Sharif Digital Repository

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... 

In recent years, using the nanoparticles has caused a great revolution and development into the materials structure and the polymer science developed corresponding to important role of it in consumer goods. So Carbon Nano Tubes (CNTs) belonging to the precious physical, Mechanical and thermal properties has been studied. The CNT is mixed by mechanical and solution methods with elastomeric matrix. In this research the mechanical method used, because of industrial applications. Although, there are many challenges against dispersion owing to weak cohesion between CNTs and matrix in the mechanical method. The progress in rubber composites reinforced by CNTs and other reinforcement and as well as... 

Conjugation of proteins to nanoparticles has numerous applications in sensing, imaging, delivery, catalysis, therapy and control of protein structure and activity. Therefore, characterizing the nanoparticle–protein interface is of great importance. A variety of covalent and non-covalent linking chemistries have been reported for nanoparticle attachment. Typically, a specific protein residue is linked directly to the nanoparticle core or to the ligand. As conjugation often affects the protein structure and function, techniques to probe structure and activity are assessed Characterization studies of nanoparticle–protein complexes show that the structure and function are influenced by the... 

In the recent decade, composites have been used in safety system of automobiles due to important characteristics such as high wear resistant and durability, low weight and also low noise pollution, stable friction coefficient, availability and low cost. In recent years, composites have attracted the attention of brake pads manufacturers because of their appropriate thermal and mechanical properties. Fibers play an important role in these material. Carbon fiber due to its features such as high strength, acceptable module, proper heat transfer coefficient and excellent resistant against thermal degradation has been considered by the experts but there is not any comprehensive research on... 

Titanium alloy Ti-6Al-4V ELI with high biocompatibility and corrosion resistance, has a lot of applications in biomedical engineering. Disadvantage of this alloy is it’s disability to create a fast and good contact with the host/bone environment, after implanting in the body. Beside that it has low wear resistance. Nowadays to optimize the wear resistance, bioactivity and osteoconduction of surface of implants which are made from this alloy, the surface morphology are optimized in size and distribution. Different surface treatments are used for producing rough and porous surfaces to improve bioactivity along with wear resistance. In this study, surface modification of Ti-6Al-4V ELI was done... 

Commercially pure titanium (CP-Ti) is an important groups of titanium family and because of high strength, low density, high corrosion resistance and biocompatibility, this group of titanium is a suitable choice for application at chemical, petrochemical and medicine industry. Nowadays surgeons have a tendency toward use of CP-Ti instead of Ti-6Al-4V alloy. Moreover, because of body anatomy limitation, use of thick sheets result in high volume and damage soft tissue. Therefore, for sheet thickness reduction, study of the effects of metallurgical and geometrical parameter on fracture behavior of thin sheets is important. In this study, the fracture behavior of CP-Ti thin sheets investigated.... 

In this work 1-(2-hydroxyethyl)-3-methylimidazoliumbis{(trifluoromethyl) sulfonyl}imide ([hemim][NTf2]) and 1-benzyl-3-methylimidazoliumbis{(trifluoromethyl) sulfonyl}imide ([bzmim][NTf2]) ionic liquids were used to study the effect of introducing hydroxyl and benzyl groups to the imidazolium cation on aliphatic/aromatic separations. Toluene separation from heptanes has been investigated by extraction using ionic liquids. Finally, a realistic model for survey the data was used. The liquid-liquid equilibrium (LLE) data for the {heptane + toluene + [hemim][NTf2]}, {heptane + benzene + [hemim][NTf2]} , {heptane + toluene + [bzmim][NTf2]} systems were measured at 313.2 K and atmospheric... 

Legged walking and climbing robots have recently achieved important results and developments, but they still need further improvements and study. The spider modeled as an eight-legged system. Legged robots have a body and a number of articulated legs which originate from the body and are put on the ground to hold robot’s weight or are swinging in the air to their new position. Each leg as a kinematic chain can be viewed as a manipulator that acts like a limb and contributes to the overall position and equilibrium of the structure. In order to evaluate and create an effective legged robot, the idea is to draw inspiration from nature. Spider robots present very good performances in terms of... 

The introduction of multi phase steels in recent years resulted in a considerable increase in development of some industries such as automobiles. By inducing soft and hard phases together, these steels could bring better mechanical properties than classical ones. Recent studies on 4340 ferritic- bainitic and ferritic- martensitic dual phase steels, indicate that 34 volume percent ferrite with hard phase, has the best combination of strength, toughness and fatigue properties. In present research, by proper heat treatment on a 4340 steel, it is tried to prepare specimens ferritic- bainitic- martensitic triple phase steels with 34 volume percent of ferrite and different percents of martensite.... 

In the research transient liquid phase bonding of AL6061-SiC composite was performed using copper as interlayer. The joining praocess was performed in various tetemperatures (560c and 580c and 600c) And times (6 and 8 hours). Optimum Joining condition was determined by using optical and of the joint, micro hardness test was performed from the bonding zone to the bulk of the base composite. The fatigue endurance limit of Al6061-SiC composite was determined by several fatigue tests and TLP bonded samples were loaded under achieved endurance limit stress. Finally fatigue fracture surface of both base composite and TLP bonded samples were studied by using of scanning electronic microscope  

In this research, transient liquid phase (TLP) bonding of FSX-414 superalloy was investigated using MBF-80 interlayer. The bonding was performed at different temperatures (1050-1200oC) for various times (1-120min). Also, different gap sizes were studied using the interlayer with various thicknesses (25-100µm). Homogenizing treatment was performed at different temperatures (1175-1225oC) and times (1-6h) for the samples with complete isothermal solidification. The microstructure of the samples were studied using the optical, scanning electron and transmission electron microscopes. Also, XRD, SEM/EDS, SEM/WDS and TEM/EDS analyses were used to analyse the observed phases at the joints. To... 

