Sharif Digital Repository

In this thesis control of wheeled mobile manipulators for cooperative object transportation is investigated. Full dynamic model of a mobile manipulator with a three wheeled mobile base and a three DOF manipulator is derived using Gibbs-Appell method. Input-output linearization technique is used to control individual robots. Transporting the object is divided into two steps, first robots use a decentralized behavior-based method to approach and surround the object. Then virtual structure method is used to control the robots to transport the object cooperatively. Simulation results with three robots handling an object are presented to show the effectiveness of proposed method  

In this project, performance of anaerobic digestion of organic waste in liquid phase has been investigated in an experimental process. Thus, the objective of this study was to optimize the organic loading rates, temperature and mixing of anaerobic digestion to the treatment of municipal solid wastes. To achieve this, the pilot scale experiment was conducted in 70l, fully mixed reactor. The start-up process was established over a period of 2 months. Starting the digestion in two stages was done with two different feed stocks, in which the feed stock of the first stage was star and in the second stage vegetables were considered as the organic waste. Experiment was investigated in mesophilic... 

In the recent years, field effect transistor has been made by using graphane. But there has not been any study about bipolar transistor. Bipolar transistor can’t be constructed using graphene due to the fact that its band gap is zero. So in this thesis, in an attempt to remove this difficulty, the bipolar transistor made using graphane has been investigated and their property has been compared to those of three dimensional silicon transistors.
At the beginning of the thesis, we will have a review of graphane diode and will consider the procedure for evaluating its current which would be the report of what has been done sofar. After that we made graphane transistor using graphane diode... 

Earth and rockfill dams are enormous three-dimensional structures constructed from earth and rockfill materials. They are mainly built for water supply, agricultural land irrigation, electricity generation, and flood control. Earthquake is one of the most significant natural hazards affecting the stability of these dams. Nowadays, with the development of computers and software, the seismic behavior of most dams are assessed by dynamic analysis. In a considerable part of technical literature, dynamic analysis of earth and rockfill dams have been performed by applying only the horizontal component of the earthquakes, and the effects of vertical component of the earthquakes have often been... 

Solar power is expensive, so engineers are encouraged to put effort on increasing efficiency of solar power equipments. Since photovoltaic panels usually output a low voltage, variable direct current electricity, a boost converter and a suitable inverter are required to use this energy for ordinary commercial appliances. In this project, high step up, high efficiency converters are investigated, and the best converter with high efficiency and limited switch stress which achieves high voltage gain by capacitor multipliers and coupled inductors is illustrated. Afterwards, methods for improving efficiency such as modifying the converter structure and its control strategy are suggested. The... 

With the increasing development in the field of electronics and information technology, the required dimensions and power of electronic devices and sensors have decreased. The range of applications of these electronic devices is very large, which is the product of technological progress development. There is a problem in the development and application of such devices, the supply of electrical power used in them, especially in the set of wireless sensors, this problem is more significant.The use of piezoelectric materials is one of the methods of converting mechanical energy into electrical energy. The voltage generated by the piezoelectric material can be used to charge the capacitor or...