Sharif Digital Repository

This thesis examines the modal characteristics of the payload after connecting to the carrier via the adapter. Basically, the modal characteristics of a payload change after connection to the carrier due to the different stiffness of the coupling mechanism. In this report, it is attempted to split and model the assembly structural system into two substructures interconnected by the V band clamp mechanism. Then, each of the substructures analyze individually and the modal characteristics of the integrated system are extracted using the infrastructure coupling methods. The coupling method is the "Component Mode synthesis" (CMS) method and input data, dynamic and modal characteristics required... 

In recent years, word embeddings as the word representation have captured the attention of natural language processing (NLP) researches. One of the great advantages of word embeddings is their capability in representing the relationships of the words. Therefore, using word embeddings in NLP applications results in better performance.Despite widespread attention towards word embedding in late years, Persian word embeddings have not achieved sensible progress. One of the Persian word embeddings difficulties is related to that, Persian is a low-resource language in comparison with worldwide languages. Therefore, Persian word embedding quality is lower than English. Consequently, the accuracy of... 

This project has been conducted in two related phases: In the first phase, we have attempted to write a program capable of answering thematic similarity multiple-choice questions without utilizing any training data. The best performance in this phase was attained by the 25-topic LDA model using the Hellinger distance between the probability distributions of the poetic verses. This model managed to attain an accuracy of 42%, which is very close to the average human performance of 43%. In the second phase, two tasks of seven-class classification and binary classification were defined based on the p-value of the questions. To this end, the questions were initially ranked according to the... 

Keyphrase extraction, as an important open problem of Natural Language Processing (NLP), is useful as a stand-alone task in the field of Information Extraction and as an upstream task for Information Retrieval, text summarization and classification,etc. In this study, regarding the needs in Persian NLP, artificial neural networks are adopted to extract keyphrases from single documents and a graph-based re-scoring method is proposed for multidocument keyphrase extraction. The proposed method for extracting keyphrases from multiple documents consists of two steps: (1) extracting keyphrases of each document in a cluster using a sequence to sequence model with attention, and (2) re-scoring the... 

News plays a very important role in stock market trading. Nowadays news from a different part of the world and about different fields can be accessed easily, and for a successful trade, it is necessary to analyze accurately and use this big data and information as soon as possible. For this reason, this thesis tries to present and study models based on Deep Learning networks and Natural Language Processing for financial news analysis and predicting stock indices movement. This research takes advantage of a language model for learning and representing news text, and beside this language model it uses deep learning networks at multiple levels to extract proper features from each news in a day... 

In this thesis, the mechanical properties of collagen hydrogels were characterized using Finite Element method and the collagen content effect on the mechanical properties of hydrogels were investigated. Hydrogels samples with different collagen content were assessed which caused diverse mechanical behaviors. Due to the nonlinear behavior of hydrogels, using numerical methods and simulation softwars can be helpful to determine the mechanical properties of these material and save agreat deal of time. Finite Viscoelaticity theory was exploited for a UMAT Subroutine in Abaqus and an special Starin Energy Function was selected to extract the formulations. The agreement between simulation results... 

The purpose of this thesis is sliding mode control of a roll-pitch seeker by considering the zenith pass problem. This problem takes place when the target appears in front of the seeker’s head. First, the mathematical model of the roll and pitch frames is obtained by the Newton-Euler equations of motion. Then, a MIMO sliding mode controller is designed. The performance of the controller is investigated in the presence of model uncertainties and seeker disturbances. The results indicate that the designed controller is robust enough and provides a suitable performance in the stabilization, tracking and guidance loops.
 

The flexible magnetic robot is used for minimally invasive surgeries where there is a complex environment. Precise control of the position of the end of the robot and quick adaptation of the robot to uncertainties are among the most important challenges in this field, where the controller is responsible for compensating the error and controlling the position of the end of the robot. Now, is it possible to create a kind of memory in the system that when faced with the same or similar errors in the same situations or close to previous errors, the system uses its past and compensates the error? The importance of this work is that the response speed of the system is increased and the system can... 

In this study, a multiple model wind estimator is proposed to detect the wind type and to estimate the wind components as well as the states of a fixed-wing UAV without any direct measurement of the air data. Then, the identified wind model and the estimated states are compensated in the heuristic nonlinear model predictive controller during landing phase. For this purpose, a static multiple model approach is taken, comprised of four independent extended Kalman filters, each one is estimating the wind based on one of the four wind models including a constant wind, a “1-cosine” model, a wind shear and a microburst.Moreover, a new heuristic multiple model filter, called Multiple Model Extended... 

