Sharif Digital Repository

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 a project management methodology for research projects is presented. Generally, implementing research projects is so complicated because of uncertain attributes of this type of projects. So far, no project management methodology has been developed for research projects. In this thesis first, the main attributes of research projects are identified by considering research projects problems in some organizations. The consideration involves studying documents of research projects, interviewing with project managers, using questionnaires and applying statistical analyses. Then, stakeholders’ expectations of a research project methodology are recognized and characteristics of the... 

An Ad-Hoc wireless network consists of a collection of geographically distributed nodes that communicate with each other over a wireless medium. These networks don’t use any infrastructure or base station to channel allocation. The important difference between wireless networks and wired networks is the broadcast nature of wireless communications. In these networks, each node transmits data to all of the nodes in the transmission range which may cause an increase in interference and data loss. On the other hand, due to mobility of users, fading the channel between them and change of routing, the probability of data loss increases. The extensive and successful employment of TCP variants in... 

The purpose of this research has been measuring how much studied companies use different levers of controls. Management control system has been described as the system which ensures the organization about implementing its strategy (Antony, 2004; Simons, 1995). In this research we chose Levers of Control framework (Simons, 1995) as the proper model to describe management control systems in organizations. Using related literatures, we developed a questionnaire to measure how much different organizations use each levers of control. The proposed questionnaire was distributed in three businesses with different Value Creation Logics (Stabell & Fjeldstad, 1998), to provide a ... 

In the first part of this work, citric acid monomer was selected to produce dendrimer through the divergent method using logical conditions (for controlling its functional groups) on the base of poly (ethylene glycol) as the core. Triblock copolymers (ABA-type) of citric acid and poly (ethylene glycol) (PCA-PEG-PCA) as biocompatible compounds were synthesized in four different molecular weights and applied as nanocarriers. The structure definition of the molecules and nanoparticles were carried out using different spectroscopy methods. Diameter of the synthesized copolymers was investigated using dynamic light scattering (DLS) experiments and transmission electron microscopy (TEM) and it was... 

Thrust vector control as a method toward increasing of the aircrafts’ maneuverability and expanding the flight envelope into poor aerodynamic conditions, is considered a major field of academic and industrial appeal. Older methods based upon an approach of utilizing a mechanical instrument, impose quite a large amount of cost onto the design, prototyping and operation of the aircraft, even though they lead to improve in maneuverability. Having taken these setbacks into account, to simplify the manufacturing process and to reduce the thrust losses due to mechanical control of the thrust vector, the direction of research was set toward realizing and employing the flow control procedures. In... 

DC-DC switching convertors are power electronic circuits that have various applications nowadays. Quasi-resonant convertors are a kind of these convertors that are of great interest due to their simple structure and soft switching. The goal of controlling these convertors is to achieve constant output voltage while varying the input voltage and the load by choosing a proper switching frequency. Classic controllers show drawbacks in the case of high input voltage and load tolerance, and this nonlinear behavior of the systems results in some practical challenges. In this thesis, nonlinear predictive controller for quasi-resonant Buck convertors is designed. Having designed the linear... 

Airport Traffic Control Towers (ATCTs) are among the most critical structures in an airport that are expected to keep their level of serviceability after severe strong earthquakes. Therefore analysis and design of these structures need a detailed investigation on the seismic behavior of the structure based on the structural characteristics. In this study three different existing reinforced concrete ATCTs have been investigated. As important parameters of earthquake design of structures, response modification factor (R-factor) of these towers will be determined. R-factor reduces elastic force level to design force level and contains the effect of ductility, overstrength. In Iranian seismic... 

By an increase in demands for multimedia services of mobile, wireless networks shall provide Quality of Service (QoS) requirements for users moving in cells. Multimedia services such as voice, data and image own different features and every QoS are different from the other due to delay and demand for bandwidth.
This thesis presents a new model of call admission control which consists of a few key elements for protecting the network in different conditions of workload in a manner that calls blocking /dropping are kept under desired level. This model consists of two traffic classes of voice and data in order to give apriority to handoff call over new call, the parameters in this model are... 

In single service wireless cellular networks, two types of call are defined; new call and handoff call. New call blocking probability and handoff call dropping probability are two major parameters of QoS. Some call admission control schemes are proposed for handling new and handoff calls in the cell for keeping these QoS parameters under suitable values. In this work, we will introduce some call admission control schemes and will show performance analysis, advantages and disadvantages of them (under different channel holding times and same channel holding times for new calls and handoff calls). Then we will focus on two schemes and based on their ideas, we will propose a new call admission... 

