Sharif Digital Repository

Coordinate motion is a considerable phenomenon in biology and very powerful tool for leading and controlling a group of robots. In recent years, robotic becomes a helpful technology for acompilishing in works which is impossiple for human, such as working in toxic environments. In this project, we introduce coordinate motion problems which are applicable in multi-agent systems, and we also present suitable control algorithms for solving this problem. In other word, we use potential field method to model coordinate motion. We propose a three-cycle robot as an agent, such that it has two nonholonomic constraints. Designing an algorithm for solving coordinate motion problems, we propose these... 

The aim of Emergency Medical Services (EMS) is to provide fast medical care and to transport patients to hospitals at the earliest possible time, so as to reduce injury and fatality rate. Healthcare managers try to improve healthcare systems by reducing the response time to demands. In this thesis, we present mathematical models for the problem of location and relocation of emergency vehicles after the end of their service time or after they have returned to a hospital. We believe that implementing these models can help managers improve the performance of emergency medical services. In the first part of this study, we present a two-level deterministic optimization model considering demand... 

In this thesis the simulation optimization problems are solved by using Artificial Bee Colony (ABC). The main objective is to improve and adapt the ABC algorithm for solving the optimization problems in deterministic and stochastic environments. For solving deterministic problems, directed search in neighborhood and Nelder-Mead algorithm are combined with ABC algorithm to improve the convergence rate and solutions. Moreover; in stochastic environment, hypothesis test and Kim-Nelson (KN) indifference zone ranking and selection procedure are helping bees to produce solutions with better confidence level on the quality of the solution. Results of optimizing an extensive complex benchmark... 

The concurrent flow of oil and water is a common occurrence in the field of multiphase flow in different fields including petroleum industry. In oil and gas, production engineers often face a situation in which more than one phase is flowing through the producers. In such conditions an accurate assessment of pressure loss inside the well plays a vital role in efficient and effective production planning. Changes in well orientation, wellbore diameter, reservoir and fluid properties as well as fluid flow rates are among parameters in which will affect the flow patterns that can occur inside a well during its life time. These flow patterns are created as a result of a competition between... 

Casing design is one of the most expensive parts in the drilling of oil wells, and any cost reduction with the basic design of these casing strings will significantly reduce the total cost of the operation. In recent years, occurring scenarios-based casing design has become popular; Because in many cases, it eliminates non-occurring scenarios such as gas kick and saves on drilling costs. In this study, we have tried to investigate all scenarios that may occur during the lifetime of the well, whether drilling or production, and for each well, based on its own field information, possible scenarios for each casing part are selected separately and the applying loads are calculated. For this... 

The electrochemical oxidation behavior of the anti-inflammatory drug piroxicam was investigated. A carbon nanoparticle (CNP)-chitosan (CS) film-coated graphite electrode (PGE) was fabricated and the electrochemical behaviors of piroxicam on its surface was investigated by the means of cyclic voltammetry (CV), linear sweep voltammetry (LSV) and electrochemical impedance spectroscopy (EIS). In comparison to the bare PGE, at the surface of the CNP-CS film modified electrode, the oxidation peak current of piroxicam increased significantly and the peak potential shifted negatively. Consequently, a simple and sensitive electroanalytical method was developed for the determination of piroxicam. The... 

There are high attractions in the development of conducting polymer (CP) coatings to improve the electrochemical properties and biocompatibility of electrodes in the area of biosensors. In the first part of this thesis, a new type of modified electrodes, constructing multi-walled carbon nanotubes (MWCNTs) and polypyrrole is prepared in a layer-by-layer process. In this procedure, the glassy carbon electrode is casted first by a drop suspension of MWCNTs, leading to formation a thin film on its surface. In the second step, electrochemical polymerization of pyrrole in the presence of tiron (used as doping anion) is performed on the surface of the MWCNTs pre-coated electrode. The modification... 

In this thesis, based on the taking-off and landing of aircraft with GE 21-J85 turbine, the low cycle fatigue (LCF) test for superalloy used in first stage blades is considered. The LCF tests were performed on both coated and uncoated Rene 80 which are used in GE 21-J85 turbine at R = (min/max) = 0, strain rate of 2 10-3 s-1 and 760oC, 871oC and 982oC. To produce specimens, an investment casting method was used so that adequate amount of polycrystalline round bars could be obtained. The specimens were all homogenized and solution treated. After the inspection, some specimens were coated with pack cementation method in CODEP-B powder in H2 atmosphere. The coated and uncoated specimens all... 

