Sharif Digital Repository

Design and construction of an optical fiber sensor for liquid concentration detection are reported. This sensor operates based on light intensity modulation.Such modulation results from alteration of total internal reflection into partial reflection at the interface. It is well known that the extinction ratio is varied by changing the concentration.In this system,two optical fiber swere used, one transmitting the light source, another acting as the receiving fiber and a glass prism providing the total and partial reflections. The modulated intensity has been measured by using a receiving fiber. During the concentration measurements, when a liquid in a vessel touches the 45° faces of the... 

Technology advances in the era of wireless communications leads to the birth of a very useful network called Wireless sensor Network which is very interesting for scientists and researchers. While these networks consist of tens to thousands of tiny sensor nodes, they consume their energy from none-rechargeable batteries. Reducing energy consumption and extend the life of network is the most challenging requirement for these kinds of networks; in some environments like military training which precision and sensitivity are critical, it might take at least K sensors to cover the whole area and these conditions leads to a vast data repetition in network and as a result energy exhaustions in... 

Pose and motion estimation using a set of images is a common application in photogrammetry and one of the most popular methods in doing so is Bundle adjustment. This method later got adapted to the field of computer vision and is mainly used to reconstruct a 3d scene while also estimating pose and motion of the camera. There are a variety of other methods used to estimate pose and motion. Most non-visual methods like using inertial navigation system and GPS suffer from shortcomings like accumulative error, availability problems or low accuracy. While most vision based one are computationally expensive. In this thesis two methods are proposed to increase accuracy and efficiency of one variant... 

Distinguishing characteristic of wireless sensor network is limited resources such as processing power, bandwidth, memory. Restrictions of sensor networks is impressive on the transfer of multimedia data such as video requiring high bandwidth and low latency. In wireless multimedia sensor networks, the probability of packet loss is high due to the high volume of multimedia data and limited bandwidth. Many congestion control protocols for wireless sensor networks have presented. Most of these protocols did not consider the multimedia content. Even some wireless sensor network congestion control protocols have worse result than a network which has no congestion control protocol in case of... 

The main objective of this project is to investigate modeling for a robotic swarm with suitable sensors and to analyze effect of sensory noise on the control and unity of the swarm. This project is an extension of analytical study done by S. Etemadi, A. Alasty and G. Vossoughi in Sharif University of technology. The flocking frame assumed to have a leader robot that controls over all behavior of the swarm made of agents’ robots with limited equipments and low intelligence that only obey some basic attraction and repulsion laws that will be explained. As an initial step of the analysis, we investigate proper physical model, sensors and navigation systems suitable to the model. Next, the... 

In recent years, molecular communications have received considerable attentions for communication between nano-machines. In this communication scheme, which uses molecules as information carriers, nano transmitter and receiver are in distance apart of nano meter to meter and information is encoded into type, concentration or releasing time of molecules. Since nano transmitter and receiver can do very simple operations, such as adding, sensing, and etc., for more complicated operations, a network of nano transceivers is required. In this thesis, a small scale imaging of an abnormality in the environment is investigated. To this end, a network of sensors is assumed to be placed in the... 

Minimizing energy consumption is the most important concern in wireless sensor networks (WSNs). Cooperative multiple-input multiple-output (MIMO) and data aggregation are two promising techniques to conserve energy in network nodes by coordinating their transmissions through cooperative communications along with eliminating the inherent redundancy of raw data for transmissions. In this thesis, with the goal of reducing energy consumption, we present a dynamic clustering framework for combined used of cooperative MIMO and data aggregation in cluster-based WSNs. We derive a new and more general energy model for computing energy consumption of cooperative data aggregation in wireless sensor... 

In the present research, a series of bimacrocyclic tweezer anchored through azobenzene moiety were synthesized and characterized by applying IR spectroscopy, 1H and 13C{1H} NMR, fluorescence spectroscopy, UV-visible spectroscopy, mass spectrometry and elemental analysis and in some cases by X-ray crystallography. Firstly, UV-visible spectroscopy established that the irradiation of the tweezers with UV light promoted the trans to cis isomerization. On the other hand, thermal cis-trans isomerization behavior of the azobenzene moiety in tweezers was surveyed in which the cis isomers were formed of the heating at 50 oC for 5 minutes. Where the -OH group was replaced with 4-toluenesulfonyl... 

Nowadays binary sensors such as infrared sensors are vastly employed in industrial, commercial and general applications due to their simplicity and low price. Beam sensors are common type of these sensors which can detect objects when they cross its beam. Sequence of sensors which are crossed in a time order is called sensor word. Consider an object, produced sensor word shows the order which it has crossed the beams. If we have more than one object then sensor word is combination of all sensor words produced by all object. We need to separate each sensor word. In this research, sensor word is developed to Fixed-Charge Minimum Cost Maximum Flow Network type.In this case, the consequent... 

One of the most important problems in the field of robotic surgery is the measurement of the laparoscopic instrument Tip force. Many efforts have been made with the use of distal sensors to issues such as high cost and need to be disinfected, but the use of proximal sensors for estimating the Tip force of the tool is very rare, which can improve distal sensor problems.In this project, first, using data obtained from simulating a set-up for the Sina robot, two static MLP, and dynamic NARX neural networks are trained to evaluate the use of machine learning algorithms to determine whether the Tip force neural network can be used. Did the robot estimate Sina's surgeon? Then, by comparing this... 

