Sharif Digital Repository

In this thesis first a flrxible launch vehicle is modeled and simulated by taking the moment vibrations into consideration, then navigation system and it’s uncertainties which depicts more realistic performance are added up and the guidance is designed based on pitch-programming. Adaptive robust controller is designed and implemented with the approach of sliding mode such that making the system able to keep it’s despite of navigation uncertainties and flexibilities, also controlling the attitude in the framework of adaptivity and robustness  

The estimation of attitude and deformation of a flexible satellite using magnetometer and sun sensor data are studied in this thesis. To this end, the dynamical differential equations of the flexible satellite have been derived using Lagrange’s equation. These equations of motion are then utilized for the purpose of simulation and verification. After introducing the measurements equations, the observability of the satellite with flexible panels has been evaluated. Afterward, the attitude of the satellite body and deformation of the flexible panels have been estimated by EKF (Extended Kalman Filter) as well as UKF (Unscented Kalman Filter). The results show that the estimations using UKF are... 

The penetration of renewable energies in generation section of power systems caused many issues and challenges for planners, operators and decision makers. One significant challenge is the uncertainty and variability of this type of generation, which must be properly covered; otherwise it would lead to wide load and supply curtailments. In this regard, some system operators introduced a new product, named Flexible Ramping Product (FRP) to their markets. FRP is the ramp capability of market participants which is reserved to cover the uncertainty and variability of net load (load minus intermittent supply) at next market time-interval of real-time market. With this in mind, the energy storage... 

In this thesis, a dynamic model of the biomimetic robotic fish with a flexible tail is developed. In this model, the oscillating frequency of the tail controls the forward velocity, and the body spline offset parameter controls the heading angle. The robotic fish were divided to two parts: a rigid body, and a flexible tail. The rigid body includes the head and the electrical and mechanical equipment. The bond graph model was developed and the numerical values were extracted from constructed robotic fish have also been hydrodynamically analyzed. Simulation results were quantitatively compared and verified with Matlab Simmechanics simulations. These simulations described the lateral movement... 

For more than a million years, aquatic animals and specially fishes make undulatory motions in their flexible body to propel themselves. In the recent decays, scientists prove that these mechanisms are more efficient than man-made propulsion systems. A wide variety of artificial vehicles including robotfishes, ROV and etc has been manufactured with inspiring by natural creatures. The Biomimetic science which deals with the study of mechanics and hydrodynamics of living creatures is very important in developing these vehicles. In the present study, numerical software (PANEL3D®), bases on boundary integral equations of potential flow have been developed to simulate hydrodynamic performance of... 

In this research, room-temperature flexible humidity sensors using graphene oxide (GO) and partially reduced grapheme oxide (PRGO) are reported. Sensing layer was deposited onto Kapton substrate by spin coating method. Topography of the sensing layer was observed by Optical Microscopy, Atomic Force Microscopy (AFM) and Scanning Electron Microscopy (SEM). Partial reduction of the GO was confirmed by X-ray Diffraction (XRD) data. Humidity sensing properties of the samples that were annealed in different temperatures in the range of 125-200 were measured at room temperature. The sample which was reduced at 125 presented higher response about 106% and shorter recovery time of about 65 s.... 

The Real Option Theory (ROT) offers a modern methodology for the valuation of an investment project because it considers the value of managerial flexibility facing project uncertainties. The present work seeks to study the Expand and Swich options value for a polymer plant investment project. Perhaps the most critical step of ROT is the estimation of the project volatility. This work also makes an effort to estimate the project volatility in different cases considering different possibilities of modeling the uncertain variables. The main uncertain variables that can positively affect the project value are the price of the raw material, the price of the product and the demand growth of the... 

Integrated design includes CAD, process planning and CNC code generation based on an integrated data structure. To enable different CAD/CAM software solutions to be interoperable, it is required to support data exchange in manufacturing enterprises. To realize interoperability there are two basic approaches: i. to focus on STEP standard to support data exchange between CAD systems as well as CAPP/CAM and CNC machining systems; the use of STEP standard ensures the data integration based on STEP standard. ii. utilizing a platform consists of structures and procedures to enable exchange of data between different CAD/CAM/CAPP software applications seamlessly. In this article, the important... 

In recent years, flexible electronics have started to attract a tremendeos amount of attention, partly on its remarkable growth in new technologies like IoT, wearable electronics, personal and health care devices. This emerging field offers many advantages compared to its traditional rigid counterparts, such as bendability, stretchablity, recyclability and biocompatibility. Inkjet printing is one of the most promising method for realizing flexible electronics due to its low-investment cost, fully additive nature, low material westage, relatively low temperature process and non-contact patterning.A printed circuit board (PCB), is undoubtedly a vital part of any electronics systems. So,... 

A complete 6DOF flight dynamic model of an elastic flapping wing (EFW), integrated with unsteady aerodynamic theory is developed. In this respect, initially efficient high fidelity modules for EFW structural dynamics (SD) as well as unsteady aerodynamics loadings (UAL) to be coupled with its flight dynamics are prepared. A modal approach is followed to model structural dynamics of plain and 3D EFWs. This is in contrast with the Euler-Bernoulli beam theory that is mostly utilized for SD in the existing literature. In addition, due to the possibility of large wing deformations as well as the existence of non-linear displacement regime for realistic EFW flights, non-linear modal approaches such... 

