Sharif Digital Repository

The stability issue of mobile manipulators, particularly when the end-effector and the vehicle have to follow a predefined trajectory (for some special duties like painting a plane or carrying a light load), is a crucial subject and needs special attention. In this paper, by utilizing the manipulator compensation motions, the instantaneous proper configuration for a redundant mobile robot is determined. A fast methodology taking into account the dynamic interaction between the manipulator and the vehicle is proposed for enhancing the tipover stability (i.e. stability against overturning) of the mobile manipulator by employing the soft computing approach including a genetic algorithm, neural... 

One of the most prevalent problems in drilling industry is lost circulation which causes intense increase in drilling expenditure as well as operational obstacles such as well instability and blowout. The aim of this research is to develop smart systems for estimating amount of lost circulation making able to use appropriate prevention and remediation methods. To obtain this aim, a large data set were collected from 61 recently drilled wells in Marun oil field in Iran to be used for developing relevant models. After that, using the extracted data set consisting of 1900 data subset, intelligent prediction models including decision tree (DT), adaptive neuro-fuzzy inference systems (ANFIS),... 

Alzheimer's Disease (AD) begins several years before the symptoms develop. It starts with Mild Cognitive Impairment (MCI) which can be separated into Early MCI and Late MCI (EMCI and LMCI). Functional connectivity analysis and classification are done among the different stages of illness with Functional Magnetic Resonance Imaging (fMRI). In this study, in addition to the four stages including healthy, EMCI, LMCI, and AD, the patients have been tracked for a year. Indeed, the classification has been done among 7 groups to analyze the functional connectivity changes in one year in different stages. After generating the functional connectivity graphs for eliminating the weak links, three... 

In this paper, a systematic investigation and modeling of all available technologies (such as NGL, injection in pipelines, LNG, GTL, NGH, and CNG plants, EOR, electricity production by thermal power plants, and water generation by MED technologies) for flare gas recovery has been developed. An optimal combination of the technologies has been proposed for flare gas recovery of five oil wells in the south of Iran with different specifications as case studies. The optimal combinations of all the technologies have been investigated with minimizing the payback period of capital costs (economical) and maximizing CO2 pollutant reduction (environmental) objective functions by using the genetic... 

In the last years, an appreciable effort has been directed toward developing empirical models to link the relative permeability of gas condensate reservoirs to the interfacial tension and velocity as well as saturation. However, these models suffer from non-universality and uncertainties in setting the tuning parameters. In order to alleviate the aforesaid infirmities in this study, comprehensive modeling was carried out by employing numerous smart computer-aided algorithms including Support Vector Regression (SVR), Least Square Support Vector Machine (LSSVM), Extreme Learning Machine (ELM), Multilayer Perceptron (MLP), Group Method of Data Handling (GMDH), and Gene Expression Programming... 

Considering the stress cycles in joints and members due to wave induced forces on offshore platforms, fatigue analysis is therefore one of the most important analyses in offshore platforms design. Most of steel jacket type platforms located in areas with relatively high ratios of operational sea-states to maximum design environmental events; fall in acceptable safety margin in inplace and seismic analyses. But in fatigue analyses they will face critical condition. Therefore it seems that utilizing control mechanisms with the aim of increasing fatigue life in such platforms will be more preferable to merely deck displacement control. Investigation of tuned mass dampers adjustable parameters... 

This paper presents a powerful application of genetic algorithm (GA) for the minimization of the total harmonic current distortion (THCD) in high-power induction motors fed by voltage source inverters, based on an approximate harmonic model. That is, having defined a desired fundamental output voltage, optimal pulse patterns (switching angles) are determined to produce the fundamental output voltage while minimizing the THCD. The complete results for the two cases of three and five switching instants in the first quarter period of pulse width modulation (PWM) waveform are presented. Presence of harmonics in the stator excitation leads to a pulsing-torque component. Considering the fact that... 

The critical issue in designing correlated data networks like Wireless Sensor Networks is to minimize the total cost of data transmission in the network, and decrease the amount of data flow. The problem of finding optimal aggregation tree for correlated data gathering in single sink network is considered as an NP-Complete problem and hence heuristic methods are usually applied to solve it[1]. In this paper, we apply genetic algorithm (GA) to solve the problem. In our method, we improve the performance of genetic search by selecting proper initial population. This initial population is determined in two ways, by using Prime's algorithm, and shortest path tree. The main issue is to regard... 