AISI 4340 steel bars were austenitized at 900°C for 1 hour followed by heating at 740°C (ferrite and austenite region) for 100 min and quenching into a salt bath at 300°C for different times followed by quenching into water to obtain triple phase microstructures with 34 Vol.% ferrite and various martensite (or bainite) contents. Presence of three phases in adjacent of each other confirmed by metallographic analysis and TEM technique. Volume fraction of different phases was measured by image analyser. The results of optical microscopy showed that by increasing VM, morphology of martensite varies from uniform distribution of small spherical network particles to large blocky islands with... 

Interlayer composition as one of the most important factors of TLP bonding could affect bonding region composition and microstructure that both of them govern the mechanical properties of the joint. Due to the risk of substrate microstructure degradation , welding of dual phase steel needs more cautions. TLP bonding ideally acquires joints having more similar microstructure to substrate. Moreover , using this method could avoid the change of base metal microstructure when heat treatment of carbon steel is postponed until after bonding. Fe-based , Ni-based and commercially pure Cu are three different composition has been studied in this work. The bonded samples were investigated by optic and... 

Dual Phase ferritic-martensitic steels are kind of high strength low alloy steels (HASLA) which are widely used in industry because of their strength and formability. Since welding of dual phase steels in conventional welding methods causes structural change and Subsequently alters mechanical properties of both weld zone and heat affected zone(HAZ), additional operations which are not commercially viable is needed to achieve a dual phase structure in structurally changed regions. In this study, transient liquid phase (TLP) bonding method is used during dual phasing process in order to preserve dual phase ferritic-martensitic structure and avoid extra heat treatment. Applied pressure during... 

Stainless steels have many applications in different industries like chemistry, medicine and food production. So for using these alloys it is necessary to join them with appropriate method. In this research, microstructure-mechanical properties relationship of 304LC austenitic stainless steel transient liquid phase bonded using a Co-based interlayer was investigated. For this purpose, bonding was conducted at 1180 ℃ for different holding times. Microstructure of the joints was evaluated by optical microscopy (OM) and Scanning Electron Microscopy (SEM). The results showed that isothermal solidification (IS) was completed within 1800s and no intermetallic compound was formed in the joint area... 

After World War II, steel bearings containing copper element have been developed by the Navy of the United States of America with the HSLA-100 brand. Since 1890 and in order to manufacture tanks and tools for the body of navy equipment, the steel HY 80 was used instead of HSLA-100. Because of the high carbon content, the welding properties of the HY 80 are low. Furthermore, increasing of hardness and decreasing of toughness in the heat-affected zone generated during the welding process lead to susceptibility of this alloy to hydrogen cracking and brittle fracture. Therefore, in order to minimize the cost of welding, low-alloy high strength steel (HSLA) is used which contain copper. Reducing... 

The inflation paradigm solves the so-called flatness problem of the standard cosmo- logical model and explains the homogeneity of the Universe by adding a period of exponential expansion at early times to the standard scenario. Moreover, it provides a mechanism for generating density perturbations, serving as the seed of large-scale structures. One of the successes of inflation is predicting primordial scale-invariant perturbations that agree with the observations of cosmic background radiation. Nev- ertheless, there will be a cold, matter-free universe after exponential expansion, so one needs a process that leads to a hot cosmos containing standard particles after the end of inflation, the... 

Explaining the angular momentum of the cosmological structures is an essential part of the structure formation theory, and it is not fully understood yet. The Tidal Torque Theory (TTT) is the standard explanation of the initial angular momentum of the halos based on the gravitational instability picture. It predicts the angular momentum growth with linear approximation and has been confirmed for linear stages of proto-halos, but the final halo is a highly non-linear object. Nonlinear effects are hard to model, however, we propose a new mechanism for the nonlinear evolution of the halos. We suggest that when two halos pass by each other, their angular momentum changes with a similar mechanism... 

In this thesis, in order to improve the performance of the mobile robot navigation, a Fuzzy approach is used for making a safe path in the cluttered environment with hurdles in the work space of the robot. To this end, based on data collected from instantaneous location of the robot and location of the robot, heuristic rules are extracted. Also, in order to obtain optimal data fusion of the sensors, Kalman filter is used to localize the robot. In this regards, by using the kinematics of the robot and supposing the white noise in the process and measurements, the position and orientation of the mobile robot are estimated in a real-time and adaptive manner  

Cooling sandwich panels are one of the components of the heat exchangers used to cool the components of the sandwich panels . One of the applications of TLP Bonding for steel can be called cooling sandwich panels. In this research , TLP of 304 Stainless Steel , using Fe-base interlayer at 1200 C has been investigated . Cross section of bonded samples were examined by optical and scanning electron microscopes. Microscopy results revealed that 2h is sufficient for completion of isothermal solidification and there is no eutectic compound at bonding zone . Bonding in this condition resulted in the free precipitates in the diffusion affected area. By analyzing eutectic phase in bonding areas at...