Sharif Digital Repository

In real soccer goal keeper has a completely different behavior that the players. Thus we designed our goal keeper with some basic ideas taken from real soccer, which is moving mainly in goal area and using arms to take the balls. Our goal keeper has a moving mechanism based on 8 motors which enables it to move forward/backward, straight left/right and rotate around its geometrical center, and a sliding arm which moves toward the direction of ball faster than the robot body. Using 3 CCD cameras in front and rear left and right provides the goal keeper with a view of about 210 degrees. © 2001 Springer-Verlag Berlin Heidelberg  

This article deals with technology strategy and its linkage with overall strategy at multi-business, diversified groups. In the last two decades, the alignment of technology and business strategy has been one of the important research fields in strategy and technology management literature. These researches has been concentrated on single companies through which different frameworks, models, and decision support tools have been developed and widely utilized by industries. Although multi-business and diversified groups play an important role in national economy of developing countries and need a comprehensive and overall plan for the management of their diversified technological capabilities,... 

This article deals with technology strategy and its linkage with overall strategy at multi-business, diversified groups. In the last two decades, the alignment of technology and business strategy has been one of the important research fields in strategy and technology management scopes. These researchs has been concentrated on single companies through which different frameworks, models & decision support tools have been developed and widely utilized by industries. Although multi-business and diversified groups play an important role in global and national economics and need a comprehensive and overall plan for the management of their diversified technological assets, there are few researchs... 

We are concerned with an open shop scheduling problem having sequence-dependent setup times. A novel bi-objective possibilistic mixed-integer linear programming model is presented. Sequence-dependent setup times, fuzzy processing times and fuzzy due dates with triangular possibility distributions are the main constraints of this model. An open shop scheduling problem with these considerations is close to the real production scheduling conditions. The objective functions are to minimize total weighted tardiness and total weighted completion times. To solve small-sized instances for Pareto-optimal solutions, an interactive fuzzy multi-objective decision making (FMODM) approach, called TH... 

Within-die process variation is increasing in nanometer-scale process technologies. We observe that the same SRAM cell leaks differently under within-die process variations when storing 0 compared to 1; this difference can be up to 3 orders of magnitude at 60mV variation of threshold voltage (V th). Thus, leakage can be reduced if most often the values that dissipate less leakage are stored in the cache SRAM cells. We take advantage of this fact to reduce instruction-cache leakage by presenting three binary-optimization and software-level techniques: we (i) reorder instructions within basic-blocks so that their bits better match the less-leaky state of their corresponding cache cells, (ii)... 

A Digital Delta Sigma Modulator (DDSM) is a Finite State Machine (FSM); it is implemented using finite precision arithmetic units and the number of available states is finite. The DDSM always produces a periodic output signal when the input is constant. This paper proposes a novel method of applying periodic dither to a DDSM in order to obtain minimized spurious tones. The effects of adding the pseudorandom dither signal in different stages within the proposed Multi-Stage noise Shaping (MASH) modulator are expressed in the equations, and the results are compared. We present results regarding the periodicity of the quantization noise produced by a MASH modulator with a constant input and a... 

Purpose - Digital Delta Sigma Modulator (DDSM) is used widely in electronic circuits including Radars, class-D power amplifiers and fractional frequency synthesizers. The purpose of this paper is to propose an implementation for MASH DDSMs named as Multi Modulus Reduced Complexity (MMRC) architecture. Design/methodology/approach - This architecture will use a very simple pseudorandom Linear Feedback Shift Register (LFSR) dither signal with period N-d to randomize the digital MMRC modulator used for fractional frequency synthesizers. Using error masking methodology, the MMRC modulator can decrease the hardware consumption and increase accuracy of the fractional frequency synthesizer. Rules...