Sharif Digital Repository

This work aims to propose a new technique that considerably helps enhance time and precision needed to identify "Inertia Parameters (IPs)" of a typical Autonomous Space-Robot (ASR). Operations might include, capturing an unknown Target Space-Object (TSO), "active space-debris removal" or "automated in-orbit assemblies". In these operations generating precise successive commands are essential to the success of the mission. We show how a generalized, repeatable estimation-process could play an effective role to manage the operation. With the help of the well-known Force-Based approach, a new "modular formulation" has been developed to simultaneously identify IPs of an ASR while it captures a... 

This work describes a new formulation to study the identifiability characteristics of Serially Linked Multi-body Space Systems (SLMBSS). The process exploits the so called “Lagrange Formulation” to develop a linear form of Equations of Motion w.r.t the system Inertia Parameters (IPs). Having developed a specific form of regressor matrix, we aim to expedite the identification process. The new approach allows analytical as well as numerical identification and identifiability analysis for different SLMBSSs' configurations. Moreover, the explicit forms of SLMBSSs identifiable parameters are derived by analyzing the identifiability characteristics of the robot. We further show that any SLMBSS... 

This paper presents the first fault-tolerant resource locking protocol for multiprocessor real-time systems. Resource locking protocols control access to shared resources in real-time systems. Most of the previous studies in resource locking protocols have focused on decreasing blocking time and resource conflicts. The use of such protocols in multiprocessor safety-critical real-time systems necessitates fault tolerance in the design of these systems. However, in research focused on multiprocessor real-time systems, fault tolerance has received low attention in resource allocation studies. In addition, many solutions proposed to improve the reliability in real-time scheduling ignored... 

Metal-free D–D–π–A type dyes (i.e., Car-Cy, Car-Rh, Dpa-Cy, and Dpa-Rh) were designed and synthesized for dye-sensitized solar cells (DSSCs). In the structure of the sensitized dyes, an imidazole ring is connected to a carbazole or diphenylamine moiety as a donor while cyanoacetic acid or rhodanine-3-acetic acid was introduced as an acceptor/anchor. The molecular structures of D–D–π–A type dyes were characterized using IR, NMR and MS spectral data. The optical, electrochemical, theoretical, light harvesting property, HOMO/LUMO levels, redox behavior, and photovoltaic properties of the synthesized dyes were evaluated. Among the fabricated photovoltaic devices based on the prepared dye, Dpa-Cy... 

In this study, effects of glycerol (10, 20, and 30 wt%) and Sodium Montmorillonite (Na-MMT) (0%, 2.5%, and 5%) contents on the degradation of corn starch polymers were investigated. Films were prepared by casting corn starch solution using a modified method to enhance the nanoclay distribution. Biodegradability studies were performed by enzymatic and burial tests using pristine and enriched soils. The biodegradability of samples in pristine soil was faster, and all samples were fully degraded in 6 months. The effect of nanoparticles on the mass reduction in degradation was more pronounced than that of glycerol. In all glycerol concentrations, Na-MMT addition increased tensile strength. FTIR... 

Optical signal propagation through underwater channels is affected by three main degrading phenomena, namely, absorption, scattering, and fading. In this paper, we experimentally study the statistical distribution of intensity fluctuations in underwater wireless optical channels with random temperature and salinity variations, as well as the presence of air bubbles. In particular, we define different scenarios to produce random fluctuations on the water refractive index across the propagation path and, then, examine the accuracy of various statistical distributions in terms of their goodness of fit to the experimental data. We also obtain the channel coherence time to address the average... 

Twitter as one of the most important microblogging online social networks has attracted more than 200 million users in recent years. Although there have been several attempts on characterizing the Twitter by using incomplete sampled data, they have not been very successful to estimate the characteristics of the whole network. In this paper, we characterize Twitter by sampling from its social graph and user behaviors through a random walk based sampling technique called Respondent-Driven Sampling (RDS). To the best of our knowledge, for the first time RDS method and its estimator are used in order to obtain uniform unbiased estimation of several key structural and behavioral properties of... 

Chitosan-coated human serum albumin nanoparticles were functionalized by MUC1 aptamer to obtain a selective drug carrier toward cancers overexpressing MUC1. The negative charges of albumin nanoparticles were shifted to positive charges by surface modification with chitosan, and MUC1 was conjugated through an acrylate spacer. The cytotoxicity of targeted nanoparticles was significantly more than non-aptamer nanoparticles, and also the chitosan-coated nanoparticles had more cytotoxic effects than the negatively charged albumin nanoparticles. The IC50 of targeted nanoparticles was 28 and 26% of free paclitaxel in MCF7 and T47D cells at 48 h, respectively. Confocal laser scanning electron... 

It is widely supposed that methodological naturalism, understood as a thesis about the methodology of science, is metaphysically neutral, and that this in turn guarantees the value-neutrality of science. In this paper we argue that methodological naturalism is underpinned by certain ontological and epistemological assumptions including evidentialism and the causal closure of the physical, adoption of which necessitates commitment to metaphysical naturalism. © 2019, Springer Nature B.V  

In this paper we introduce a new low phase noise cascode Cross-coupled oscillator by use of the general topology of Cross-coupled oscillator and cascode amplifier. By simulation a comparison between the conventional Cross-coupled oscillator and the new cascode Cross-coupled oscillator is also presented, which shows that the latter improves the phase noise by 2dB under the same conditions. The figure of merit (FOM) of -186.4 dBc/Hz is achieved for the new oscillator by simulation  

Colorectal cancer (CRC) ranks as the third most aggressive tumor globally, and it can be categorized into two forms: colitis-mediated CRC and sporadic CRC. The therapeutic approaches for CRC encompass surgical intervention, chemotherapy, and radiotherapy. However, even with the implementation of these techniques, the 5-year survival rate for metastatic CRC remains at a mere 12–14%. In the realm of CRC treatment, gene therapy has emerged as a novel therapeutic approach. Among the crucial molecular pathways that govern tumorigenesis, STAT3 plays a significant role. This pathway is subject to regulation by cytokines and growth factors. Once translocated into the nucleus, STAT3 influences the... 

The unsaturated small strain shear modulus, Gmax, is a key reference value in predicting relationships between dynamic shear modulus and shear strain amplitude and is thus a key quantity to properly model the behavior of dynamically-loaded geotechnical systems such as pavements, rail beds, and machine foundations. From the interpretation of the experimental Gmax results for unsaturated soils, different definitions of trends between Gmax and the stress state of the unsaturated soils and material properties are proposed. However, in most of trends, the relationship between the stress state and void ratio is considered and the effect of void ratio on the unsaturated small strain shear modulus...