Today's software systems are more frequently composed from preexisting commercial or non-commercial components and connectors. These components provide complex and independent functionality and are engaged in complex interactions. Component-Based Software Engineering (CBSE) is concerned with composing, selecting and designing such components. As the popularity of this approach and hence number of commercially available software components grows, selecting a set of components to satisfy a set of requirements while minimizing cost is becoming more difficult. This problem necessitates the design of efficient algorithms to automate component selection for software developing organizations. We... 

To have a sustainable economy and environment, several countries have widely inclined to the utilization of non-fossil fuels like biomass fuels to produce heat and electricity. The advantage of employing biomass for combustion is emerging as a potential renewable energy, which is regarded as a cheap fuel. Chemical constituents or elements are essential properties in biomass applications, which would be costly and labor-intensive to experimentally estimate them. One of the criteria to evaluate the energy of biomass from an economic perspective is the higher heating value (HHV). In the present work, we have applied multilayer perceptron artificial neural network (MLP-ANN), least-squares... 

So the design and control of an accurate robot for this purpose is very critical for saving the patients. Modification of the model and designing two optimized nonlinear robust controllers for the first time for the parallel manipulator medical robot and cardiopulmonary resuscitation. The main objective of the current study in order to decrease the overshoot and increase the accuracy of the position and convergence speed and robustness to destructive factors affecting the precision of the robot. In this paper firstly, the kinematics and dynamics analysis of a translational parallel manipulator robot is presented and a non-linear model in the presence of uncertainties, disturbances, and... 

In this paper, several new control strategies for employing the battery energy storage systems (BESSs) and demand response (DR) in the load frequency control (LFC) task are proposed. In this way, first, the unit commitment problem considering the BESSs’ constraints in presence of wind farms and responsive loads is solved and the best location and the optimal size of the BESSs as well as the regulation power of the responsive loads are obtained. A rule-based plan is then suggested to improve the frequency regulation considering participation of wind farms. This plan is takes into account different states associated with power system frequency response as well as BESSs’ state of charge (SOC).... 

Direct-drive permanent magnet synchronous generators enjoy numerous advantages including improved reliability, low maintenance, long life, and developed performance characteristics. In recent years, many researchers have worked on these generators to enhance their performance, especially for the wind turbine application. The focus of this paper is on the development of a step-by-step method for the design of a permanent magnet synchronous generator. Then, the winding function method is used to model the generator and calculate its output characteristics analytically. The analytical results of the designed generator are validated using Finite Element Analysis (FEA) and it is demonstrated that... 

In this article, a high-accuracy hybrid approach for short-term wind power forecasting is proposed using historical data of wind farm and Numerical Weather Prediction (NWP) data. The power forecasting is carried out in three stages: wind direction forecasting, wind speed forecasting, and wind power forecasting. In all three phases, the same hybrid method is used, and the only difference is in the input data set. The main steps of the proposed method are constituted of outlier detection, decomposition of time series using wavelet transform, effective feature selection and prediction of each time series decomposed using Multilayer Perceptron (MLP) neural network. The combination of automatic... 

Objectives. Stressors have a serious role in precipitating mental and somatic disorders and are an interesting subject for many clinical and community-based studies. Hence, the proper and accurate measurement of them is very important. We revised the stressful life event (SLE) questionnaire by adding weights to the events in order to measure and determine a cut point. Methods. A total of 4569 adults aged between 18 and 85 years completed the SLE questionnaire and the general health questionnaire-12 (GHQ-12). A hybrid model of genetic algorithm (GA) and artificial neural networks (ANNs) was applied to extract the relation between the stressful life events (evaluated by a 6-point Likert scale)... 

Distributed Generation (DG) can help in reducing the cost of electricity to the customer, relieve network congestion, provide environmentally friendly energy close to load centers as well as promote system technical characteristics such as loss reduction, voltage profile enhancement, reserve mitigation and many other factors. Furthermore, its capacity is also scalable and it can provide voltage support at distribution level. The planning studies include penetration level and placement evaluation which are influenced directly by DG type. Most of the previous publications in this field chose one or two preferred parameter as basic objective and implement the optimizations in systems. But due...