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Use of PSO in parameter estimation of robot dynamics; part one: No need for parameterization
, Article 2012 16th International Conference on System Theory, Control and Computing, ICSTCC 2012 - Joint Conference Proceedings ; 2012 ; 9786068348483 (ISBN) ; Namvar, M ; Sharif University of Technology
2012
Abstract
Offline procedures for estimating parameters of robot dynamics are practically based on the parameterized inverse dynamic model. In this paper, we present a novel approach to parameter estimation of robot dynamics which removes the necessity of parameterization (i.e. finding the minimum number of parameters from which the dynamics can be calculated through a linear model with respect to these parameters). This offline approach is based on a simple and powerful swarm intelligence tool: the particle swarm optimization (PSO). In this paper, we discuss and validate the method through simulated experiments. In "Part Two" we analyze our method in terms of robustness and compare it to robust...
Exploring Economic Performance of Resource-Rich Countries by Separating their Political Systems
, M.Sc. Thesis Sharif University of Technology ; Nili, Masoud (Supervisor)
Abstract
Economic performance of resource rich countries is related to their political systems. In this research, consistent to Hosseini (1388), we develop a theoretical model in which we classify the political systems of those countries to four systems based on corruption, myopic behavior of the incumbent, ideological bias of people, and the popularity shocks in elections. We show that in a fixed institutional framework, democracy leads to higher welfare for people and better economic performance. However, in a society with low corruption, high political convergence, and low popularity shocks both democracy and dictatorship maximize the social welfare in the model
Information Theoretic Security in Broadcast and Multiple Acess Channels
,
M.Sc. Thesis
Sharif University of Technology
;
Salmasizadeh, Mahmoud
(Supervisor)
Abstract
Wireless communication networks such as cell phones are rapidly expanding and every day they attract more users. Information flow in these networks is basically through free space. Thus, theses networks are inherently subjected to eavesdropping. Cryptography based on the secure key is the well known traditional way of protecting information security in wireless networks. However, these cryptosystems are just computationally secure and have their vulnerabilities. Information theoretic security is a relatively new method which doesn’t rely on any preshared key or key infrastructure and uses inherent characteristics of the communication channel to provide robust and provable security.In this...
Deterministic multiple access wiretap channel
, Article Proceedings 2010 IEEE International Conference on Information Theory and Information Security, ICITIS 2010, 17 December 2010 through 19 December 2010, Beijing ; 2010 , Pages 998-1001 ; 9781424469406 (ISBN) ; Salimi, S ; Salmasizadeh, M ; Sharif University of Technology
2010
Abstract
Two-user Multiple Access Channel with a Wire- Tapper (MAC-WT) is considered. A general outer bound for the secrecy capacity region is given. Also, we have defined the Deterministic MAC-WT, where the channel input of each user is a deterministic function of the channel output and the channel input of the other user. For this network single-letter inner and outer bounds for the secrecy capacity region are given. Furthermore, it is shown that in the Deterministic MAC-WT, if the wiretapper channel is a degraded version of the main channel, inner and outer bounds meet and the secrecy capacity region is characterized
Secrecy capacity of wiretap channel for a new scenario and designing code for wiretap channel
, Article Proceedings - 2010 18th Iranian Conference on Electrical Engineering, ICEE 2010, 11 May 2010 through 13 May 2010 ; 2010 , Pages 183-187 ; 9781424467600 (ISBN) ; Salimi, S ; Salmasizadeh, M ; Sharif University of Technology
2010
Abstract
The concept of information theoretic security is introduced. Secrecy capacity of two receiver broadcast channel for a new scenario is derived in which it is assumed that the legitimate receiver has access to a noisy version of eavesdroppers channel outputs. Also the ideas of code designing to achieve zero error on main channel and perfect secrecy on the eavesdropper's channel, without invoking complicated capacity achieving codes are provided
, M.Sc. Thesis Sharif University of Technology ; Parsafar, Gholamabbas (Supervisor)
Abstract
In 2009, a general equation of state (EOS-III) based on an effective near-neighbor pair interaction of an extended Lennard-Jones (3, 6, 12) type has been introduced as : , where is the compressibility factor, p and ρ stand for pressure and molar density , respectively, T is Temperature , and e, f and g are the temperature dependent coefficient of the equation of state . the Z_th and Z_in are the thermal and internal contributions of pressure in the compressibility factor, respectively. this equation of state gives a good description of all types of nano- and bulk –solid and bulk fluid at entire temperature and pressure ranges for which thee is experimental data. Investigation show that...
