Sharif Digital Repository

In this work bioleaching of vanadium has been done from Saghand Ore (Anomaly II). Leaching of vanadium was done in several stages. First, Acidithiobacillus ferrooxidans and Acidithiobacillus thiooxxidans were used for dissolution of pure vanadium pentoxide and it was observed that these bacteria are able to dissolve and reduce vanadium with high efficiency. After that these bacteria were employed to leaching of vanadium from ore; however there were no results by those experiments and no vanadium dissolved in liquor although bacterial activity was visible. In the second stage, oxalic acid 0.1 M as an organic acid and three inorganic acids, namely sulfuric, hydrochloridric and nitric acids, in... 

Aerodynamics loads and aeroheating during reentry, are one of the challenging issues in designing One of the main challenges in the design and application of reusable spacecrafts is the aerodynamic and thermal loads acting on their structures during reentry into the atmosphere. For this reason, all the concepts/prototypes presented in the 20th century were either not fully reusable, or were partially canceled, or did not have economic justification. In this report, the aerodynamic loads on the first stage of a launch vehicle during the launch and return phases have been investigated. Due to the fact that the main part of the first stage of the vehicle includes fuel and oxidizer tanks, the... 

The collision of moderately large asteroids and comets also referred to as Near-Earth Objects (NEO's) with earth would have catastrophic consequences. Such events have occurred in the past and may occur again in the future. However, for the first time in known history, humanity may have the technology required to counter this threat. Methods studied for mitigation of this hazard are based on deflecting asteroid's trajectory and are normally divided into two basic categories: high energy impulsive methods, and long-duration low-thrust methods. Two parts of mission to be optimized are the trajectory of spacecraft to reach the target and the deflection strategy which could be analyzed by the... 

The main purpose of the present thesis is to establish a decentralized controller for some car–like multi robots to follow and hunt moving targets. Robots are very similar to actual cars considering geometric dimensions, mass and moment of inertia and so on; and outputs of the controller are steering-wheel and driving-wheel torques appropriately. Dynamics of the moving target is so that it escapes from the robots. Robots are equipped with antenna for getting wireless sensory signals, including range and bearing sensors. Kalman filter is used for estimation the target relative position and speed and robots state variables. The controller is designed for doing the above mentioned group... 

This research proposes a novel hybrid method for stock price index forecasting relying on technical analysis, the fundamental analysis of capital market, neural networks technology, and fuzzy logic. The new method shows a good performance comparing complicated and time-consuming forecasting methods. Several factors influence stock price; for example, an important one is the previous trend of stock price. Fortunately, by developing technical analysis and introducing the various indices of this method the maximum use of historical data is made in order to forecast future prices. Another kind of factors is macro-economic variables that their influence on the long-term trends of the stock... 

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 work dynamic behavior of a two body TSS with main satellite as rigid body is studied and effects of tether elasticity and tension on the satellite dynamic are indicated in station keeping phase and circular orbit. Also a simplified modeling is introduced which could be used in nonlinear controller design. Lagrange and extended Lagrange method is used to derive equations of motion. It is shown that longitudinal vibration of tether has small effect on satellite attitude and angular velocity and because of high frequency it can be decoupled from satellite dynamic. In the simplified model, orbital motion is decoupled from equations of TSS and main satellite dynamic. Effect of decoupling... 

Separate analysis of modern systems by continuous or discrete theories is not possible, because they cannot solely express the detailed descriptions of a system. As a result of this, researchers are motivated to study hybrid systems. Specific class of hybrid systems which consists of several continuous subsystems and a rule that specifies how to switch between them, is called a switched system. Recently, many studies have been done on the stability and control of switched systems. In this regard, the goal of present study is presenting applications of switched systems using two control methods. The first application is control of a chemical reactor system with multiple modes. We presented... 

The application of manipulators is becoming more and more popular in objects handling especially when it is desired to have access to remote areas in destructive or hazardous taskspaces. For this purpose, a hand-like mechanism must be designed to be used as an end-effector, which can grasp objects. In this paper a cable driven grasping mechanism has been presented. In the proposed mechanism each finger consists of three phalanxes which are actuated by a single motor. Also, locking and unlocking constraints are used in the mechanism in order to generate an anthropomorphic motion, in which, the order of reaching phalanxes to the object is sequential, in such a way that each phalanx starts... 

Sensor Observation Service (SOS) which is defined by Open Geospatial Consortium (OGC) Sensor Web Enablement group is a Web service specification in order to standardize the way sensors and sensor data are discovered and accessed on the Sensor Web. Multiple instances of this service can be implemented around the world, providing huge amount of data every moment. Each of these services operates in specific domain of knowledge (thematic), spatial and temporal dimensions. One way to reveal the underlying data over all of them is to provide an architecture for data integration to allow the user to query sensor data without the knowledge of the infrastructure components. In this research, a novel... 

