Sharif Digital Repository

Laparoscopic surgery is a branch of minimally invasive surgery that is implemented in the abdominal cavity. This kind of surgery is conducted using surgical instruments that are inserted into the abdomen through some small incisions created on its wall and the necessary vision is provided for the surgeon using a laparoscope lens that is inserted through the first created incision. In recent years, because of its advantages, controlling and manipulation of the lens is done using some robots instead of surgeon assistant. To facilitate the controlling procedure of these robots for the surgeon, several controlling modes such as keyboard, foot switch, and voice commands are presented. Robolens is... 

Given the growth of the world's population along with the increase in the percentage of urban population by 2050, the way of responding to food consumption will change in the future. Controlled Environment Agriculture will largely account for future food supply. Vertical Farming is one of these systems. But despite the efficiency of these systems in terms of land and water and also not being affected by weather conditions, the main challenge in these systems is the consumption of energy use per unit of crop production. The cost of energy is about 25 to 40 percent of the total costs. The purpose of this study is to develop an integrated dynamic model for the determination of vertical farm... 

Viewpoints of various interest groups should be addressed in any public service appraisal. Urban public transportation development and services have diverse impacts on users, operators and the community. The impacts can be characterized by a wide range of perspectives including: efficiency, effectiveness, efficacy, economic, social and environmental dimensions. Deployment of quantitative techniques, such as multicriteria decision making methods, would facilitate such a multidimensional analysis and appraisal. The objective of the study summarized herein was to shed some light on the perceived attributes pertinent to the Tehran regular transit service appraisal. The major services include... 

The goal of this research is to study the effect of local microcracking due to step by step pressure loading on the durability properties of geopolymer concrete. To better understand the behavior of GGBS-based GPC under different pressure stress levels, some experiments such as water permeability and water absorption conducted on the samples at each state of damage. Also, non-destructive tests such as ultrasonic waveform and pulse velocity (UPV) was used to quantify the extent of damage at each step. GGBFS and a blend of sodium silicate solution and 10 molar sodium hydroxide solution with SSSH⁄ ratio of 2 were used for production of GPC samples. GPC, OGPC and OPC samples with water to binder... 

Semantic technology provides an abstraction layer above existing computational environments, especially the Web, to give information a well-defined meaning. Moving toward semantic-aware environments imposes new security requirements. One of the most important requirement is the authorization and security policy inference based on the existing semantic relationships in the abstract (conceptual) layer. Most of the authorization models proposed for these environments so far are incomplete and their inference rules are not guaranteed to be consistent, sound, and complete. To have a sound and complete system for policy specification and inference, in this thesis, a family of modal logics, called... 

The emerging field of compressed sensing deals with the techniques of combining the two blocks of sampling and compression into a single unit without compromising the performance. Clearly, this is not feasible for any general signal; however, if we restrict the signal to be sparse, it becomes possible. There are two main challenges in compressed sensing, namely the sampling process and the reconstruction methods. In this thesis, we will focus only on the deterministic sampling process as opposed to the random sampling. The sampling methods discussed in the literature are mainly linear, i.e., a matrix is used as the sampling operator. Here, we first consider linear sampling methods and... 

Sampling is so deep-rooted in our habits that it usually takes place unconsciously. A large number of books and articles have been published in this field. The connection between sampling and quality control is the reason that many industries have focused their attention on sampling; however, only a few numbersare familiar with bulk material sampling related issues. Describing this theory along with its seven errors is the main object of this research. Using this theory, characteristics of the lot of interest was analyzed. Creating necessary conditions for assuring sampling correctness is very critical and if these conditions cannot be provided, implementing some part of the theory issues... 

In nature, catalysis is of vital importance in a wide variety of biochemical processes catalyzed by metalloenzymes. The functions performed by the metalloenzymes and their significance have inspired a range of biomimetic studies, and intense efforts have been concentrated on the synthesis of low molecular weight complexes to model the spectroscopic features of such enzymes. Concomitantly, a challenging frontier in the field of biomimetic chemistry is the development of highly reactive model compounds that are able to effect rapid and selective substrate conversion. Some important catalytic transformations that have gained attention in recent years involve the carbon-carbon coupling, olefin... 

Nowadays large volume of sensitive data of organizations are stored in the databases. Thus, databases are attractive to the attackers to execute different types of attacks with different purposes. The useful information that attackers try to achieve in the preliminary steps of the attacks against the databases, is the database structure or schema. One of the popular approach to extract the schema of a database is to analyze the returned error messages from its DBMS. Hence, a solution to prevent schema disclosure via the error messages is customizing and modifying them. To achieve this goal, in this thesis, we propose a framework to handle and customize the error messages automatically and...