Humanoid robots are robots that are similar in appearance and performance to humans. Designing and controlling a humanoid robot to perform such supposedly ordinary tasks as walking, running, writing, talking, driving, riding bikes, and the like is such a difficult task from the control point of view that it seems to be quite ambitious and inaccessible. In this thesis, the previous efforts of scientists and researchers are presented using different intelligent controllers. Additionally, the dynamic analysis of selective biped (seven-link biped robot) is illustrated. In this research, we present a method to control the walking of the biped robot while retaining stability. In this method the... 

Analysis and design of power systems are challenging due to ever increasing dimension of the system and also the nonlinearities involved in the system. The conventional approach is to use linear analysis tools and then investigate the nonlinear impacts by the means of computer simulations. This requires great deal of trial and error and it is not always a timely approach. In this project, we initiate a comprehensive nonlinear analysis for a single-machine infinite-bus system by studying a Hopf bifurcation in its dynamics. We use results of our nonlinear analysis to study how a capacitive compensation such as TCSC works. Subsequently, we design a nonlinear controller for a PSS to have... 

A new class of design has been introduced in the RF circuits and Frequency Synthesizers, which is based on the digital circuits. Implementation of the digital synthesizers suppresses the need to use loop filter and thus reduces the loop lock time. In this thesis different topologies of digitally controlled oscillators using inductor and capacitor tank and all digital architectures used in high frequency all digital synthesizers in 0.18um CMOS technology has been inspected and simulated. Novel techniques introduced to improve the ring oscillator-based design’s specifications which doesn’t need inductor. Using the introduced techniques, the phase noise has been lessened acceptably with respect... 

In this research we examine the effects of internal corporate governance mechanisms on shareholder value of 247 firms that were accepted in Tehran Stock Exchange. The main focus is on ownership structure and board composition. Owners with different identities affect shareholder value both directly and to some extent indirectly (through affecting board composition). We measured firm value using 2 different measures: relative growth of share price and market to book value of the firm. Controlling for industry effects, considering different levels of competitiveness, we find that private owners affect firm value more positively than governments and so do institutional investors more than... 

With the growth of semantic-aware environments, such as semantic web, new security requirements are imposed in access control procedures. An access control model for semantic web should take the semantic relationships (in three scopes of subject, object and action) into account in its access decisions. Considering the advantages of logic based models and description logic foundation of semantic web, we use the description logic as a basis to propose access control models in this environment. On the other hand, in some applications, such as e-banking environments, policy definition with the constraint(s) based on previous users’ accesses might be crucial. To consider this aspect, in this... 

This Project describes a new model for Inventory management in Supply Chain (SC), based on Fuzzy Set Theory and Echelon Inventory model. In today’s changing market, managing the Supply chain inventories, especially for the new product becomes more complicated and uncertain than before. This work provides a new approach to model uncertainties involved in supply chain management using fuzzy set theory. For achieving a more realistic model, Echelon Inventory is used as the base of integrated supply chain inventory model. In proposed model, some of input parameters like demand, production parameters, transportation time between inventories, and some of variables like lead times are described as... 

One of the best methods of gait analysis is to use analytical models. In this project, first, the normal human gait was simulated using a two-dimensional biped model with 7 segments, i.e., a HAT segment representing head, arms and trunk, and 6 segments representing thighs, shanks and feet of the two legs. The foot-ground contact was simulated using a five-point penetration contact model. The elastic impact and friction effects are considered in the ground reaction force modeling. Optimization of the normal human walking model provided constant coefficients for simple PD controllers’ (driving torque) equations that could reasonably reproduce the normal kinematical pattern. Then, in the second... 

In this paper, the general research of impedance control is addressed for a robotic manipulator with a moving flexible base. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base moving manipulators (FBMM) is rather new and is being considered. The dynamic of manipulator is decomposed into slow and fast dynamics using singular perturbation method. New sliding mode impedance control method (SMIC), using an element on the end effector is proposed for high precision impedance control of FBMM. The sliding mode impedance control method as a robust impedance control law is derived for the... 

The purpose of this project is to identify the most suitable propulsion system for a micro-satellite in LEO for orbit, altitude, and pointing corrections. Hence, different propulsion systems are investigated by comparing the propulsion thrust, mass, volume, cost, and specific impulse. In the first chapter, an introduction is given on micro-satellite and its subsystems. The second chapter discusses first the different types of disturbances that a microsatellite might face and second the control requirements for the satellite to counterbalance these disturbances. In the third chapter, different space propulsion systems are briefly reviewed and their main performance parameters discussed. In...