Rotating machinery are found in most industrial units, that are highly susceptible to transverse cross sectional cracks due to fatigue. The vibration pattern of a rotor system reflects the mechanical parameter changes in the system. These vibrations can be used for identifying the cracks and appropriate actions can be taken to prevent more damage to the system. The dynamic behavior of cracked rotor is a subject of considerable current interest. Several researchers have developed models of cracked rotor systems. Therefore, In this thesis, the influence of the presence of transverse cracks in a simple Jeffcott rotor is analyzed. In first, on the basis of fracture mechanics, the direct and... 

Systems that are electrostatically actuated have found a vast role in MEMS application. This technology is used in optical systems, sensors, micro switches, and deformable mirrors. Raising the use of these systems in fields that needs better performance highlighted the need to accurate study of dynamics and control of electrostatic actuated systems in micro scale. This work is dedicated to design of an estimation and control system for a micro-beam that is actuated by electrostatic. After a comprehensive survey on pervious works that are done on dynamic, applications, fabrication and control of these systems dynamic of the system is fully derived. The environmental factors like fringing... 

It is more than a century to study qualitative and quantitative behavior of structures against earthquakes will be benefited from laboratory studies. In fact, the best method for observing the behavior of a structure during an earthquake is earthquake simulation on the structure. Today, the most effective way to do these tests is simulating of earthquake by using of Shaking Table. The shaking table consists of three main parts: electronic, hydraulic and mechanical. The accuracy of earthquake simulation’s results are very important. In recent years, numerous studies on the dynamic behavior of the above components and the interactions between these components are performed. In this study, we... 

The problem of Origination of The Universe is one of the most important issues in the history of philosophy whether in western edition or in Islamic thought. The most problematic aspect of the Origination is Temporal Origination. From about 30 years ago as a result of the works of a famous American philosopher William Lane Craig, the debate between temporality and Eternity of the Universe became a fresh topic in western philosophy. In this research we want to survey the philosophical arguments for and against the temporality of the Universe based on the views of: W.L.Craig, Q.Smith and Allamah S.M.H Al-Tabatabaie.
 

Considering the role of fluid storage tanks within or after an earthquake and the irreparable damages from their destruction that arise from the nature of the fluids of flammable or toxic nature stored in those tanks, it is very important to ensure stability and durability of the tanks when an earthquake is occurring. One of the most important damages to storage tanks within the past earthquakes has been lack of stability of their walls taking place in the form of elephant buckling. A certain storage tank was subject to a case study in this research and the tank's body, foundation, anchorages, the tread between the fluid and tank's body and between the bottom sheet and foundation were... 

The healthcare industry collects huge amounts of healthcare data which, unfortunately, are not“mined” to discover hidden information for effective decision making. Discovery of hidden patterns and relationships often goes nexploited. Advanced data mining techniques can help remedy this situation. The diagnosis of diseases is a vital and intricate job in medicine. The recognition of heart disease from diverse features or signs is a multi-layered problem that is not free from false assumptions and is frequently accompanied by impulsive effects. Thus the attempt to exploit knowledge and experience of several specialists and clinical screening data of patients composed in databases to assist the... 

In this research a joint location- inventory problem is analyzed. We assumed two kinds of inventories: fast-moving and slow-moving goods. These two kinds of goods can be observed in after sales service systems. In the real world fast moving goods are stocked in all dealers but for slow moving goods there is no force to stock in all dealers. Therefore an important decision in these systems is where and how much we should stock the slow moving goods and how each dealer can supplies its demand for slow moving goods. In this research we model this problem as a joint location-inventory model which locates some warehouses in the network to stock the slow moving goods and assigns the dealers to... 

In this study hybrid classification models by combining genetic algorithm and classifiers such as neural network and decision tree are presented and efficiency of these models is tested on 5 different databases against other proposed models in this area. This comparison shows that the model obtained by combining genetic algorithm and neural network obtains better results than other models. Afterwards this model is used as a decision support system in diagnosis heart disease and in addition to determining the parameters of neural network such as the number of hidden layers and the number of neurons in each layer, efficient features in diagnosis heart disease are also determined. Among the... 

In this research, the location-inventory problem is developed in order to design a distribution center considering customers behavior. We consider two groups of customers who have different behavior on purchase. The customers may order the product via internet and receive it at their location or go to the nearest store and buy the product at the store center. We model the problem as a multi-objective programming model. The objectives are maximizing the profit as well as maximizing the market share. The model locates the distribution centers (DC) and allocates the customers to DCs. Two heuristic algorithms developed to solve the model: non- dominated Sorting Genetic Algorithm (NSGA-II) and...