Sharif Digital Repository

The collision of moderately large asteroids and comets also referred to as Near-Earth Objects (NEO's) with earth would have catastrophic consequences. Such events have occurred in the past and may occur again in the future. However, for the first time in known history, humanity may have the technology required to counter this threat. Methods studied for mitigation of this hazard are based on deflecting asteroid's trajectory and are normally divided into two basic categories: high energy impulsive methods, and long-duration low-thrust methods. Two parts of mission to be optimized are the trajectory of spacecraft to reach the target and the deflection strategy which could be analyzed by the... 

Harvesting energy by magnetic shape memory alloy has many advantages against other various methods which harvested from environmental vibrations and has been considered due to high long longevity, large strain amplitude and good performance in low frequencies. These materials can display up to % recoverable strain in response to the application of a magnetic field or compressive mechanical stress. Microstructure of these materials changes under applying mechanical loading and/or magnetic field which cause magnetic vector rotating in magnetic domain. Change in magnetization of these materials, lead to harvesting energy by considering Faraday's law of induction. The model of this... 

Tubular sections and consequently tubular joints in construction of steel structures in the form of space frames is widely used in ground and marine structures, including offshore jacket platforms. The passage of part of the life of the existing offshore platforms has caused cracks in various parts of the joints of these structures due to various reasons, the most important of which is fatigue. In this thesis, by adopting numerous numerical studies and validations with some cited experimental papers, the principles governing the proper buckling behavior of tubular members focusing on the conventional geometries of Persian Gulf platforms as well as the behavior and local flexibility of... 

The minimum cost of energy is the goal of the wind farm layout optimization. This can be achieved by either maximizing the total energy or minimizing the total costs of the farm. This thesis considered the effect of wind speed on the performance and thrust coefficients. We also used two sizes of commercial turbines. First, we started by a single variable objective function (turbine cost to generated power), then, considering cable, foundation and O&M modules, objective function changed to a LCOE function which is non-dimensionalized by dividing all the costs to the cost of one turbine. We modified the simple cost model proposed by Mosetti et al., using cost scaling law, and also included... 

The main popuse of this Thesis is investigating of the different wagon arrangement effect on stability of the train set. So to gain this goal, one train with 10 wagons has been simulated. The model of the each wagon is Nonlinear with 40 DOF. 3 of the wagons are heavy and make 3 different kinds of arrangement by putting them at first, middle and the end of the train (HLL, LHL and LLH arrangements). Then these three arrangements have been simulated on two differen tracks and conditions, 1st Accelerating on curved track (320 R) with positive slope and 2nd decelerating on curved track with negative slope.We suppose that the contact is singular point and aslso contact equations have bben solved... 

Wide range application of high speed marine crafts in marine industry and other related industries results in attempts to improve the performance of such vessels. The main ideas of using control surfaces in high speed planing crafts are the change of the high speed planing craft‘s resistance due to change of their running attitudes and wave response mitigation of this vessels. Control surfaces produce forces and a pitching moment due to a pressure distribution caused by them, which can be used to alter the running attitude of high speed marine crafts. The present work contains a comprehensive study on trim tab as a control surface for the high speed crafts. The results of this study condense... 

In this research dynamic modeling of a 3-DOF (degree of freedom) compliant parallel mechanism with flexible intermediate links has been investigated. Unlike conventional rigid mechanisms that gain their mobility from movable joints, the compliant mechanisms transmit or transform through elastic deformation of flexible members (flexible connector and joint), displacement, force, or energy from input into output. Eliminating clearance, friction, wear and demand of lubrication in compliant mechanisms, and having monolithic structure provides high-precision motion with micro/nanometer level resolution for them. Therefore compliant mechanisms play a significant role in modern technologies such as... 

The use of sandwich panels has become very common in recent engineering designs when the weight of the part or structure is important and we are looking to lose weight while maintaining strength. The mechanical properties of this type of structures, including yield stress, fatigue behavior and estimation of their life, failure modes, natural frequencies and resonance phenomena, etc. are affected by various factors, including geometric and environmental factors. Fatigue is one of the most common failures in these structures. Composite materials have complex structures. In these materials, due to the viscoelastic properties, the fatigue behavior changes with changing stress, stress frequency,... 

The error of the inertial navigation system increases over time due to the cumulative errors of sensors. Inertial navigation system couples with sensors or other systems to prevent navigation system errors growth. One of the systems that can be used to couple with inertial navigation system is visual odometry. Visual odometry can calculate relative position of the camera at any time and estimate the device path through input images from one camera (Monocular) or multiple cameras (Stereo). Visual odometry algorithms improvements in recent decade cause this system used as real time. In this thesis, DSO algorithm, which is a direct method and monocular approach, couples with an inertial system... 

This thesis proposes a dynamic model for studding influences of suspension components behavior on rail vehicle dynamics. As the air springs are very important isolating component in rail vehicles, a new complete nonlinear air spring model, with taking into consideration of thermo–dynamical effects, is developed. The model coefficients are tuned based on the real test data and it can be easily used in dynamic modeling of air springs. The new proposed vehicle model is a complete track–vehicle model with 70 degree of freedoms which is addressed as a modular type. Experimental results from complete rail–vehicle field test, showed remarkable agreement between proposed model and test results.... 