In this Thesis, an unmanned multicopter with a new structure is modeled and a nonlinear controller is designed for it to track the trajectories precisely. The multicopter in this thesis, has six propellers with a hybrid propulsion system (a combination of fuel and electric propulsion system) that has the ability to carry more payload and maintain more flight duration compared to electric multicopters. In the beginning, the performance characteristics and technical specifications of the hexacopter are presented. For modeling, first the equations of six degrees of freedom movement of the hexacopter are derived by the Newton-Euler method. In the next step, the forces and torques applied to the... 

It is well known that data centres consume high amounts of energy, which has become a major concern in the field of cloud computing. Therefore, energy consumption could be reduced by using intelligent mechanisms work to adapt the set of network components to the total traffic volume. SDN is an efficient way to do so because it has many benefits over traditional approaches, such as centralised management, low capex, flexibility, scalability and virtualisation of network functions. In our work will we use the heuristic energy-aware routing (HEAR) model, which is composed of the proposed heuristic algorithm and the energy-aware routing algorithm. This work identifies the unused links and... 

This research presents three new guidance laws for trajectory tracking of an unmanned aerial vehicle in the presence of wind disturbances. The first method is a linear combination of line-of-sight and velocity-pursuit guidance laws, the parameters of which are tuned using a fuzzy system in an online manner. The second method is an adaptive optimal guidance law based on the differential game theory. The third method (main method) is a model predictive guidance law based on the differential game theory. In the main method, linear point mass equations of motion are used to predict the future path of the vehicle. Also, the linear model predictive control is used to achieve an optimal analytical... 

Understanding of the Molecules is the main purpose of the chemistry. Ab-initio molecular dynamics (AIMD) as a branch of the computational chemistry, tries to give us a deep comprehension of the molecule, and its chemical, physical and optical activities. This comprehension, relies on the accuracy of quantum mechanics, in addition to the speed of the classical mechanics. The mixing of the quantum mechanics and the classical mechanics could simulate activities of the atoms in the time-domain, provided the mixing is done with precaution. This, in turn, helps us to forecast the response of a molecule in different situations, and also translating the macroscopic phenomena in a nanoscopic... 

In this thesis a guidance algorithm is developed to control middle phase landing of a quadrotor on a moving platform. Middle phase guidance is consisted of approaching time, speed, and angle constraints. In the first step proportional guidance algorithms was studied. Then a six-freedom model of a quadrotor dynamic was developed. At the next step an appropriate guidance algorithm was developed to control a quadrotor for the mentioned constraints. Finally, the parameters of the algorithm were optimized by numerical methods. Monte-Carlo method used to validate this method. For this reason, 850 numerical simulations with random initial and final conditions were performed and the statistics... 

Thread connections are widely used in tubular downhole equipment. Connections are usually weaker than tubulars and their failure will result in very high cost. Thread connections of downhole equipment are divided into two groups: standard connections and premium connections. Standard connections, despite being widely used, have limitations and will loose their efficiency in complex loadings. According to the mentioned limitations, premium connections have been proposed according to the existing need related to improving the strength of the structure, proper sealing and resistance to galling. One of the most obvious applications of premium connections is in downhole tubulars that are... 

The purpose of this thesis is to design and implement a controller for a Ducted-Fan in the landing and take-off phase using a linear quadratic tuning method based on differential game theory. This is a control method with a robust control approach and tries to see all the disturbances and unmodulated dynamics in the form of the second actor and produce a control command according to the worst behavior of the second actor. For this purpose, 6 DOF Ducted-Fan have been modeled. then The proposed controller is designed for a linearized model around the hover point. In the next step, the performance of the proposed controller is compared with the SlidingMode Controller. Also, the parameters of... 

In this thesis, a solution method for the optimal and online assignment of multi- UAVs to multi-targets and also guidance to targets is presented. For this purpose, at first, the dynamics of the UAVs and targets are modeled. Then, based on the characteristics of the UAVs and targets, the assignment problem is formulated. In this section, the objective function of the assignment problem is designed as a weighted combination of several objective functions. These functions include maximizing the survival probability of UAVs in engagements with targets, maximizing the probability of destroying valuable targets, minimizing the distance traveled by UAVs, increasing the probability of UAVs hitting... 

In this research, multi-disciplinary design optimization (MDO) of a flying vehicle has been done based on the flight simulation. A meta-heuristic algorithm called Multi-objective Adaptive Real-coded Memetic Algorithm (MARCOMA) has been used for optimization. Since solving a MDO problem is a time consuming process, a RBF neural network has been used in the optimization algorithm as a surrogate model. The new algorithm, called MARCOMA+NN, has been tested with some standard benchmarks. MDO problem has six disciplines consists structure, aerodynamic, propulsion, guidance, control, and fire control. The MDO problem has 31 design variables and two objective functions. The objective functions are...