Sharif Digital Repository

Nowadays, due to the advancement of robotic technologies and development of industrial robots, the robot manipulators are widely used for automation of various manufacturing processes, such as finishing processes. In these applications, the contact has to be made between robot end-effector and environment. Therefore, control of interaction force in the constrained manipulators is an important demand. On the other hand, due to use of gear box and belts for energy transmission in robot joints, robot manipulators have flexible joints. The vibration, generated due to the interaction force and robot joint flexibility, can deteriorate surface roughness in automated finishing processes. In order to... 

Considering the annual growth in the air traffic, new challenges arise; one of which is the appropriate level of automation that needs to be brought into the picture. This research focuses on the characteristics of a high level automation device, such as level 6 and upper, which could be used onboard a transport for traffic conflict prevention. The main objective behind such a device is to help ground controllers in crowded airspaces. In this work, we discuss the abilities of a new algorithm to resolve a general conflict in the absence of ground based ATC centers. The proposed algorithm considers the Earth rotation as well as general wind patterns. Mathematically, it is based on real-time... 

In this study, we provide a detailed analysis of the Iranian stock market, in particular, the impacts of the recent sanctions imposed on this country. We develop a novel economics concept, sanction-index, to measure the effect of sanctions on the Iranian stock market. We utilize a set of principled approach on news analysis and automated content analysis methods and construct an extensive dataset using over a decade of World Economics newspaper, from 2009 to2019. This newsletter is a highly celebrated and most influential newspaper in the Iranian stock market society. Employing this dataset, we search over sanctions-related keywords to identify sanctions-related articles from the set of all... 

In this dissertation، with regard of the importance of innovation and being innovative in the competitive conditions of the markets in the world، and the need of companies for some permanent competitive advantages، we are looking for some models and finding or creating some instruments to know and create knowledge for basics of innovation and innovation capacity before measuring the outputs of innovative projects، as innovation capability، and have the needed knowledge for managing resources and having the intransitive tendency to important factors that crystallize the structure of innovation capacity. For this purpose، we had a vast literature review with reading so many books about... 

Machine Translation Quality Evaluation, compared to the other issues dealt with in the field of Natural Language Processing, is faced with the challenge that the repetition of the translation process from the same linguistic form in the source language will not necessarily lead to a unique linguistic form in the target language. Therefore, considering the fact that the Abstract Meaning Representation (AMR) graph is the same for all the sentences of similar meaning, this thesis has been an attempt to extend the efficiency of AMR graphs to the area of Machine Translation Quality Evaluation. The main research question dealt with in the present thesis was whether the similarity of the AMR graphs... 

Debugging programs is a time-consuming and error-prone activity. So far, much research has tried to repair the programs automatically. Many of them try to change the location of the fault for a faulty program that fails at least one of its test cases so that all cases in the test suite pass. However, in real projects, the test suite is usually not enough, and the methods that aim to pass the test suite, often lead to the production of incorrect repairs, which is known as overfitting or weak test suite. In this regard, attention to methods based on program specification and the use of static code analysis have shown promising results. In this thesis, a method is presented that recommends... 

Testing is one of the most important and time-consuming steps in the Software Development Life Cycle. Especially, in recent methodologies like agile in which change is an important feature and they take place in iterations with each iteration taking place in a limited time. Recent studies suggest approaches to automatically generate test cases for the applications. For GUI-based applications, test cases are composed of a chain of events that are activated by the user. For these applications, we can generate test cases by simulating the chain of events that get activated by the user. Semantic-based approaches use the semantic matching of the events and their related widgets, to generate test... 

Nowadays, by distributed software development growth based on pull-requests, it is possible to review code changes before integrating into the master program by a third-party, informally and tool-based which is called Modern Code Review (MCR). Effectively performing MCR can facilitate the software evolution phase through reducing post-release defects. In MCR, after sending the pull request, the developer invites appropriate reviewers to inspect his code. Due to the high volume of requests and potential reviewers in many projects, selecting the appropriate reviewer is difficult and time consuming. Previously, a variety of recommender systems have been proposed that use methods based on... 

After passing many iterations of tests, video games still suffers from major bugs after they’ve been released. One of these problems is the incompatibility between the video game and target audience’s computers. In this thesis, we have proposed a testing strategy by utilizing Cloud Computing infrastructure for video games and Deep Convolutional Neural Networks. We used a simple algorithm to make the graphical output of a video game partially deterministic and thus it’s possible for us to compare different instances of the game in Draw Call level. We’ve used two separate Deep Convolutional Neural Networks for 1. detecting visual artifacts in frames and 2. comparing pairs of Draw Calls for... 

It's impossible to check all inputs of a software program due to infinite input domain, therefore the domain should be somehow restricted. One popular approach to do so, is input space partitioning. In this approach, the input domain has been modeled and partitioned into some equivalent classes or blocks. Using these blocks, it's possible to select one sample from each one and reduce the number of test cases to a small desirable number. To automate this approach, it's essential to firstly define the software requirements specification in a well-defined machine understandable template, then with processing this document we can detect program’s functionality and testable functions. Our goal in... 

