Sharif Digital Repository

Optimizing and improving the design of wells will have significant impact on any recovery method. As for horizontal wells, despite the fact that horizontal wells improve reservoir access, they suffer from significant pressure loss as well as limited flow control locations and flow control and management. In addition, reservoir quality varies along the length of the well and in the reservoir. This will add further complexity and challenge in well control and production optimization. The design of completions plays a significant role in improving the productivity of a well as well as the life of the reservoir. Intelligent or smart completions can be used to monitor, evaluate and manage the... 

Given that the mean of the cost of drilling operation related to the required martials and preparation of the drilling fluids, therefore, the design and construction drilling fluid which omit has to be a proper rheology is essential in drilling operations and oil industry. A desirable property of the drilling fluid is the minimum fluid loss volume which can be achieved by formation of a low permeability filter cake on the wellbore. Drilling fluid filtrating invasion into the formation can cause formation damage and reduction in the productivity of the well. In drilling fluids, a series of natural synthetic and polymers may be used as fluid (filtration) loss control additives. However, high... 

Intelligent control or management of well or reservoir is a method which is used in order to optimize the production for increasing recovery factor so that the minimum damage or reduction of pressure occurs during production lifetime. Azar oilfield has 17 wells and the production from this field isn't started. Thereupon designing a suitable well completion model and a control algorithm to optimize the production for the first two years of production is necessary and indispensable. For this purpose, by collecting basic information and their analysis (for example pressure, temperature, production rate, the type and amount of produced fluids), designing of downhole installations and modeling... 

Fines migration due to their severe problems during oil production must be controlled. They cause the productivity decline due to their deposition near the well bore. Recently, application of nanotechnology in fine migration control has been much attended in both experimental and field case investigations. The main goal of the present study is to find out the ability and different effects of Nano particles (NPs) such as concentration, types and even the magnetic sensitivity to retain fines migration. In order for this, two groups of tests were conducted by engineered porous media. In this study, for the first time, an experimental setup was designed and constructed to investigate the control... 

The precise positioning of magnetic catheters is critical for a range of medical procedures, ensuring efficacy while minimizing potential complications. This research delves into the position control of a magnetic catheter influenced by an external permanent magnet. Due to the intricate and complex equations describing the plant's behavior, a neural network approach was deemed suitable for modeling. Using a 5 degree of freedom manipulator carrying an external permanent magnet, data was gathered from real-world positionings, tracking the coordination of the magnetic catheter's end. These data points served to train the neural network, subsequently allowing for an effective simulation of the... 

In this thesis, kinematic, dynamic modeling and simulation, and control of SQ15-06N industrial robot have been presented. This robot is mostly used in the painting industry. Studying the robot requires familiarity with the robot programming and the hardware used in the robot. In this research, robot characteristics such as repeatability, load carrying capacity and accessibility have been investigated. The principles of industrial robot programming and robot programming language have been studied. The use of simulation software is common due to cost savings, reduced time, no need for robots and controllers, and the ability to test programs in a virtual environment. For this purpose, the... 

In recent years, boundary control (BC) approach for distributed parameter systems and their applications has demonstrated that it can be a well-intentioned candidate for control system design. In this approach, the main focus is on the boundary actions, where the actuators are aligned on the boundaries of the media. BC may be considered as an ideal approach, especially from applied and engineering point of view, because it deals only with actuators and sensors along the boundaries. Moreover, the problem of boundary stabilization and motion control of flexible crane systems has been one of the remarkable problems for control engineers. In this research, we contemplate the boundary control... 

Smoke is the largest cause of fire related deaths. A smoke control system is an engineered system that modifies smoke movement for the protection of building occupants, firefighters and properties. Unfortunately, in case of fire, stairwells and elevators are frequently filled with smoke, preventing effective evacuation. Many smoke control systems use mechanical fans to control smoke by providing positive pressure at strategic locations. Pressure difference across a barrier can control smoke movement by preventing smoke on the low-pressure side of the barrier from migrating to the high-pressure side. Building designers use codes and rules of thumb to design their building against fire.... 

This study provides preliminary work on the development of manual rehabilitation device for wearable and robotic manual applications. This work examines the motion of the fingers using the sensors. The developed mechanism is based on a combination of strain gauge sensors and a stepper motor, which forms the motion of the artificial thumb. In this thesis, the creation of an artificial thumb has been done with one degree of freedom, the movement and grabbing of lightweight objects. For grabbing objects, the command of controlling and keeping objects is performed through the IAR software and labVIEW software which is given to the stepper motor.This study describes the details of the work done... 

The main concept of this thesis is to simulate, develop, and analyze the performance of force control method by applying to a Unimate MK-II hydraulic manipulator. In this investigation, simulation studies are based on the concept of impedance control technique. Position-based formulation of impedance control is employed. First in this research, a PID controller is employed and is shown to be capable of performing position control task precisely despite the fact that inertia, joint stiction, valve deadband and other nonlinearities are presented. Although trajectory tracking is performed well after several investigations, we have concluded that the impedance control cannot perform a desirable... 