At the first part of this thesis, a pyrolitic graphite electrode (PGE) modified with graphite/nanodiamond film (GND) was applied as a sensitive electrochemical sensor for determination and study of electrochemical behavior of tryptophan (Trp) and 5-hydroxytryptophan (5-HTP) in aqueous solutions. The results showed that GND caused a remarkable increase in the peak currents so the GND/PGE electrode surface was more sensitive to the concentration of Trp and 5-HTP than the PGE surface. The determination of Trp and 5-HTP were investigated by stripping voltammetry. Experimental parameters such as scan rate, pH, accumulation conditions and amount of the modifier used on the PGE surface were... 

Part 1: A novel modified pyrolytic graphite electrode with nanodiamond/graphite was fabricated. The electrochemical response characteristics of the modified electrode toward the epinephrine (EN) and uric acid (UA) are studied by means of cyclic and linear sweep voltammetry. The structural morphology and thickness of the film was characterized by SEM technique.The prepared electrode shows an excellent catalytic activity in the electrochemical oxidation of EN and UA, leading to remarkable enhancements in the corresponding peak currents and lowering the peak potentials. The prepared modified electrode acts as a highly sensitive sensor for simultaneous determination of EN and UA in the presence... 

At the first part of this thesis, a pyrolitic graphite electrode (PGE) modified with new coccine/multi-walled carbon nanotubes film (NC/MWCNT) was applied as a sensitive electrochemical sensor for determination and study of electrochemical behavior of tyrosine (Tyr) in aqueous solutions. The results showed that NC/MWCNT caused a remarkable increase in the peak current so the NC/MWCNT/PGE electrode surface was far more sensitive to the concentration of Tyr than the PGE surface. The determination of Tyr was investigated by linear sweep voltammetry (LSV). Experimental parameters, such as scan rate, pH and amount of the modifier used on the PGE surface were optimized by monitoring the LSV... 

Feyerabend was a philosopher of science that became famous for his purportedly anarchistic view of science and his rejection of the existence of universal methodological rules and rationality of science. Feyerabend’s view of science can be summarize in a few points; 1. On the issue of falsifiability, Feyerabend argues that no theory is ever consistent with all the relevant facts. He sees the use of ad-hoc postulates to save the dominant paradigm as an essential to the progress of science. He claims that scientists frequently depart completely from the scientific method when they use ad-hoc ideas to explain observations that are only later justified by theory. To Feyerabend, ad-hoc... 

Graph Theory and Combinatorial Analysis like the other branches of science use the probability for solving their problems. At the first , we will introduce the most common tools from probability used in Discrete Mathematics, such as “The Lovasz Local Lemma”. Most of them are based on Linearity of Expectation, Concentration Theorems and some other innovative methods such as Deletation Method. We will present different examples for these techniques. Also we will introduce “Random Graphs” and their importance. Specially we will explain how to use “Threshold Functions” to obtain different properties about the majority of graphs. Rainbow Connection, is a natural and interesting quantifiable way... 

Let R be a ring with unity, M be a unitary left R-module and I(M)* be the set of all non-trivial submodules of M. The intersection graph of submodules of M, denoted by G(M), is a graph with the vertex set I(M)* and two distinct vertices N and K are adjacent if and only if N\K ̸= 0. We investigate the interplay between the module-theoretic properties of M and the graph-theoretic properties of G(M). We characterize all modules for which the intersection graph of submodules is connected. Also the diameter and the girth of G(M) are determined. We study the clique number and the chromatic number of G(M). Among other results, it is shown that if G(M) is a bipartite graph, then G(M) is a star... 

In the present work, edge-functionalaized graphene was used as electrode material and its electrochemical properties were systematically characterized by electrochemical impedance spectroscopy and cyclic voltammetry. Two methods were applied to modify the gold electrode surface. First method was the self assembling process of graphene nanosheets on gold electrode surface. Second method was simply casting specific amounts of graphene suspension on the gold electrode surface. Nyquist plots show decrease of the charge transfer resistance on the electrode surface at both cases. In cyclic voltammetry studies, first electrode shows no significant changes while the second electrode exhibits...