Ball striking algorithm for a 3 DOF ping-pong playing robot based on particle swarm optimization
, Article 2012 16th International Conference on System Theory, Control and Computing, ICSTCC 2012 - Joint Conference Proceedings ; 2012 ; 9786068348483 (ISBN) ; Nooranidoost, M ; Enghiad, B ; Hajimirzakhani, A ; Sharif University of Technology
2012
Abstract
This paper illustrates how a 3 degrees of freedom, Cartesian robot can be given the task of playing ping-pong against a human player. We present an algorithm based on particle swarm optimization for the robot to calculate when and how to hit an approaching ball. Simulation results are shown to depict the effectiveness of our approach. Although emphasis is placed on sending the ball to a desired point on the ping pong table, it is shown that our method may be adjusted to meet the requirements of a variety of ball hitting strategies
Photoelectrocatalytic Performance of Mesoporous TiO2 Nanostructures Decorated with Cu-Ag-Zn Particles for CO2 Conversion
, M.Sc. Thesis Sharif University of Technology ; Simchi, Abdolreza (Supervisor)
Abstract
The rise in carbon dioxide levels has led to the manifestation of numerous environmental challenges. Currently, the absorption and conversion of carbon dioxide into valuable fuel resources such as synthetic gas, methane, and ethylene are deemed crucial from both environmental and economic standpoints. Despite the presentation of photocatalysts such as titanium oxide and electrocatalysts such as copper, silver, and zinc, their efficiency in CO2 conversion is found to be insufficient. One potential solution to this problem is the utilization of photoelectrocatalytic CO2 recovery. In this study, the aim was to enhance the photoelectrocatalytic reduction of CO2 by designing and manufacturing...
Cryptanalysis and security enhancement on the generation of Mu-Varadharajan electronic voting protocol
, Article International Journal of Electronic Governance ; Volume 3, Issue 1 , 2010 , Pages 72-84 ; 17427509 (ISSN) ; Mortazavi, A. S ; Baseri, Y ; Mohajeri, J ; Sharif University of Technology
2010
Abstract
Mu and Varadharajan proposed an electronic voting scheme and claimed that their scheme authenticates the Voters, protects the anonymity of them, and detects the identity of double voters. Due to some weaknesses in Mu-Varadharajan scheme, several modified schemes have been proposed by Lin et al., Hwang et al., Rodríguez-Henríquez et al. and Asaar et al.; however this paper shows that these schemes suffer from some weaknesses in fulfilling the pointed properties. For this purpose, we get Hwang et al. scheme as a case study and apply our new attacks on it. Also we consider the applicability of the attacks on other pointed schemes. In addition, we present a new scheme and show that the scheme...
Synthesis and Application of Preformed Viscoelastic Hydrogels in Enhanced Oil Recovery
, M.Sc. Thesis Sharif University of Technology ; Taghikhani, Vahid (Supervisor) ; Baghban Salehi, Mahsa (Supervisor)
Abstract
Preformed particle gels (PPGs) due to its advatantage over commonly used in situ gels has been successfully applied for controlling excess water production in mature oil reservoirs. Field results of using PPGs in oil fields shows that commonly used PPGs are highly sensitive to hard reservoir conditions such as high temperature and salinity and can not effectively block fractures and high permeability layers.Objects of this study are synthesis and evaluating performance of this novel polymer based hydrogel in oil reservoirs with high temperature and salinity. Central composite design ( which is a experiment design approach) was used for synthesizing thirteen gel samples and optimal sample was...
Coating of Sewage Pipes with Appropriate Nanomaterials Aimed at Preventing Biological Growth (Algae+Biofilm)
, M.Sc. Thesis Sharif University of Technology ; Borghei, Mehdi (Supervisor) ; Ghasemi, Shahnaz (Co-Supervisor)
Abstract
Biological layers are one of the main problems related to water transfer with pipe lines which are formed through time in the inner surface of the pipes by the water nutrients. Hence, the inner surfaces in the pipe lines and water refineries should be made in order not to let these biological layers to be made. The reason is that when the biofilm is formed on these surfaces, the traversing water is polluted. Dredging of these pipes is not only necessary in most of the countries in the world and needs huge amounts of water but is also very complex and expensive.In this research, nanomaterials, namely ZnO, T〖iO〗_2،S〖iO〗_2 have been used to cover the surface of concrete and steel pipes (The...
Design and Manufacture of Polymeric Nanocomposite in Order to Control the Production and Migration of Sand in Reservoirs
, Ph.D. Dissertation Sharif University of Technology ; Taghikhani, Vahid (Supervisor) ; Baghban Salehi, Mahsa (Supervisor)
Abstract
Sand production from oil reservoirs leads to various problems, such as well productivity reduction, operating equipment corrosion, and increased production costs. Therefore, controlling sand production in unconsolidated reservoirs is crucial for operating companies. Chemical injection into the formation in order to strengthen and reduce sand production is one of the most important methods of sand control. In this study, a hydrogel nanocomposite was designed and its effectiveness in sand control was investigated. Various tests were carried out to define and assess its efficacy, as follows: Morphological tests demonstrated the creation of a dense, homogeneous, and porous structure. Structural...
