Sharif Digital Repository

Nowadays, exoskeletons have been gaining popularity due to their potential use in rehabilitation and augmentation. These robots often utilize series elastic actuators to facilitate compliant interaction with the human. Numerous studies have been carried out with the purpose of identification and control of these type of actuators. The goal of this paper is to provide a method for dynamic modeling and identification of series elastic actuators. This model is then used in the control loop as a feed-forward term to eliminate the actuator's dynamics. Each series elastic actuator used in the Sharif wearable robot, uses a brushless DC motor, a torsional spring, a harmonic drive, a timing belt, a... 

A computational code, based on the genetic algorithm and MCNPX version 2.6 code was developed and used to investigate the effects of some important parameters of HPGe detector (such as Al cap thickness, dead-layer thickness and Ge hole size) on optimum dimensions of marinelli beaker. In addition, the effects of detector material on optimal beaker dimensions were also investigated. Finally, the optimized beaker dimensions at various beaker volumes (300, 500, 700, 1000 and 1500 cm3) were determined for some conventional Ge detectors with different crystal sizes (16 sizes). These sets of data then were used to drive mathematical formulas (obtained by best fitting to data sets). The results... 

Properly adjusting the trim angle during the craft speed up, plays an important role in easily passing through the resistance hump and to reach final speed in minimum possible time. Present study tries to reply to this question that how the angles applied to a trimmable drive system and trim tab of the planing craft should be changed during speed up from rest, to craft reach a final speed in minimum time. This is a time-optimal control problem with the drive and trim tab angles as its control variables. To solve this problem a 3-DOF dynamic model is developed here rely on empirical data and relations. For the propulsion system operation of propeller, drive and engine altogether are taken... 

Traffic is a major contributor to emissions in many large cities with severe air pollution. Experience in London, Milan, and Stockholm shows that charging for the use of roads can be effective in reducing emissions, as well as congestion. This study examines the use of predictive cordon tolls based on weather forecasts to reduce ambient air pollution and congestion. Travelers choose their destinations inside or outside the cordon, and whether to drive or take public transport. Passenger vehicles are divided into three classes according to their emission characteristics, and higher tolls are imposed on more polluting vehicles. The Box model of emission dispersion is used to predict air... 

In strong water drive gas reservoirs (WDGRs), the water encroachment in the gas zone has adverse effects on the gas mobility and causes considerable volume of gas to be trapped behind water front; therefore estimation of residual gas saturation after water influx is an important parameter in estimation of gas reservoirs with strong aquifer support. It is difficult to achieve a thorough and exact understanding of water drive gas reservoirs. It depends on several parameters of petrophysical and operational features. In majority of the previous studies about residual gas saturation, the correlations were depended on petrophysical properties such as porosity, permeability, and initial gas... 

In this paper, a comprehensive analytical study is performed to assess the lycopodium-diesel dual-fuel combustion system in counter-flow premixed configuration. The system is modeled as multiple zones that are coupled together via proper boundary and jump conditions on interfaces. According to the respective reaction and transport phenomena in these zones, conservation equations of mass and energy are derived, non-dimensionalized, and solved by Matlab and Mathematica in an analytical way. The porosity of lycopodium particles and the thermal radiation from the reaction zone and the post-flame zones into the preheating zone are considered, in order to improve the realism and accuracy of the... 

Disk traces are typically used to analyze real-life workloads and for replay-based evaluations. This approach benefits from capturing important details such as varying behavior patterns, bursty activity, and diurnal patterns of system activity, which are often missing from the behavior of workload synthesis tools. However, accurate capture of such details requires recording traces containing long durations of system activity, which are difficult to use for replay-based evaluation. One way of solving the problem of long storage trace duration is the use of disk simulators. While publicly available disk simulators can greatly accelerate experiments, they have not kept up with technological... 

The emergence of new memory technologies provides us with opportunity to enhance the properties of existing memory architectures. One such technology is Phase Change Memory (PCM) which boasts superior scalability, power savings, non-volatility, and a performance competitive to Dynamic Random Access Memory (DRAM). In this paper, we propose a write buffer architecture for Solid-State Drives (SSDs) which attempts to exploit PCM as a DRAM alternative while alleviating its issues such as long write latency, high write energy, and finite endurance. To this end and based on thorough I/O characterization of desktop and enterprise applications, we propose a hybrid DRAM-PCM SSD cache design with an... 

Molecular level understanding of the properties of ionic liquids inside nanopores is needed in order to use ionic liquids for many applications such as electrolytes for energy storage in electric double-layer capacitors and dye-sensitized solar cells for conversion of solar energy. In this study, classical molecular dynamics (MD) simulations have been performed to investigate the radial distribution, glass transition, ionic transfer number, and electrical conductivity of the ionic liquid 1-ethyl-3-methylimidazolium hexafluorophosphate [EMIM][PF6] ionic liquid encapsulated in carbon nanotube (CNT). The effect of nitrogen as a doping element in CNT on these properties of [EMIM][PF6] was also... 

Utilizing ground-based measurements to obtain water budget components, especially in large scale basins, is challenging due to the limitation in the spatiotemporal availability of in-situ data. In this paper, we propose a probabilistic framework for estimating water budgets in low runoff regions using remote sensing products. By studying water budgets in the Central Basin of Iran (CBI) over 8 years period (2009–2016), we investigate the locations and time scales at which the water budget calculated from satellite products provides most closure. To this end, we use precipitation from the Tropical Rainfall Measuring Mission (TRMM), evapotranspiration from the Water Productivity Open Access... 

