Sharif Digital Repository

Time-delay in measurement of the outputs is usually one of the important factors creating complexity in design of a robot controller such that ignoring the delay in controller design can cause instability or significant performance degradation in a robotic system. In this thesis, set-point regulation problem as well as the trajectory tracking problem for a rigid robotic manipulator in presence of constant and known delay in measurements have been investigated and in particular, three dynamically smooth controllers have been proposed:
1-A controller based on the “minimal” dynamic model of a robot manipulator that satisfies sufficient conditions in the form of Linear Matrix inequalities... 

In this thesis a general model for simulation of solar cooler for domestic usage is developed. The model consists of 2 main parts: thermo-dynamical and economical calculations. The thermodynamic part consists of 4 sub models: a model for calculation of incoming solar radiation, cooling load demand calculation, the refrigeration cycle and the solar cycle with heat storage.As for hourly calculation of system performance part of the model produces the hourly received radiation data based on geographical position and orientation of the receiving surface. Base on results of the cooling load calculation for a 9 m2 studying room located in western part of Tehran, 1 TBR (3.516 kW) is chosen as... 

Although quantum mechanics has thrilled a multitude of successes since its birth, it has also generated puzzles that persist to this day. These puzzles are largely connected with the role of measurement in quantum mechanics. Therefore, we are dealing with individual phenomena and that our possibilities of handling the measuring instruments allow us only to make a choice between the different complementary types of phenomena. Within the framework of delayed-choice experiments, the choice between complementary types of phenomena is postponed to the moments after the preparation of system is a superposition state. Regarding the probability theory, we have concluded that the delayed-choice... 

Implementation of various incentive-based demand response strategies has great potential to decrease peak load growth and customer electricity bill cost. Using advanced metering and automatic demand management makes it possible to optimize energy consumption, to reduce grid loss, and to release generation capacities for the sake of providing sustainable electricity supply, and reducing electricity bills for the customers. With these objectives, this thesis examines the previously suggested load scheduling programs in both residential and industrial sectors, and proposes new practical strategies for load management. This thesis has mainly focuses on three subdivisions of load management... 

Instability means that when wellbore is out of circle due to any reasons in which it may be associate with fracture or falling of wellbore wall. Wellbore instability problem in production and exploration wells cause high costs over than 100 million dollars in all over the world in which these costs can be increased to 1 billion dollars so, necessary forecasts for preventing of instability is essential. Up to now, a lot of methods are suggested for investigation of wellbore instability, but in this study, analytical investigation with the help of triaxial tension is considered. Failure criterion and rock behavioral model are two important factors in wellbore stability modeling. In this study,... 

Streaming has some applications in medical and industrial science. This phenomena can increase or decrease efficiency of an acoustic system. Deliberate streaming used to eliminate heat exchanger is an example of desired applications. In the most cases, secondary flow is an undesired issue. Streaming in thermal buffer tube (TBT) of thermoacoustic stirling heat engine (TASHE) has some unwanted effects. The main goal of author is to simulate numerically periodic field in TBT with axisymmetric geometry and study the effects of variating geometry and turbulence on the intensity of streaming. According to inaccessible boundary conditions in TBT of TASHE, firstly, the field is numerically solved... 

Spin-Transfer-Torque-RAM (STT-RAM) has recently been widely accepted as a promising replacement for SRAM technology through the technology scaling due to its high density, zero standby power and comparable-to-SRAM read access latency. However, there are two major obstacles to use STT-RAM, namely, high write access latency and energy. In this study, we propose two approaches to solve these challenges in embedded systems. The conventional latency of the STT-RAM write operation is 10ns and lowering the write latency causes the required write current exponentially increase, leading to a larger memory cell area and a shorter memory lifetime. As the first proposed method, we have assessed the... 

Attitude determination and control system (ADCS) design is usually based on using measurements provided by rate gyros or attitude sensors such as Sun, Earth-magnetic, Earthhorizon and star trackers. In many practical scenarios, vector measurements provided by attitude sensors and the corresponding reference vectors are available with time delay while the angular velocity is measured by Gyro without significant delay. Time delay can cause ADCS performance degradation and even instability of the closed-loop system. Due to the nonlinearity of satellite dynamics and kinematics, controller and observer design in presence of measurement delays has its own complexity. Hence, despite its... 

Solar cells are one of the most promising clean and readily available energy sources. Organic solar cells as a new generation of solar cells, have attracted strong attention in recent years, due to the advantages of flexibility, thinness, and simple manufacturing process. This work focuses on the electrical processes in organic solar cells and approaches for enhancing the efficiency of solar cell by employing two-dimensional drift-diffusion model. At the first step. We investigate the role of different parameters such as mobility (considering different recombination mechanisms), active layer thickness, light intensity, barrier injections and energetic disorder on the performance of single... 

Teaching a foreign language and its culture implicitly might result in internalizing the foreign culture and identity (Brown, 2001). This might consequently cause cultural identity crisis and loss in a broader sense. As provided by Eslami Nodooshan (1998), considering the importance of cultural awareness raised through cultural studies and its influence on language policy and accordingly language classes provided the ground for this study to investigate the components of Iranian cultural identity, the degree of Iranian EFL teachers’ cultural identity, and the statistically significant difference between the Iranian EFL teachers’ cultural identity with different demographic characteristics.... 

Plasma electrolytic oxidation (PEO) was implemented to produce a ceramic coating on AZ31 magnesium alloy, using an alternate power source (AC), in a silicate based electrolyte containing zirconia nanoparticles in different concentrations. Prior to adding nanoparticles to electrolyte, working parameters such as current density, frequency and coating duration were examined and studied concerning the equipment and coating conditions. And after reaching the optimized condition, ZrO2 nanoparticles were added to the electrolyte to create composite coatings. To examine the properties of the coatings before and after the creation of composite PEO coatings, scanning electron microscopy (SEM) was used... 

Electric motors used in electrical vehicles are varied, but in light electric vehicles such as electric motors and electric bikes, with limited space, permanent magnet motors due to their high power density and efficiency are very useful. These motors are divided into two types: trapezoidal and sinusoidal due to the waveform of the Back EMF voltage. The trapezoidal type, also known as the brushless DC motor , is more commonly used in light electric vehicles due to the simplicity of the control system and the lower cost. The control system of the BLDC motor is very important in its performance. Providing a controller for these engines that at low cost improves their performance is considered...