Flapping wing vehicles produce aerodynamic lift and thrust through the flapping motion of their wings. The dynamic performance of a flexible membrane flapping wing is experimentally investigated here. To investigate aeroelastic effects of flexible wings (specifically, wing’s twisting stiffness) on hovering and cruising aerodynamic performance, a flapping-wing system and an experimental setup were designed and built. This system measures the unsteady aerodynamic and inertial forces, power usage and angular speed of the flapping wing motion for different flapping frequencies, angles of attack, various wind tunnel velocities up to 12 m/s and for various wings with different chordwise... 

Propulsive efficiency of flapping wings is optimized via a combination of flapping and elastic wing behavior. In this thesis, a complex complete model of flapping air vehicles (FAV) is developed in order to simulate the wing aeroelastic behavior. The resulting model is in the form of a complex set of partial differential equations whose solution is only numerically possible. Using the resulting simulation model, the different flapping behavior of the right and left wings can also be evaluated along with the resulting forces and moments that make the FAV flight realizable. One of the key flight conditions considered in many simulations is that of cruise flight. In order to have a... 

Cloud Manufacturing is a new paradigm which under development and has been introduced as one of the promising models for providing ubiquitous, convenient, on-demand network access to a shared pool of configurable manufacturing resources (e.g, networks, servers, facilities, applications, robots, machines and services) that can be rapidly provisioned with minimal management effort and service provider’s interaction. Cloud Manufacturing is defined based on Cloud Computing. Like the Cloud Computing, Cloud Manufaturing offers a service-oriented architecture that is based on information technology (IT) in which each manufacturing resources is expressed as a service. For providing a... 

Duct Inverse design problems usually involve finding the wall shape associated with a prescribed distribution of wall pressure or velocity. In this investigation, a novel iterative inverse design method is presented and developed for internal flows. In the proposed method, the duct walls shape is changed under a novel algorithm based on the deformation of a virtual flexible string in flow. The deformation of the string due to the local flow conditions resulting from changes in wall geometry is observed until the target shape satisfying the prescribed wall’s pressure distribution is reached. The flow field at each step is analyzed to obtain the current pressure distribution along the wall.... 

In this research, aeroelastic model of an elastic flapping wing has been derived in order to be integrated with the flight dynamic model. The model developed in this research well describes the coupled and nonlinear behavior of the passive torsional deformations of the wing during flapping motion. Based on this obtained equations, a precise propulsion model proper for flapping wing vehicles has been introduced. The effect of geometric and mechanical properties of the wing is being accounted. In order to validation of the analytical model several FMAVs as well as an instrumented test stand for online measurements of forces, flapping angle and power consumption have been designed and built... 

One of the challenges which increasing penetration of renewable energy sources with variable generation brings is the need for more flexibility in the power system. A promising way to overcome the challenge is to have local sources of the flexibility in distribution level. To this end, we present a new model for multi-stage distribution system expansion planning which jointly considers expanding the network assets and increasing the flexibility at local level by installing conventional dispatchable distributed generator units and energy storage systems. Demand response is also considered as another source of the flexibility which can be utilized by the system operator. Since deviating from... 

Alternative fuels are considered as a solution to increase energy security, reduce dependence on conventional fossil fuels (gasoline and diesel), and reduce greenhouse gas emissions. In this context, bioethanol has been very much considered in recent years. This fuel is combined with gasoline and used by cars. Flexible fuel vehicles are cars that can be used in various blend of gasoline and ethanol. Ethanol has a higher octane number than gasoline, and its mixture with gasoline increases the number of octane fuels. However, this fuel has a lower thermal energy than gasoline, which increases the fuel consumption of ethanol and gasoline relative to pure gasoline. The purpose of this study is... 

In the first part of this research, for the first time, we introduced a flexible high performance graphene-based supercapacitor using silver fiber fabric as the current collector. The silver fiber fabric offers remarkable advantages such as light weight, mechanical flexibility and ease of integration with electronic textiles, which well-suited for wearable energy storage devices. A new hybrid material of graphene-silver fiber fabric (rGO/SFF) was prepared through a facile electrophoretic deposition of graphene and being used as a binder-free flexible supercapacitor electrode. In order to obtain the optimum condition, the effect of deposition time was investigated and a duration time of 10... 

Jacket type offshore platforms are classified as expensive and also strategic structures, and the cost of their maintanace is considerable. Therefore, any inspection and retrofit plans for life extension of the existing structures is economically and logically preferable rather than making decision for design and construction of new structures. The first stage of assessment plan is monitoring the performance of structure during critical loadings for which the structure is designed. One of the critical loads that should be considered in assessment of jacket structures is seismic loading. Due to dynamic nature of the applied loads in seismic assessment of jacket structures the accuracy of... 

This study deals with the heuristic solution of flexible flow shop scheduling problems with unrelated parallel machines. No preemption of jobs is allowed. As an objective function, this paper considers the minimization of total tardiness. As a first step to propose solution, two different mixed integer mathematical models are developed which tackle the problem at hand. The problem is NP-hard and thus the developed mathematical program can only solve problem instances for small sizes in a reasonable amount of time. The next step is to build heuristics which can provide feasible solutions in polynomial time for larger problem instances. Then in the study develops a constructive heuristic for...