Most motorcycles in developing countries use carburetor systems as the fuel delivery method especially for models with the cubic capacity of less than 150 cc. However, a small gasoline fuelled engines operating using carburetor system suffer from low operating efficiency, waste of fuel and produce a higher level of hazardous emissions to the environment. A retrofit fuel injection system (FIS) is a system that is developed to entirely replace the conventional carburetor system to improve its fuel economy and exhaust emissions providing a low-cost alternative in an effort to reduce fuel costs and air pollution. In this study, an electronic control unit (ECU) is designed for a fuel injection... 

Reflective telescopes are devices which commonly use two mirrors, to gather and reflect light rays. In these types of telescopes, the main responsibility of the secondary mirror is to lead the reflected light from primary to detection place. The purpose of this project is to adjust the secondary mirror’s position to reduce the optical errors. So, we are going to study the M2 unit of the telescope. The M2 unit consists of a Hexapod made with six linear actuators in the conventional 3-3 arrangement, and its function is the accurate positioning of the secondary mirror. The main performance required for the M2 unit is the active mirror position adjustment in 5 axes to compensate the existing... 

Magnetorheological (MR) materials show variations in their rheological properties when subjected to varying magnetic fields. They have quick time response, in the order of milliseconds, and thus are potentially applicable to structures and devices when a tunable system response is required. When integrated with a structural system, they can produce higher variations in the dynamic response of the structure. In this thesis, vibration behavior of laminated-composite beam with MR Fluid is investigated.In most studies, shear strain across the thickness of MR layer has been considered as a constant value which does not precisely describe the actual shear strain field. Shear modulus of MR layer in... 

In this research a robotic fish was designed and fabricated. For this propose different types of manufactured robotic fish were investigated and this model was developed and made with a one-piece flexible tail with an actuator that creates lateral movement through cable strings attached to the tail. Proposed mechanism has a simple, low cost structure that facilitates the control of the robotic fish movement. To control this robotic fish, a four-channel radio controller with 40 kHz frequency, was used. Swimming mode of this robotic fish is categorized in Subcarangiform swimming mode which is faster and has better maneuverability compared to its counterparts. It should be noted that the... 

In recent years, industrial robots have been greatly used as orienting devices in industry, especially in the automotive, shipbuilding and aerospace manufacturing industries. Industrial robots are gradually finding their niche in manufacturing, replacing less universal and more expensive CNC-machines. Application area of robots is constantly growing; they begin to be used for the assembly, pick-and-place operations, machining operations and etc. The use of robots for machining operations is growing because of their flexibility to perform a broad spectrum of tasks at a lower cost when compared with machine tools. Recently, parallel robots have attracted more and more researchers’ attention in... 

In this thesis, a dynamic model of the biomimetic robotic fish with a flexible tail is developed. In this model, the oscillating frequency of the tail controls the forward velocity, and the body spline offset parameter controls the heading angle. The robotic fish were divided to two parts: a rigid body, and a flexible tail. The rigid body includes the head and the electrical and mechanical equipment. The bond graph model was developed and the numerical values were extracted from constructed robotic fish have also been hydrodynamically analyzed. Simulation results were quantitatively compared and verified with Matlab Simmechanics simulations. These simulations described the lateral movement... 

The huge capability of high resolution satellite imageries (HRSI), that includes spatial, spectral, temporal and radiometric resolutions as well as stereoscopic vision introduces them as a powerful new source for the Photogrammetric,Remote Sensing and GIS communities. High resolution data increases the need for higher accuracy of data modeling.The satellite orbit, position, attitude angles and interior orientation parameters have to be adjusted in the geometrical model to achieve optimal accuracy with the use of a minimum number of Ground Control Points (GCPs). In order to obtain high resolution and definition imaging for many applications including surveillance, target tracking, and... 

Non-uniform composite structures are widely being utilized in many modern industries including aerospace and automobile and wind turbine machines. Excessive vibration in these structures leads to dynamic instability and structural failure. In the present work, the vibration control of non-uniform composite structure particularly trapezoidal plates has been investigated using magnetorheological materials. The application of various smart materials including magnetorheological (MR) elastomer and magnetorheological fluids has been reviewed for vibration control. A trapezoidal composite plate with holes filled by MR elastomer has been considered for numerical simulations. The effect of location... 

Marine cranes are installed on vessels to transfer or transport payloads between ships or between ships and decks. One of the most critical issues in this case is the safety during load transferring. Marine cranes move or sway in unexpected direction, when they are influenced by wave, wind and storm. Theprocess of controlling them became difficult without using automatic control methods. Ingeneral, the movement of cranes has no prescribed path.This master thesis is about dynamic modeling and control of fixed crane placed on an offshore vessel. The main challenging problem in this work will be developing an accurate mathematical model of the crane. Therefore, bond graph method which is known... 

Control of line of sight (LOS) orientation is a fundamental prerequisite for virtually all dynamic applications in which an optical sensor is used to obtain images. In this research, a 3 DOF parallel mechanism is utilized to build a stable platform for high precision satellite photography. The platform may be designed based on the Stewart platform concept. The stability is obtained by controlling the roll, pitch and yaw of the mechanism. To apply linear control techniques and to use roll-pitch and yaw rates and also their absolute values, an active stable platform is designed. Line Of Sight (LOS) is a position vector from origin of a topocentric-horizontal system to the satellite of...