Sharif Digital Repository

The objective of this paper is designing, modeling and wrench feasible workspace analysis of a 3D cable suspended robot as IRPM (Incompletely Restrained Positioning Mechanism). This type of robots supports a load platform in space by less than or equal to six spatially arranged cables. We use the model of 6 cables spanned in the same manner as a Stewart parallel mechanism. This mechanism is suitable for the accurate positioning of heavy loads. Concentrating on the operations of heavy loads handling, studying the workspace and ways of increasing it is of high importance. Several workspaces exist amongst which the constant and total orientation statically reachable combined and wrench feasible... 

One of the most important issues in planning the "reservoir" type of hydro-power plants (HPP) is to determine the installation capacity of the HPPs and estimate its annual energy value. In this paper, a method is presented. A computer program has been developed to analyze energy calculation and estimation of the most important economic indices of an HPP using the sensitivity analysis method. Another program, developed by Matlab software, calculates the reliability indices for a number of units of an HPP with a specified load duration curve using the Monte Carlo method. Ultimately, comparing the technical, economic and reliability indices will determine the installation capacity of an HPP. By... 

In a Multiple Input Multiple Output (MIMO) radar unlike conventional phased array radar, we can choose freely between the probing signals transmitted via its antennas to maximize the transmitted power around specific target locations or to approximate a desire beam-pattern in different manners that many papers have taken into consideration so far. In an operational radar or communication environment, one of the usual phenomenon that happens is multipath. In this paper we'd like to take this effect into consideration and show that how this effect can influence our beam-pattern in a covariance based MIMO radar beam-forming. We will show that multipath can change beam-pattern peak direction,... 

A multiple input multiple output (MIMO) radar system is an emerging research field which has attracted many studies in recent years. This type of radar, unlike conventional phased array radar, can transmit different probing signals via its antennas, that may be correlated or uncorrelated with each other. This waveform diversity offered by MIMO radar systems enable superior capabilities compared to conventional phased array radar. Many papers have introduced different ways for beamforming of MIMO radar. In this paper it is desirable to analysis some methods for beamforming of MIMO radars with planar arrays constellation and examine their 3D result beam-pattern of such constellations for... 

In this era of digital communication systems, different factors are included in efficiency of a transceiver system. Binary PAM systems are one of these transceiver systems. Many aspects of such a system has been considered yet but this field needs more research on because this is the base of any communication system. In this paper, effects of transmitter and receiver filters, noise, duty-cycle and time mismatch between transmitter and receiver in a binary baseband PAM transceiver system is analyzed. Simulation is performed to analyze the above effects on a typical communication system with 10 bits of transmit. MATLAB software is being employed for simulations  

Nano-micro grippers are able to pick-transport-place the micro or nanometer -sized materials, such as manipulation of biological cells or DNA molecules in a liquid medium. This paper proposes a novel monolithic nano-micro gripper structure with two axis piezoresistive force sensor which its resolution is under nanoNewton. The results of the study have been obtained by the simulation of the proposed gripper structure in Matlab software. Motion of the gripper arm is produced by a voice coil actuator. The behavior of the cell has been derived using the assumptions in the literatures. Moreover, two simple PID controllers, one for control of the gripper motion and another for control of the force... 

Simulation has been shown to be one of the most powerful tools in many areas of the health-care system, a system which attracted the attention of researchers due to its intricacy. The main goal of this study is to evaluate the patients' flow in an emergency department (ED). Discrete event simulation (DES)has been used as the core of this research so that it offers various ways to reduce the length of stay (LOS)of patients in different segments of ED by assessing various scenarios. In particular, a new approach for verification of the simulated model will be discussed. This study reports on the results that extracted from a case study on patient record data in one of the EDs located in Tehran... 

The main focus of this paper is on how the biped robot has a stable passive gait cycle as well as going through a stable journey on a level ground merely with push-off actuation. During recent years humanoids have been in the center of attention due to several reasons some of which are: compactness of the structure, low energy consumption, humanoid behavior and last but not least being of great use in medical field. In this paper, equations of motion regarding the passive phase as well as push-off are simulated in MATLAB software. For the next step, a comparison between these two stable gait cycles is made so as to figure out the difference between energy injected to the system by push-off... 

Distribution companies attempt to present better services, while reducing investment costs, by promoting consumers' participation in demand response programs. They increase the rate of consumers' participation in demand response programs by taking advantage of reward and punishment policies. Increasing consumers' participation in demand response programs is justifiable when it does not have negative impacts on network technical parameters nor decrease the electricity sale rate. Therefore, it seems necessary to determine the maximum level of consumers' optimal participation in implementation of demand response programs. In this article, a new model is presented based on distribution... 

This paper presents a method for the optimal allocation of Distributed generation in distribution systems. In this paper, our aim would be optimal distributed generation allocation for voltage profile improvement and loss reduction in distribution network. Genetic Algorithm (GA) was used as the solving tool, which referring two determined aim; the problem is defined and objective function is introduced. Considering to fitness values sensitivity in genetic algorithm process, there is needed to apply load flow for decision-making. Load flow algorithm is combined appropriately with GA, till access to acceptable results of this operation. We used MATPOWER package for load flow algorithm and... 

Islanding detection methods are divided into three main groups as remote, active and passive. Although passive schemes have larger Non Detection Zones (NDZ) relative to other schemes, they are more used in utilities due to their low costs and less PQ problems than other schemes. Passive Schemes are based on the measurements of passive system parameters. These parameters are measured at the point of common coupling (PCC). A new approach in passive techniques is the use of data-mining to classify the system parameters. In this paper, massive indices are collected by simulation of a practical distribution system in PSCAD/EMTP environment. These indices include voltage, frequency, current,...