Sharif Digital Repository

Simultaneous localization and mapping (SLAM) is the action of detecting robot pose in an unknown environment and building the environment map by use of input data that captured from robot sensors. In visual SLAM, the input data for the robot, is limited to camera sensors. Nowadays, SLAM is one of the main challenges in robotic research.For autonomous action, we need robot pose in the map of the environment. The map production in the indoor environment, there is no GPS data, is one of the research issue in robotic community, in last decade. In this thesis, a new and efficient method is proposed for SLAM at the level of objects. The maps produced by state of the art methods don’t have a... 

Breast cancer is the most common type of cancer in women and the second cause of death among them. The chance of successful treatment would be significantly increased if the disease is diagnosed at its early stages. There are numerous methods to diagnose breast cancer. One of the most important methods is positron emission mammography (PEM).The main aim of this study is to investigate the feasibility of improving PEM images by considering the time of flight corrections and the penetration depth of the rays in the crystals.In this study, a commercial PEM system, Naviscan PEM, is simulated using the GATE software. In the first phase of the study, two opposing planar detectors are used to study... 

Oil/water separation is an important field, not only for scientific research, but also for environmental, economic, and social issues. On the one hand, oily wastewater, resulting from industries such as steel, aluminum, food, textile, leather, petrochemical and metal finishing, has become the most common pollutant all over the world. On the other hand, frequent oil spill accidents are of great concern since the discharge can lead not only to serious environmental pollution, but also a great loss of energy.
In crude oil removing water is necessary due to reducing corrosion, increasing thermal values of fuels obtained from crude oil, preventing catalists from destruction by water and... 

Monitoring is of particular importance after impounding and during dam operation. In all large dams, by installation of the required instruments the pore pressure, soil mass pressure and displacement during construction, first impounding and operation are measured, then the performance of dam will be analyzed and evaluated. The aim of this study is to evaluate the performance of the "Gavoshan" dam, which has an important role on agriculture development and drinking water supply at west part of Country. To reach this, the values resulting from instruments have been implemented by FLAC software, using "Back Analysis" method. However, this assessment is complete when "back analysis" method is... 

When demand for a product is price sensitive, pricing and lot sizing decisions are interdependent. Similarly, when a product is highly perishable, the demand may need to be backlogged to avoid costs due to deterioration, i.e., perishability and backlogging are complementary conditions.In this thesis we stablish two economic production quantity models for deteriorating items under conditions of finite production, exponential decay and partial backordering and lost sale. Two joint pricing inventory control models are developed for the problem by employing different modeling approaches over an infinite planning horizon. In two models, customer is viewed to be impatient and the fraction of the... 

So far, much research has been done on severe plastic deformation of aluminum alloy 2024, but there is limited information on the effect of artificial aging for this alloy in the supersaturated, post-MDF state. As one of the methods of extreme plastic deformation process, multidirectional forging process (single pass) has been performed on different alloys including aluminum alloy 2024 at ambient temperature. Alloy 2024 was subjected to solution treatment at 500°C for 1 hour and multi-directional forging process was immediately performed on it. Then, at temperatures of 100, 140, 190, 240, and 290 °C, the aging process was continued for one hour until artificial aging. In order to investigate... 

Platinum is one of the most used catalysts in refining and petrochemical industries. Also, Platinum uses in other industries like automobile catalytic convertor. As respect to importance of Platinum in these industries, growth of its consumption in recent decades and its very high price, recovery of Platinum is essential. Hence, many of various methods including hydro-metallurgy are applied. In despite of these wide spreading experimental investigations, due to low information about the reactions and the nature of reaction products, a few investigations were done on kinetics of Platinum recovery. A new method that used iodine solution to extract Platinum from spent reforming catalysts was... 

With increasing number of cores and developing sophisticated applications in today’s computer systems, larger main memory capacity is increasingly demanded. Unfortunately, DRAM cannot satisfy the increasing demand for larger main memory capacity due to its power and scalability limits that makes further scaling of DRAM infeasible. Phase Change Memory (PCM) is one of the most promising candidates to be used at main memory level of the memory hierarchy because it is more scalable, denser, and consumes less standby power compared to DRAM. PCM is a new resistive memory which is capable of storing data based on resistance values. The wide resistance range of PCM allows for storing multiple bits...