A novel amperometric non-enzymatic glucose (NEG) sensor is designed by a facile preparation method. It is made by electrodeposition of Cu clusters and converting them to Cu(OH)2 nanotubes (Cu(OH)2NTs) arrays along with thin-film electro-polymerized of spindle-shaped polypyrrole (PPy@Cu(OH)2NTs), which have been doped by using sodium Benzene-1,3- disulfonate as an anion dopant. The electrochemical performance of the modified electrode toward glucose detection is investigated by various electrochemical methods. Under the optimized conditions, a significant electrochemical response improvement is observed toward the electro-oxidation of glucose on the surface of PPy@Cu(OH)2NTs electrode... 

Given a set of obstacles as an arrangement of geometric shapes in the plane, we would like to find a path from the initial point s to the target point t that crosses the minimum number of obstacles. In other words, the goal is to determine the minimum number of obstacles that need to be removed to exist a collision-free path between s and t.On one hand, this problem can be used for measuring the strength of barrier coverage which is a fundamental concept in wireless sensor networks (WSNs), and on the other hand, it has been considered as a robot motion-planning problem. The objective of barrier coverage is to guarantee that any path from the start point to the target point, will intersect at... 

Due to their specific characteristics such as huge data loads, heavy processes, various quality of service requirements (delay, jitter and reliability), multimedia streams have different necessities in comparison with normal data streams. The challenges of wireless sensor networks (process power, storage capacity and power limitations) add up to the challenges faced in WMSNs. In order to improve the quality of service in wireless multimedia sensor networks, attention must be paid to all the network layers. In this study improvement of quality of service is sought through the design of a protocol for the network layer of the wireless multimedia sensor network.
This protocol tries to... 

Attaining accurate information about satellite attitude is one of the most important requirements in space missions in order to improve the accuracy of the satellite control and mission objectives. Many different sensors such as sun sensor, star sensor, horizon sensor, etc. are used to estimate spacecraft’s attitude. Attitude estimation using temperature sensors is a topic that has recently been addressed by some related researchers because, they need less power and budget to operate in comparison with the other sensors.Accuracy and heat model performance improvement is the main purpose of this project. To achieve a more accurate perspective of space thermal model, and the way heat transfers... 

The issue of automation has always been a concern for humans over the years. Replacing humans with machines or intelligent software to perform various tasks can significantly improve the accuracy and speed of those activities. One of the long-standing aspirations of humanity has been the automation of driving. In addition to freeing individuals from the time-consuming task of driving, automating vehicles can also dramatically reduce road accidents. To achieve this goal, vehicles need to be equipped with various sensors such as radar, cameras, lidar, and more. Each of these sensors has its advantages and disadvantages, and as a result, all of them must be used for safe driving. In this... 

Estimation of physical parameters for solutions and mixed liqids are used widely in industrial applications. However, we can do these measurements with conventional laboratory analysis, but we always want to find an easy and quick method that use on-line measurements. In this study electrical properties of different water liquids and mixture samples in frequency stepwise range of 100-100000 Hz are measured by using a short cylindrical capacitive sensor and a measuring module (LCR-703).Operation of the capacitance measurement module for such probes is based on the auto-balancing bridge method.The effects of frequency and volume fraction on the electrical parameters and permittivity of mixed... 

Inverters are the main utility in transmitting power from distributed generation (DG) systems toward grid and their safe and immune performance has become a major concern among the system designers. In addition to poor power transmittance, faults in inverter can harm other equipment such as DG and local load. Consequently different protections has been considered to increase the reliability of these systems. Some of these protections like fuses and varistors are implemented in the hardware while others are considered in the processor. In the later class of protections, fault detection and isolation (FDI) system has been the subject of intense investigation in inverters over the past two... 

Wireless sensor networks (WSNs) are tiny devices with limited computation and power supply. For such devices, data transmission is a very energy-consuming operation. Data aggregation eliminates redundancy and minimizes the number of transmissions in order to save energy. This research explores the efficiency of data aggregation by focusing on different aspects of the problem such as energy efficiency, latency and accuracy. To achieve this goal, we first investigate data aggregation efficiency with constraint on delay, which can be compatible with other important system properties such as energy consumption and accuracy. By simulation, we will show that, depending on the application, we can... 

Energy crisis has always been a crucial issue faced by the development of wireless communication techniques. As a more energy-efficient network architecture, green communications and networks (GCNs) have recently attracted significant attention from academia and industry. In order to enable the technical and economical GCNs, several emerging techniques have been proposed including energy-efficient and energy harvesting techniques. Although these emerging techniques have drawn considerable attention and have been studied recently, there are still many open theoretical and practical problems to be addressed. Energy harvesting (EH) is a key technology to achieve the objectives of GCNs. This... 

Thyroid gland is one of the important internal organs of the body that is responsible for T3 and T4 hormones secretion. Concentration of these hormones directly influences growth of body, thus measurement concentration of thyroid hormones is one of the most common experiments all of the world, specially in our country that Hypothyroidism is common among people. Secretion of hormones in thyroid gland controlled by TSH (thyroid Stimulating Hormone) that released from Pituitary gland. TSH concentration is opposite of level of thyroid secretion. Because of interconnected relationship between these three hormones, measurement of each of them is so important. Many researches for developing...