Performance Evaluation of Rhamnolipid & Sophorolipid Biosurfactants Capable of Wettability Change and Oil Recovery Increase
, M.Sc. Thesis Sharif University of Technology ; Taghikhani, Vahid (Supervisor) ; Baghban Salehi, Mahsa (Supervisor) ; Mokhtarani, Babak (Co-Supervisor)
Abstract
As fossil fuels are still the world's most important source of energy, as well as the maturity of most of the world's oil reservoirs, there is a need for enhanced oil recovery methods to meet the world's increasing oil demands. MEOR methods are new and promising methods that are still in the research and development stage. One of the MEOR methods is the use of biosurfactants, which increase the oil recovery by two mechanisms: 1) reducing the interfacial tension between water and oil and 2) changing the wettability of the rock. In this study, the performance of two glycolipid biosurfactants, rhamnolipid and sophorolipid, in increasing oil recovery has been investigated. Initially, surface...
Investigation of the Effect of Asphaltene on the Stability of Water-oil Emulsion
, M.Sc. Thesis Sharif University of Technology ; Taghikhani, Vahid (Supervisor) ; Baghban Salehi, Mahsa (Supervisor) ; Masihi, Mohsen (Supervisor)
Abstract
During the production of crude oil from reservoirs, the production of quantities of formation water along with this oil, causes the crude oil does not have the necessary indicators for transportation, refining and ultimately export. The presence of water and salt along with crude oil causes corrosion of refinery and transmission equipment and makes oil unfavorable in terms of economic efficiency (both for domestic use and for export). water and salt produce stable emulsion with oil that can be stable for a long time and can not be easily separated from crude oil. Therefore, separation of water and salt from crude oil is one of the most important issues in the oil industry. Breaking this...
Butanol Production from Bagasse Sugarcane Black Liquor by Native Strain and Clostridium Acetobutylicum Species
,
M.Sc. Thesis
Sharif University of Technology
;
Shayegan, Jalaleddin
(Supervisor)
;
Vossoughi, Manouchehr
(Supervisor)
;
Sedighi, Mahsa
(Co-Supervisor)
Abstract
Considering the limitations of fossil fuels in recent years, as well as increasing demand for biofuels, it is anticipated that future attention to biofuels will increase further. Among biofuels, due to some disadvantages of bioethanol and biodiesel fuel, there is a tendency to use biobutanol, which does not have the disadvantages of the mentioned fuels. The cost of chemical production of butanol also led researchers to use biotechnology production of butanol. According to studies, butanol production can be achieved by fermenting some sugars such as glucose, xylose, and ... by anaerobic microorganism, but the cost of using these sugars has resulted in the use of natural sources of these...
Providing A New Solution to Enhance Oil Recovery (Eor) by Using Properties of Imidazolium Ionic Liquids and Synthesis of Microgels
, M.Sc. Thesis Sharif University of Technology ; Taghikhani, Vahid (Supervisor) ; Baghban Salehi, Mahsa (Supervisor) ; Mokhtarani, Babak (Co-Supervisor)
Abstract
The methods of Enhanced Oil Recovery (EOR) from reservoirs have been taken into consideration recently due to the decline in oil reserves and the rise in energy demand. Studies and investigations indicate the tremendous potential of chemical approaches based on injecting ionic liquids into the porous media with the goal of improving oil recovery. Additionally, hydrogels and polymers, which are two of the process' primary materials, are thought to be good alternatives. In the current study, a hydrogel based on carboxymethyl cellulose was first created and synthesized. Ionic liquids based on imidazolium and triflate anion were then added, and their effectiveness in enhancing the properties...
Evaluation of the Surface Activity of Novel Ionic Liquids and Their Application in the Enhanced Oil Recovery Process
, M.Sc. Thesis Sharif University of Technology ; Taghikhani, Vahid (Supervisor) ; Mokhtarani, Babak (Supervisor) ; Baghban Salehi, Mahsa (Co-Supervisor)
Abstract
The following dissertation discusses Ionic Liquids (ILs) as an alternative to commercial surfactants for use in the Enhanced Oil Recovery process. Ionic Liquids came to researchers’ attention due to their environmental nature and their tolerance for high temperatures and salinity. In this work, firstly, an extensive literature review is carried out, and then, experiments are designed and performed to evaluate ILs’ surface activity and performance in a lab-scale EOR set-up. The Ionic Liquids used in this work consist of three types of methylimidazolium nitrate, [MIM]+[NO3]-, with three different alkyl chain lengths. This combination, and specifically the effect of nitrate anions on EOR and...