Sharif Digital Repository

Nowadays, robots are become more common in many important applications, such as academic and industrial issues. One of the most important robots are Multi-Arm manipulators which are used in many application such as moving objects, coloring, automatic welding and etc. Working with this kind of robots needs some vital attentions like planning their moving path. It is Because of the large number of obstacles that they face with in the path. Therefore, not only robots are not allowed to collision with themselves, but also they must not touch the obstacles. In the other words, they need Path planning. Generally, the equations of these robots are nonlinear. Therefore, computers and numerical... 

Applying of seismic waves and analysing of its reflections is of effective ways in exploration of the internal structur of the Earth. In this method the Earth is considered as a elastic body that seismic waves are propagated in it. In this thesis the how of creation and propagation of seismic waves is modeld at first and then the inverse problem, exploration of the internal structure of the Earth from observed data, is considered  

In this thesis, we aim to study the elastic-plastic behavior of short fiber reinforced composites experimentally and analytically. The experimental investigation is applied to glass fiber-polypropylene composites (PP/GF). The samples are produced by injection process with maximum temperature of 190C. Fibers are randomly oriented in this procedure of fabrication. The samples are tested in tension, and the mechanical strength is measured by changes in fiber content. The Young's modulus is also investigated in these experiments.Also in this thesis, an analytical model for calculation of Young’s modulus of fiber reinforced composite materials is proposed. In this analysis a displacement field is... 

Hydraulic steering technology has been used in vehicles for decades. Recently, a trend has been seen towards the use of electronic steer-by-wire systems that provide greater design flexibility by customizing the connection between the steering wheel and the steering mechanism. Steer-by-Wire systems (SbW) offer the potential to enhance steering functionality by enabling features such as automatic lane keeping, park assist, variable steer ratio, and advanced vehicle dynamics control. The lack of a steering intermediate shaft significantly enhances vehicle architectural flexibility. The task of a SbW system is two-fold: turning the steered wheels by tracking the hand wheel (HW) rotation and... 

Due to ignoring the effect of length scale and neglecting the details at nanosize, classical methods are not sufficiently accurate to determine the properties of nanostructured materials. More reliable results can be obtained, using surface elasticity theory. Lots of analytical, experimental and numerical investigations have been done on the effect of interphase on the mechanical properties of polymer nanocomposites whereas metal matrix nanocomposites are in the first stages of analytical and numerical researches and have attracted so much attention.
The main objective of this research is to investigate the effects of interphase as well as coating, on the mechanical behavior of metal... 

Inadequate nutrition is perhaps the most important problem facing the poor. Being hungry lowers productivity and decreases individuals’ income. All of these factors conspire to help the poor stay poor. Raising the income of the poor is one solution for this problem if the elasticity of calorie and macronutrients with respect to income is greater than zero. This study employs both nonparametric and parametric methods to obtain the elasticity of per capita calorie and macronutrients with respect to household per capita expenditure. The case presented is for urban areas of Islamic republic of Iran, 2008-2016. Under each estimation strategy we employ, we find a strongly significant and positive...