Sharif Digital Repository

In this study, by INS and auxiliary acoustic sensors data fusion, underwater navigation algorithm is implemented and validated by computer simulations. Extended Kalman Filter based on perturbation analysis is used as combination algorithm. The outputs of the INS forms equations of mechanism. The variational variables are state variables estimated in the Kalman filter. Because of the weakness of the GPS signals due to electromagnetic signals Attenuation in water, acoustic sensors are used as auxiliary sensors in underwater navigation. Here those acoustic sensors that implementing them in this country is impossible or very costly would not be examined.In this research the output of Doppler... 

Considering the advantages and disadvantages of reported micropumps, we aimed to introduce a novel idea to diminish the disadvantages and promote the advantages of PiezoElectric micropumps. This novel idea operates based on a mercury slug actuation in a microchannel. This cyclic motion of the mercury slug which is similar to a piston, push the fluid in the microchannel and pump the flow. However, to bring this idea into the practice, a control system must be designed. This system contains: LABVIEW code, DAQ board & a switching Board. The pattern of actuating mercury is drawn in LABVIEW. DAQ Board produces electrical signals according to LABVIEW code. Switching board will transform the... 

Micropumps are regarded as one of the devices used in microsystems, which are responsible for pumping working fluid. The Mercury Magneto Reciprocating (MMR) micropump, which has been introduced for less than a decade, is an innovative kind of micropumps which the pumping agent includes three liquid metal droplets (LMD) placed inside lateral chambers and reciprocated by the electromagnetic force inside the chambers. The working fluid located inside the main channel is pumped through due to the movement of these three LMDs. The equations governing this micropump are complex and their numerical solution is a time-consuming process, due to electromagnetic, hydrodynamic, and unsteady effects. The... 

Dopller velocity log (DVL) is an important underwater navigation sensor. But in the INS-DVL integrated navigation systems, positional error grows unlimitedly over time. Also, the losing bottom lock (LBL) phenomenon is possible in DVL for various reasons such as AUV severe angular changes. So INS-DVL systems are not robust against environmental disturbances resulting in LBL. In this research, mode-aided navigation is used to improve the INS-DVL navigation system. Model-aided navigation is divided into two categories: using kinematic constraints and using kinetic model. Both approaches are used in this research to improve navigation performance and robustness. Initially, the existing kinematic... 

Permeability is an essential parameter used for reservoir evaluation, simulation and management to optimize oil recovery. The conventional approach to estimate reservoir connectivity, conductivity, sweep efficiency and other critical information for decision-making is to build detailed geological models, which are then upscaled to a coarser grid where flow simulations are run. However, this takes many hours to be carried out even for a single realization practically. In practice, a very small number of realizations are considered and consequently the true uncertainty in the results is very poorly estimated. In this study, a statistical model of isotropic overlying sandbodies is used to... 

Metabonomics is a quantitative measurement of time dependent metabolic interactions for living systems in response to the pathological or genetic variations. NMR spectroscopy has emerged as a key tool for understanding metabolic processes in living systems. In this project, the study of metabolomics was performed as classification and regression on samples of parkinson’s disease, multiple sclerosis disease, celiac disease and crohn’s disease. In classification part, various methods were applied using optimal parameters.classification methods in Parkinson’s disease, multiple sclerosis disease, celiac disease and crohn’s disease were RF, CART, PLS-DA, RF and RF respectively. Based on the... 

Gravity dams are solid concrete structures that maintain their stability against design loads from the geometric shape and the mass and strength of the concrete. Because of their critical role in supplying portable and agricultural water and problems which would happen if they broke, it is required to consider their stability and keep them in safe conditions. They should be able to continue their function after a disaster such as earthquake. But most of them are aged dams with some have been built near faults. Indeed, there are some concerns regarding the performance of these dams under the effect of seismic loads. This research deals with performance evaluation of concerete gravity . The... 

Soil nailing is an in-situ technique of mechanically stabilizing soil masses which has been used in France, Germany, United states, and recently in Iran. A review of literature shows that Soil-Nailed walls have performed well during strong ground motions in comparison with the gravity retaining structures. After the 1989 Loma Prieta earthquake, minor signs of distress or corresponding deformation were found on the Soil-Nailed walls, indicating excellent performance of such structures during moderate and strong shakings. These observations indicate that Soil-Nailed walls have an inherent satisfactory seismic response. This has been attributed to the intrinsic flexibility of the Soil-Nailed... 

In nature, there are types of soils that when goinging under stress at constant moisture, or increase of moisture at constant stress, or change of both characters, they show a sudden and high level decrease in their volume. These type of soils are named as Collapsible soils. Iran is one of the countries that at some parts of its land collapsible soils are found. In this research by using of laboratory equipments, the volume change behavior of collapsible loess soils of Gorgan plain (North of Iran) is evaluated under increase of water content and inundation stress. In these experiments, the usual odeometer cell has been used for exploring the behaviour of collapsibility and volume change of... 

Collapsible soils such as loess, which are naturally found unsaturated, are kind of problematic soils that undergo sudden and noticeable decrease in volume under increasing stress at constant moisture, increasing moisture at constant stress, or increase in both of them. This kind of soil can be found in some parts of Iran such as plain of Gorgan. To fulfill the main purpose of this study, evaluating the effect of cementation on collapse behavior of loess of Gorgan, some oedometer tests under controlled matric suction were performed on reconstituted samples without and with lime. The lime was added for stabilizing of the collapsible materials and the amount was chosen to be %3 by weight of... 

Accurate prediction of relative permeability for various reservoir rocks at various saturation conditions has been of concern for a long time in petroleum industry. Relative permeability is known as one of the most significant parameters in simulation of actual multi-phase flow through porous media during life-time of a hydrocarbon reservoir. In addition, it plays important role in oil production and well completion. Direct experimental measurement in order to determine relative permeability of porous rock has long been recorded in petroleum related literature. However, empirical methods for determining relative permeability are becoming more widely used, particularly with the advent of...