Nowadays, using smart buildings to improve performance and welfare of residents is of interest. Usually, these systems consist of safety systems that provide safety and security for residents. For example, fire detection system, sound the alarm and activating sprinkler in the building. For different types of critical events that can occur, variety of safety systems has been designed. Response time of these systems should be less than the deadline and the correct operation must be compeleted. As a result, analyzing and checking out the real-time and logical features of safety systems are the issues that we treat and investigate in this thesis.
In general, these systems are either... 

The ultimate goal of this study is to evaluate the condition of concrete structures using computer vision methods and using powerful tools such as machine learning methods based on visual information. This assessment is performed by detecting damage in these structures. With the aging of structures such as dams, bridges and tall buildings, structural health monitoring is an important task in ensuring their safety and stability. Therefore, rapid assessment of the health of structures and diagnosis of damage after destructive events is of great value in terms of providing resilience of structures. Visual inspection of structures by experts is one of the basic methods of evaluating structures.... 

Technology is changing the travel behavior of people around the world. Automated vehicles offer new solutions to some of the problems in transportation. This technology can improve traffic safety, land use development, traffic quality, and fuel consumption. Nevertheless, these solutions can be applied, only if Automated Vehicles are accepted and used by people. Due to a lack of mass production in the industry yet, automated vehicles’ adoption and market share are not yet determined and therefore certain to happen. This study surveyed 334 Iranian truck drivers in October 2019 to examine their opinions of heavy-automated vehicles (i.e. automated trucks), the factors and variables that affect... 

This paper presents five origin-destination (OD) flow estimation models using traffic sensors. The first model uses counting sensors data, the second model uses automated vehicle identification (AVI) sensors data and the third, fourth and fifth use combined data of counter and AVI sensors simultaneously. The first to fourth models are bi-level problems that the upper-level minimizes some objective functions where is the distance between estimated flows and observed flows. On the other hand, the lower-level problem finds user equilibrium (UE) flows pattern for estimated origin-destination matrix (ODM). The fifth model is a multi-objective problem, where a bi-level problem is solved for each... 

Regardless of the traffic model and its application, an essential input of transportation models is the amount of demand which is usually described using Origin-Destination (O-D) matrix. Many reaserchers have developed different O-D matrix estimation methods using traffic counts, which allow simple data collection as opposed to the costly traditional direct estimation methods based on home and roadside interview. However, Link data is not sufficient to obtain an unique answer. This reaserch tries to estimate O-D matrix by using Automated Vehicle Identification(AVI) data. The research formulates the problem of the estimating O-D matrix as a bi-level problem. The upper level consists of... 

From the past, the damask rose has an important place in various pharmaceutical, food, health and cosmetic industries. This product has the largest cultivated area in Iran, which is about 24,000 hectares, equal to 60% of its total cultivation in the world. Considering the conditions required for the cultivation of this plant, including the low water requirement, the expansion of its cultivation has been considered. One of the important obstacles to not expanding cultivation is manual harvesting, which strongly affects the quality and mass of essential oil and rose water. The efforts that have been made so far in the field of designing and producing the rose harvesting machine have not had... 

Automated dimensional inspection is commonly expensive because of the requirement for high-precision measurement devices. To perform a precision measurement, the technician must be highly skilled and fully understands the operation of the equipment. Moreover, automation of the mentioned process to reduce dimensional measurement time is a complicated task due to restrictions of precise equipment such as CMM. With the expansion of the use of cameras in the industry, the measurement method with the help of machine vision systems is one of the cost-effective methods that can be achieved with the development of a suitable image processing algorithm to achieve acceptable accuracy compared to... 

In Iranian Sign Language (ISL), alongside the movement of fingers, the movement of the lips is also essential for to perform words completely and correctly. The purpose of current study is to provide an automated lip-reading system using deep neural networks and implement it on Rasa social robot; So that the robot can recognize a limited number of specified Persian words. To do this, we propose an automated lip-reading system based on convolutional neural networks and long short-term memories. Convolutional neural networks in extracting features from images and long short-term memories in modeling temporal dynamics have achieved good results. We have also recorded a database in Persian... 

In this project, conceptual and detailed designs of a knee prosthesis constraint testing machine were performed based on ASTM F1223-20 standard. Conceptual and detailed mechanical and electrical design of machine and parts were performed based on common engineering practice and standards. Parts were carefully manufactured and controlled for quality assurance. The machine was then assembled and checked for proof of performance. A plc program was written as machine software. A comprehensive user interface was coded on computer for performing various tests, which can command the machine and view the required data in a graphical environment. Finally, simple experiments were designed and... 

Microrobots have the potential to access small spaces for manipulation or for acting as a sensor. Magnetic microrobots are the most common types of microrobots. Magnetic microrobots have gained particular traction for medical applications due to safety of tissues. For instance, disease diagnosis, minimally invasive surgery and cell manipulation are potential applications of magnetic microrobots. The performance of a single microrobot could be improved by using multiple robots. For example each microrobot could carry a small payload to a goal inside a microfluidic channel, or could assemble fast and in parallel. In order to employ multiple robots, it is necessary to control each microrobot...