In recent years, the area of research on micro flying robots has been developed, because of the development in micro manufacturing technologies. These flying robots can be used in military and Civilian missions such as identifying, espionage, aerial relays, traffic surveillance rescue, help and…because of their advantages. Ability to fly in finite areas, no human injuries, low manufacturing and power cost, easy and fast Application, Easy Maintenance and … are some advantages of these robots. We can control these robots manually by RC remote controllers or by Auto guidance system. On the other hand, these robots are used in research laboratories for testing new control algorithms such as ... 

In this thesis, a new procedure is presented for control and analysis of a group of autonomous underwater vehicle achieving flocking motion by using a fuzzy-logic-based attractive/repulsive function. Two cooperative control laws are proposed for a group of autonomous agents to achieve flocking formations related to two different centers (mass center and geometric center) of the flock. The first one is designed for flocking motion guided at mass center and the other for geometric center. Desired path for AUV’s has been developed using Virtual agents with mass point dynamics. Smooth graph Laplacian is introduced to overcome the difficulties in theoretical analysis. A new fuzzy-logic-based... 

Nowadays, due to expansion of the cities, growth in population and developments in technology, energy demand has increased extremely. Therefore responding this increased demand is a great challenge in political and economical management of all countries. Thus in recent years, cogeneration has become so popular between experts in the energy field because of its great efficiency and performance. The goal of this research is to design a controller based on a model which can predict the behavior of the cogeneration system. This controler is called “Mode Based Predictive Controller”. It utilizes the system in such a manner which has the lowest operation costs. This goal is obtained via modeling... 

Warming the injectable blood is a set of methods used to transfuse blood to the supplier (Accident patients, surgery, dialysis). These methods raise the temperature of the injected blood to body temperature. Blood transfusions are performed directly before World War II, so there is no need to heat the blood, Increased need for blood units caused blood banks. In these banks, to prevent the proliferation of pathogens, the temperature of blood units is reduced to 2-6 degrees Celsius. For indirect injection of these blood units, the injection temperature should be brought to the patient's body temperature before injection to prevent the recipient's body temperature from decreasing.In this... 

Now a day measuring dimensions plays an important role in industries. Improving the technology of measuring the dimensions, leads to higher quality of production. It is important for industries to have a rapid and accurate dimensions in short time. In this thesis, we worked on measuring dimensions with 3D laser scanner and in the end, the results related to accuracy and speed and efficiency of the system was shown in the thesis  

Helical swimming robots with a capable propulsion system at low Reynolds numbers have been proposed for many applications. Although linear propulsion characteristics of swimming robots with a single helical flagellum have been extensively studied, the characteristics of maneuverability have not been completely investigated yet. In this thesis two novel mechanisms was proposed. The first mechanism presents a new method for the maneuverability of the helical swimming robot with a single helical flagellum. This mechanism is based on the change in the angle between the helical and body axes. This study shows that a change in the aforementioned angle can enable the swimming robot to have turning... 

In recent years, energy harvesting from ambient sources in order to use for low-powered electronics has been considered by many researchers. Wind energy, solar energy, water energy, mechanical energy from vibrations, etc are common sources of ambient energy. In this thesis, optimization of energy harvesting from ambient vibration using magnetic shape memory alloy is presented. To this end, a clamped-clamped beam coupled with MSMA units is considered. A shock load is applied to a proof mass which is attached to the middle of the beam. As a result of beam vibration a longitudinal strain is produced in the MSMA. This strain changes magnetic flux inside the coil connected to MSMA and as a... 

Control of a group of autonomous surface vessels with realistic dynamic for circling mission is distributed with the aid of Lyaponov and graph theory. in this brief, to obtain a cooperative controller, new coordination transfer are presented and graph theory is used to illustrate the communication between the agents. With the aid of Lyaponov theory and graph application, Decentralized and scalable controllers are designed for group of autonomous vessels to converge to desired geometry to circling a specific target. Because of the realistic dynamics, Non-Holonmic dynamics and turning constrains of the vessels are considered in the design process. The advantage of proposed controller is: it... 

Vibration based energy harvesting is the process of trapping and collecting vibrational energy from ambient sources which seem unusable at first sight. The smart materials with the capability of coupling two different fields can be used in converting vibrational energy to electrical one. One of this smart material which has been taken into account recently is the Magnetic Shape Memory Alloy (MSMA) and it can couple the magnetic and mechanical fields. In MSMAs the total magnetization vector changes with the application of stress and make it possible to harvest energy from Faraday law’s of induction. An important phenomena that exist in MSMA is the dependency of magnetization-strain behavior... 

Torque variations caused by intermittent combustion and inertia effects of reciprocating components, exert significant torsional excitation on crankshaft of internal combustion engines. These excitation induces considerable torsional vibration on crankshafts. Therefore, modeling and analysis of crankshaft torsional vibration and absorber systems, especially in automobiles engine that crankshaft tolerate high amplitude excitations coupled with heavy inertia effects has high importance. In this study, ability of centrifugal pendulum vibration absorber and dual mass flywheel which used in rotating machinery for vibration reduction, will be examined. At first, cranktrain will be torsionaly...