Urmia Lake in the northwest of Iran is the second largest hyper-saline lake worldwide. During the past two decades, a significant water level decline has occurred in the lake. The existing estimations for the lake water balance are widely variable because the lake bathymetry is unknown. The main focus of this study is to extract the volume-area-elevation (V-A-L) characteristics of Urmia Lake utilizing remote sensing data and analytical models. V-A-L equations of the lake were determined using radar altimetry data and their concurrent satellite-derived surface data. Next, two approximate models, a power model (PM) and a truncated pyramid model (TPM), were parameterized for Urmia Lake and... 

The presence of energy hubs in the future vision of energy networks creates an opportunity for electrical engineers to move toward more efficient energy systems. At the same time, it is envisioned that smart grid can cover the natural gas network in the near future. This paper modifies the classic Energy Hub model to present an upgraded model in the smart environment entitling "Smart Energy Hub". Supporting real time, two-way communication between utility companies and smart energy hubs, and allowing intelligent infrastructures at both ends to manage power consumption necessitates large-scale real-time computing capabilities to handle the communication and the storage of huge transferable... 

Porphyrin-POM hybrid materials with excellent NLO properties are supposed to be a worthy entrant for forthcoming telecommunication, optical fibers, optical data storage and optical limiting devices, but due to adverse solubility problems, they are replaced by polymeric materials. Herein, we assessed third order NLO and second hyperpolarizability of porphyrin-polyimide compounds (NH-PI and Zn-PI) synthesized from the reaction of 4,4ʹ-hexafluoroisopropylidene-diphthalic anhydride (6FDA) with C44H32N6 (NH-DATPP) and C44H30N4Zn (Zn-DATPP) porphyrins under ambient conditions. The Z-scan measurement of these compounds revealed reverse saturation absorption as well as self-defocusing performance.... 

Greenhouse gas emissions from anthropogenic sources are believed to be the main cause of global warming and climate change. Furthermore, fossil fuels are forecasted to remain the dominant source of energy in the near future. Therefore, capture and sequestration of greenhouse gases and in particular carbon dioxide is likely to be a major pathway toward environmental protection and energy sustainability. Such clarity has stimulated an intense and diverse range of research into various capture and mitigation technologies, which race with global warming in real-time. Quantification of the performance improvement rates of these technologies can inform decision-makers' long-term investment... 

In this research work, a modified fuzzy approach referred to as modified fuzzy logic method (MFLM) is proposed to more conveniently solve intricate decision-making problems under uncertainty and data deficiency. The method resolves major drawbacks like inaccuracy, complexity, and a high volume of computational efforts with the existing approaches for the mentioned problems. Here, MFLM is applied to materials selection for a cryogenic storage tank and a gas turbine blade, which are standard engineering problems used for verification by researchers, and the ranking results are compared with the state-of-the-art techniques in the literature, such as the conventional fuzzy logic method.... 

Information-centric network (ICN) has become a basic research topic with regard to the future architecture of the Internet. Storage and routing data is an important feature of ICN, as it improves network performance and content distribution. One of the challenges in this type of network is the routing problem. The objective of this paper is to propose a routing algorithm in the named data network. Owing to the impressive results presented by the enhanced heuristic methods, tabu search has been selected to develop the proposed algorithm. This work has been carried out in five major steps, Creating the initial solution, The mechanisms of generating a neighborhood, Evaluating the neighbor... 

In the design of a carbon dioxide capture and storage (CCS) process, the thermal conductivity of carbon dioxide is of special concern. Hence, it is quite important to search for a quick and accurate determination of thermal conductivity of CO2 for precise modeling and evaluation of such a process. To achieve this aim, a robust computing methodology, entitled least square support vector machine (LSSVM) modeling, which is coupled with an optimization approach, was used to model this transport property. The model was constructed and evaluated employing a comprehensive data bank (more than 550 data series) covering wide ranges of pressures and temperatures. Before constructing the model, outlier... 

Enhanced oil recovery (EOR) methods are mostly based on different phenomena taking place at the interfaces between fluid–fluid and rock–fluid phases. Over the last decade, carbonated water injection (CWI) has been considered as one of the multi-objective EOR techniques to store CO2 in the hydrocarbon bearing formations as well as improving oil recovery efficiency. During CWI process, as the reservoir pressure declines, the dissolved CO2 in the oil phase evolves and gas nucleation phenomenon would occur. As a result, it can lead to oil saturation restoration and subsequently, oil displacement due to the hysteresis effect. At this condition, CO2 would act as in-situ dissolved gas into the oil... 

Recently, protecting the copyright of digital media has become an imperative issue due to the growing illegal reproduction and modification of digital media. A large number of digital watermarking algorithms have been proposed to protect the integrity and copyright of images. Traditional watermarking schemes protect image copyright by embedding a watermark in the spatial or frequency domain of an image. However, these methods degrade the quality of the original image in some extend. In recent years, a new approach called zero-watermarking algorithms is introduced. In these methods, the watermark does not require to be embedded into the protected image but is used to generate a verification... 

The main objective of this work is to provide an electric supply to remote Iranian villages that have no access to electricity grid using a stand-alone hybrid system. The hybrid systems considered in this study consist of a photovoltaic array, wind turbine, diesel generator, and battery storage. Measured wind speed data was used for a wind turbine energy production model. The hybrid system optimized the electricity supply of villages with 6, 14, 20, 40, and 60 households in Bojnord, Moorchekhort, Kish, Langroud, Khash, and Meshkinshahr. The main purpose of this optimization is to find an economical system configuration that is able to fulfill the energy requirements of a given load...