Sharif Digital Repository

Marine cranes are installed on vessels to transfer or transport payloads between ships or between ships and decks. One of the most critical issues in this case is the safety during load transferring. Marine cranes move or sway in unexpected direction, when they are influenced by wave, wind and storm. Theprocess of controlling them became difficult without using automatic control methods. Ingeneral, the movement of cranes has no prescribed path.This master thesis is about dynamic modeling and control of fixed crane placed on an offshore vessel. The main challenging problem in this work will be developing an accurate mathematical model of the crane. Therefore, bond graph method which is known... 

The investigation of the behavior of structures subjected to various kinds of loadings is of considerable importance. In this research, an attempt was made to analyze behavior of beams that a load is moving on them.Most of the existing relevant works in this field are dealt with examination of elastic beams with constant section, while in most cases beams with variable sections are used in order to have the optimum structure and appropriate stress distribution and to maximize strength to weight or cost ratio. While construct analysis is very advantageous, it is very difficult due to the complexities arising from the variable sections. But this design is so advantageous that it dominates... 

Particulate air pollution is one of the top environmental health risks. Industrial processes like power generation from fossil fuels and steel and cement manufacturing release a huge amount of particles into the atmosphere. Moreover, internal combustion engines produce a considerable amount of particulate matter in populated areas. The usual way to overcome this risk is using air-cleaning devices such as filters. Filters are designed for specific purposes like removing aerosol particles, aerosol sampling and collecting valuable particles. Because of its diverse applications, filtration has become an active area of research and many kinds of filters are currently available. One type of... 

Non-uniform laminated beams are being used in many engineering applications as primary elements. Helicopter blades, wind turbine blades and robot arms are examples of applications of these structures, in which the high stiffness-to-weight ratio and the non-uniform geometry are of high importance. Changing the thickness in laminated structures is a big challenge in fabrication view as different tapering configurations may significantly alter the stiffness of the structure. Thus, increasing the stiffness and dynamics characteristics of tapered beams with simple configuration is of high importance. The present work aims to investigate the effect of adding nano particles in resin during the... 

Double channel and coreless induction furnaces are used extensively in many processing industries due mainly to their good heating efficiency, high production rate, clean working environments and relatively low operating costs. The study of heat transfer treatment and evaluation of the heat losses of these furnaces becomes an important issue in melting industries. In this dissertation, a heat transfer analysis will be performed for an induction furnace and heat losses by conduction, convection, Eddy-Current and Hysteresis in a furnace structure, and radiation from the body of a specific induction furnace will be modeled considering the symmetry of the furnace chamber. The models presented in... 

Cooperative systems have been widely studied in literature. The Dual-Arm Cam-Locked (DACL) robot manipulators are reconfigurable arms formed by two parallel cooperative manipulators which operate redundantly but they may lock into each other in specific joints to increase structural stiffness in the cost of losing some degrees of freedom. Obtaining the optimal configuration demands lots of computational time and is not practical in real-time applications. In the present work, considering the kinematics of the manipulator, the optimal control problem of redundancy is formulated in the framework of tasks with the order of priority. The optimal control formulation is derived by using the... 

Based on progress madein industry, considering the essence of human resource health is an inevitable subject. Ventilation is an important matter which affects the quality and efficiency of production due to its coherence with providing a healthy and suitable workplace. In this regard, there are some settings for industrial ventilation systems which are designed to satisfy related health and hygiene standards.Simulation of ventilation systems based on CFD methods is a great contribution to choose anappropriate ventilation system type. In this study, by modeling the proposed ventilation setting in a 3D environment, we are assured that the system is capable of industrial ventilation in welding... 

Cascade impactors are the instruments which are used to assess the particle size distribution and the cut off diameter. Cascade impactors are wildly used for hygiene purposes, environmental, and toxicological studies. However, to find out the accurate size distribution, the cut off diameter of each stage which is different for different types of impactors with different geometry specifications should be determined. In this study first the basis of the cascade impactor operation is described. Next, different types of cascade impactors are introduced, and the Andersen Cascade Impactor (ACI) is chosen to design. The design criteria are explained and the dimension of each stage, entrance cone,... 

A Reaction Wheel (RW) is a torque actuator which is used for attitude control of a satellite. Reaction Wheels usually consist of a brushless DC motor which rotates a flywheel. When the flywheel is accelerated by the motor, the reaction torque of the motor applies to the base of the RW and therefore the satellite can rotate along the RW spin axis. Due to frictionless surrounding of a satellite in space, a very small disturbance in a reaction wheel structure during its function may lead to instability of satellite and decrease the satellite precision and performance. There are some important sources of disturbance in an RW. Some of them are: 1- Unbalances in wheel (offset of center of gravity... 

This thesis is devoted to the simulation of biomolecules manipulation using Molecular dynamics (MD). In order to investigate the manipulation behavior, we have used the Ubiquitin as biomolecule, a single-walled carbon nanotube (SWCNT) as manipulation probe, a graphene sample as substrate. Along this line, a lot of simulations are conducted to study the effects of different conditions on the success of manipulation process. These conditions include tip diameter, vertical gap between tip and substrate, initial orientation of protein, and the simulation environment (dry or wet). The results demonstrate that tips with bigger diameters and smaller distances with respect to the substrate increase... 

