Sharif Digital Repository

From the creation of the first robots, researchers have been fascinated by the possibility of interaction between a robot and its environment, by the possibility of robots interacting with each other and with humans. The common, underlying assumption is that humans prefer to interact with machines in the same way that they interact with other people. In this work, an assistant robot is developed based on a commercial platform, known as Alice R-50 (with the Iranian name of Mina). Alice is designed specifically for human-robot social interaction and has been used widely for studies on developmental and social robotics. It is used to improve and encourage the development of communication and... 

Voltage Controlled Oscillator (VCO) is one of the essential blocks in communication transceivers. The important specifications of the VCOs like Phase Noise, always is a motivation for researchers in order to introduce novel approaches to conquer these challenges. By development of technology and appearance of new fabrication technologies, this issue take more attention that the past. Also the out of control parameters like process variation and temperature, affect that. So, according to the challenges ahead and the demand of transceiver systems for low phase noise and reasonable power consumption, solutions for overcome these challenges. Finally, a class-C VCO with the tuning range of 4.25-5... 

IC221M is a cast Ni3AI-based intermetallic alloy which chemical composition bases on Ni- 8Al-8Cr-1.5Mo-1Zr-O.OIB %wt. Because of high strength, good high temperature oxidation, carburization and creep resistance as mechanical and physical properties, IC221M has got good attention in aeronautical, military and steel production industries nowadays. The best service temperature range is 600-800°C and melting starts at II 70°C. Since 1993 according to broad range of researches and applications, ASTM standardized it at Al002-99 and from that time researchers try to replace steel with IC221M. %80 volume of microstructure in this alloy consisted of brittle y' and remain are y and low... 

Unglazed Transpired Solar Collectors, recently called "Solar Wall", are known as the most efficient solar air heating system for the past two decades. The equator faced collector which is installed in this system has many tiny perforations to suck in the air with a fan and gain the absorbed heat by the collector. Convection and Radiation heat losses from the absorber to surrounding and other design factors have different influents to the heat gain of this system. In this study, Continuity, Momentum and Energy equations are written with proper boundary conditions, solved with computational fluid dynamics methods and validated in order to model Solar Wall system. Thus we could compare all... 

The problem of path simplification is an important problem in computer science. With the advances in navigation and geographical information based systems, simplification and data compression have gained considerable importance. The intends to find a path with less weight than the provided path while estimating the initial path with good accuracy and simplifying the storage and process cost of path information. This problem is not only useful in Geographical Information Systems, but it also has use cases in image processing and computer graphics and has been studied a lot in computational geometry. In this research, we introduce a simplification game that models the limited version of the... 

The human brain is the most sensitive and important human organ and surgery must be done with high precision and without risk. During surgery, brain tissue deform continuously due to gravity, out of the cerebrospinal fluid and the changing pressure of the cerebrospinal fluid and the surgical maneuvers. Because the surgeon has no direct view on brain internal, the ways to solve this problem is to pay attention. This method makes it possible to the surgeon see in the brain and the brain tissue deformation. This thesis method is based on biomechanical modeling. After forming finite element model from the pre-operative MRI, brain surface and volume datasets during surgery as a load, apply to the... 

Recently, demand for using variant applications in distributed networks has been increased largely. Most of these applications are based on group communication.In distributed group communication, two important factors need to be considered, group construction, and Group Key Management (GKM). The group construction specifies the process of constructing a new group by cooperation between distributed users. As well, GKM ensures re-freshness of the group key after each join/leave operation. Both of these tasks must be done by collaboration between members. This leads to imposing complexity and communication overhead to the system.This thesis proposes efficient methods for group construction and... 

Recently, the number of requests for multicast services through the wireless networks has increased. However, for successful deployment of these services, security and efficiency of content delivery must be provided at first. This thesis presents a new approach for secure multicast in wireless networks. This approach, CRAW (Combination of Re-keying and Authentication in Wireless networks) combines member authentication procedure with group key management protocol together to provide efficient re-keying. One-time password is proposed for member authentication and CKC (Code for Key Calculation) is suggested for group key management in wireless networks. In fact, the combination of... 

Spam mails are unwanted mails sent to large numbers of users. Such emails not only consume the network resources but also cause lots of security uncertainties. Based on our observation, the location where the spam filters operate in is an important parameter to save network resources. In this thesis, we introduce a new and effective approach to avoid spam emails from being transferred by relocating the filtering system in the sender mail server. Compared with previous methods in our method, the spam email is detected after spammer clicks on the send button. Here the sender mail server decides based on some pre-defined criteria. If the sender mail server determines that the email is not spam,...