Sharif Digital Repository

In the beginning of the 90’s a new type of robot was introduced by Fukuda. The brachiation is a type of mobile robot that moves from branch to branch like a long-armed ape. Here, as a new innovation, optimal control is used to obtain the optimal trajectories for two different problems. The first problem is “Brachiation between fixed branches with different distance and height” and the second is “Brachiating and catching the moving target branch”. Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the “Target Dynamics” method which was proposed in prior articles for this robot. The obtained optimal trajectory also minimizes the... 

After the discovery of integer and fractional quantum Hall effects, a comprehensive effort started to understand the physics behind these findings thoroughly. At the end, these efforts resulted in the introduction of topological phases of matter and the notion of topological phase transition. With the recent developments in this field, as the introduction and synthesis of 3D topological insulators, many researchers began inspecting the effects of disorders and impurities in the lattice structure on the topological phases, As these imperfections are inevitable in the lab-created instances. Since, in the previous works only on-site disorders was studied, the concentration of this thesis is on... 

Abstract The problem of competetive facility location can be defined as follows: There are a number of customers in the form of points in space, and two players arrange a number of facilities in the form of points in space, given some limitations, respectively. Each customer’s connection to each facility has a cost for the customer and an advantage for the facility, and each customer wants to be connected to at most one of the facilities which has the lowest cost for him. The goal is to find the strategy of placing the facilities and determining the cost which the facility receives from the customer, in such a way that the player’s profit is maximised.In this thesis, we first sought to... 

In this thesis, we provide a comprehensive overview of the efforts made towards achieving the goals of Hilbert’s program, and evaluate how successful They are. We begin by discussing Gödel’s incompleteness theorems, and then as a first attempt we present a brief presentation of Gentzen’s consistency theorem. Subsequently, various research fields that branched out from these initial efforts are explored, encompassing the application of the Omega-Rule, reverse mathematics, and self-verifying systems. Furthermore, we present the concept of “Almost Finitistic Consistency” as an alternative approach within Hilbert’s program. In conclusion, a thorough assessment of the success of Hilbert’s program... 

Question answering systems are systems which get a question in natural language as input and present an explicit, appropriate answer to the question. One of the major components of automatic question answering systems is question processing component in which the input question is analyzed. The main goal of question processing phase is to determine the answer type through question classification. Rule-based, machine learning-based and hybrid approaches have been used in order to develop question classifiers among which machine learning-based ones have outperformed the others. This study’s main goal is to develop a question classifier for Persian open domain question answering systems.... 

In the first chapter of this thesis we consider the simplest problem of calculus of variation with mixed boundary conditions and we obtain the Euler-Lagrange equation. We will see that the work here is very similar to the work for Dirichlet boundary conditions. In chapter two we investigate the sufficient condition for the existence of solution. Here we will see the work is really different from the work for Dirichlet condition. In fact this result is published in a credible journal. The main work of this thesis will begin in chapter three and will end in chapter five. In these chapters we will investigate a necessary condition for existence of solution for a calculus of variation problem... 

Digital video is one of the biggest part of digital data. The first step of digital video analytics is shot boundary detection. We used overlapped partitioning beside color histogram in uncompressed data and macroblock type prediction in compressed data as feature and supervised classifiers for decision making. Tests on TRECVID 2006 shows 8.9% improvement of F-measure in uncompressed video and 5.3% in h.264 bitstream. Supplementary test is done on IRIB dataset which shows 5.7% improvement of F-measure in uncompressed and 3.2% in H.264. H.264 based algorithm is almost 7 times faster in comparison to the algorithm that includes decoding  

Due to the increasing spread of metal industries and the need for raw material as feed for electric furnaces in order to produce cast iron and steel, as well as scrap deficiency and rising prices, the use of sponge iron as a substitute for scrap was considered in this project Therefore, in order to achieve the chemical analysis of the sorel ingot that is special for spherical graphite cast iron production with low manganese and chromium content, the direct reduction process was carried out using tunnel kiln method on low-manganese iron ore concentrate.After the investigation on direct reduction parameters including the saggers and coal grading,the produced sponge iron has melted in... 

Fuel system is one of the most important parts of pulse detonation engine which has the responsibility of fuel, oxidizer and also purge gas in the different operational frequencies of engine. Although pulse detonation engines are sort of air breathing engines and purge gas and oxidizer one in the same unit in their structure, due to existence idea in the pulse detonation rocket engines coverage of functional condition, fuel, oxidizer and purge gas, will study it in three different structures.
In this study purpose is improvement of the pulse detonation engine of Sharif University which will provide as the possibility of safe functional condition and high operational frequency in... 

Auction is one of the most important and oldest institutions in economics, enabling resource allocation and trade of goods in the economy. Investigating the effects of changes in reservation price in auctions is an important question in auction theory research. In this study, focusing on a policy implemented by Yektanet, which involved altering the reservation price in auctions for advertising slots, we assessed its impact on advertiser costs. The implemented policy led to the activation of two distinct mechanisms, resulting in conflicting effects on the company's revenue. The first mechanism involved an increase in bid and intensified competition for ad placements on average, while the... 

Recent advances in storage and processing, have provided the ability of automatic gathering of information which in turn leads to fast and contineous flow of data. The data which are produced and stored in this way, are named data streams. data streams have many applications such as processing financial transactions, the recorded data of various sensors or the collected data by web sevices. Data streams are produced with high speed, large size and much dynamism and have some unique properties which make them applicable in precise modeling of many real data mining applications. The main challenge of data streams is the occurrence of concept drift which can be in four types: sudden, gradual,... 

Epistemic logic gets its start with the recognition of the systematic properties of epistemic concepts. These properties make epistemic concepts amenable for formal study, and become our tools to present logical models for them.“Certainty” is one of these epistemic concepts for which no comprehensive logical model has been presented so far.
Among the logical models that have been presented for “Certainty”, there are two main models which are more comprehensive than the others and all the other models may be extendable to one of them. In this thesis, these two main logical models that have been proposed for the concept of certainty are introduced and described from a philosophical... 

This thesis reviews briefly historical backgrounds and contexts of Darwin's theory and summarizes and describes his arguments in the Origin, and studies philosophical issues around Darwinism. This thesis includes four chapters: chapter one reviews historical line from Greek thinkers to ninteenth century scientists; chapter two summarizes ideas and arguments in the Origin; chapter three discusses some philosophical issues briefly; and chapter four is devoted to some conclusion