Today safety is one of the major competition factors in automotive industries . The vehicles of today are more and more dependent on electronic systems , for driving safety and ease on control for the driver . Some systems are more or less standard in vehicles on the market , examples of such systems are ABS , ABC , etc. Despite of the effect of these systems on vehicle dynamics ,because they only control longitudinal dynamics and don't receive any feedback from vehicle lateral behavior , now control systems ,named VDC , have been developed and implemented in advanced vehicles. The operation of such systems is as this that in any time instance they evaluate vehicle dynamical behavior.... 

Development of composite materials is one of the boldest technological advances of the last half of the twentieth century. This is due to their specific characteristics mostly considerably high strength-to-weight ratio, compared to metals and their highly customizing properties for different applications which make them a suitable material to be used in variety of domain from aerospace and automobiles to medical and sport equipments. Multi-stable asymmetrical laminates and non-uniform thickness laminated composite beams are being used as structural elements in a wide range of advanced engineering applications. Multi-stable asymmetrical laminates can be snapped between two or more geometries... 

Mobile robots are increasingly being used to perform tasks in unknown environments. The potential of robots to undertake such tasks lies in their ability to intelligently and efficiently locate and interact with objects in their environment. My research focuses on developing algorithms to navigate mobile robots in a partially known environment observed by an overhead camera. The environment consists of stationary and dynamic obstacles and a moving target. The aim of the robot is to select avoidance maneuvers to avoid the dynamic obstacles while approaching the target. The core of the navigation algorithm is based on the velocity obstacle avoidance method and the guidance-based tracking... 

Detection and classification of arrhythmia is important especially for patients in Emergency care units. Early diagnosis of cardiac arrhythmia makes it possible to choose appropriate anti arrhythmic drugs, and is thus very important for improving arrhythmia therapy. Computer-Assisted Diagnostic (CAD) Systems are used in recent decades in which extracted features and classifiers are the most important factor. In this project, we try to focus on both of these two major factors in heart arrhythmia classification using HRV signal. Therefore, in this project, we try to classify different groups of arrhythmia using HRV signal processing especially the nonlinear processing. Our main aim is to... 

Science has been improved in all aspects and robotics is considered an important field, which helps, do work more efficiently. In the meantime, one of the most popular aspects of robotics is the movement, both physical (in terms of the number of mechanical actuators, the number of arms and legs, the number of wheels, the robot's weight and gravity) and in terms of programming and algorithms. Programming and algorithms are divided into two categories: 1. Programs to control robots and manipulate dynamics associated with robot movement. 2. Algorithms and the ways for routing. The first group is programming associated with control of robots. Motion planning or path planning is the next. In... 

Recently, the tradeoff between low energy consumption and high fault-tolerance has attracted a lot of attention as a key issue in the design of real-time embedded systems. Dynamic Voltage Scaling (DVS) is known as one of the most effective low energy techniques for real-time systems. Control-theoretic DVS techniques, which have been exploited recently for DVS-enabled systems, are able to adapt well to dynamic workload. In this thesis, we have combined the above two important issues i.e., the control-theoretic DVS and fault-tolerance, and investigated reducing the energy consumption of fault-tolerant hard real-time systems using feedback control theory. Our proposed feedback-based DVS method... 

With the progress of engineering science, the development of underground spaces and buried tunnels has witnessed remarkable expansion. Considering the frequency of hazardous events such as earthquakes and unforeseen consequences arising from underground activities and geology in underground engineering, the determination of the Dynamic Stress Concentration Factor (DSCF) has been widely recognized as a crucial factor in the study and design of tunnels and underground structures. It is also extensively considered in evaluating their damage. The investigation of wave dispersion and determination of the stress concentration factor was first proposed by Sezawa (1927). In this study, the... 

This work examines the problem of the fully coupled magneto-electro-elastic (MEE) scattering of SH-waves incident upon a heterogeneous MEE scatterer which is embedded in an unbounded medium. The scatterer consists of a circular core and a circular encapsulator with eccentricity. All three regions: the core, encapsulator, and the surrounding matrix have distinct MEE properties and fully coupled constitutive relations. The generated coupled MEE fields coexist simultaneously in all these regions without resort to any simplifying assumptions. The precise description of the multifunctionality involves the solution of three fully coupled partial differential equations in three different regions.... 

In the area of material studies, the atom structure models are the basis of all simulations and methods. With improvements in computers power, these models have become more consistent with experimental results. New theoretical methods combined with supercomputers assist to an understanding with detail and accuracy of material behavior at the atomic scale that leads to develop of the Computational Materials Science. Recently, developments in fields such as quantum mechanics, statistical physics, solid-state physics, quantum chemistry, computer science and graphics, allowed for faster computing which leads a powerful tool for material calculations and designs. New computer applications allow... 

The purpose of this thesis is the optimal retrofitting of the moment resisting frames with telescopic dampers, using the adaptive approach. In this regard, numerical modeling of the telescopic behavior has been presented firstly. Also, a 3,9,20 story (sac) moment resisting frame has been modeled in the OpenSees environment and the time history analysis has been carried out under a specific earthquake record. It is shown that inter-story drifts of the frame exceed the acceptance criteria which has been assumed 2.5% according to the Life Safety limit. Then, the optimal retrofitting of the frame has been done. It is demonstrated that the maximum inter-story drift of all stories is 2.5% or less,...