Cy; diimine – phenanthroline and neocuproine, containing monodentate (unsupported) phosphine oxide ligands. The obtained compounds have been structurally characterized in solid phase by using XRD crystallography, which revealed unusual distortions in the pseudo octahedral rhenium environment, which may be ascribed to intramolecular interligand (phosphine oxide – diimine) interaction rather than to crystal packing effect. Optimization of the ground state structure of these molecules with the DFT method also confirmed intramolecular origin of the... 

Perovskite solar cells have been constructed under the standard procedure by employing soluble tetratriphenylamine-substituted Zn phthalocyanine as hole transporting material. Solution processed device construction was carried out under ambient conditions of 50–60% ambient humidity. Triphenylamine substitution played the double role of imparting solubility to the core metal phthalocyanine as well as to introduce electron-rich ligands, which could enhance the role of Zn phthalocyanine as hole transporter. Indeed, the obtained material was functional. The present data highlight tetratriphenylamine-substituted Zn phthalocyanine as hole transporting material but also highlight the importance of... 

Soils are usually weak in tension therefore different materials such as geosynthetics are used to address this inadequacy. Worldwide annual consumption of geosynthetics is close to 1000 million m2, and the value of these materials is probably close to US$1500 million. Since the total cost of the construction is at least four or five times the cost of the geosynthetic itself, the impact of these materials on civil engineering construction is very large indeed. Nevertheless, there are several significant problems associated with geosynthetics, such as creep, low modulus of elasticity, and susceptibility to aggressive environment. Carbon fiber reinforced polymer (CFRP) was introduced over two...