Sharif Digital Repository

The design of a new cable-driven robot for large-scale manipulation is presented with focus on the tension condition in the cables. In this robot, the arrangement of the cables is such that the moving platform has three translational motions. The robot has potentials for large-scale robotic manipulations, machining of large parts and material handling. The design analysis presented here is towards the synthesis of the robot as well as the sizing of the actuators and cables. The synthesis of this robot is dependent on the results of the tensionable workspace analysis previously published by the Alikhani et al. [6]. The analysis of the cable forces is presented in detail, which is then used to... 

Agent-oriented software products are becoming increasingly complicated, and the competitive market is forcing the producers to reduce time-to-market and increase the quality of the software produced. Therefore, developers have come to realize the need for more reliable and efficient agent-oriented software development processes (methodologies) which address the specific needs of each and every project. Software Process Lines provide a solution to this problem by using Process Line Engineering concepts for instantiating bespoke software processes. This research focuses on developing a software process line for Requirements Engineering (RE) in the context of agent-oriented software... 

During design, microsatellites are subject to different changes like the changes in weight, location and dimension of parts and elements of subsystems and the payload. These changes should be accumulated by the structure subsystem in a way that some key structural parameters like the center of gravity (CG) and inertia moments remain unchanged. This subject is also important regarding the design of a modular structure of a satellite. In the present study it is tried to accommodate any changes in weight and location of any part(s) and element(s) of a microsatellite by optimum (minimum) rearrangement of other parts on their plane of rest in order to keep the CG and inertia moments unchanged.... 

The Software Product Line (SPL) approach is a paradigm for systematic reuse of software products, and a Software Factory is a SPL aimed at the industrialization of software development. Based on the notion that a software/RE process can be developed via an engineering process (much akin to engineering other types of software), this research aims to provide a feature-based RE process factory to develop RE processes based on the characteristics of the project at hand (project situation). In our approach, the project situation is modeled as the problem domain through using the i* modeling language (resulting in a situation model). A feature model can encapsulate all the features in an SPL;... 

Selecting a suitable Requirements Engineering (RE) process is usually based on personal preferences or existing company practices rather than on the characteristics of the project at hand (project situation). Feature-oriented software development is the overall process of developing software systems in terms of their features. The Software Product Line (SPL) approach is a paradigm for systematic reuse of software products, and a Software Factory is a SPL aimed at the industrialization of software development. Based on the notion that a software/RE process can be developed via an engineering process, this research aims to provide a feature-based RE process factory to develop RE processes...