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khadem-haqiqiyan--behrad
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Optimal Control of a Robotic System Using Deep Reinforcement Learning
, M.Sc. Thesis Sharif University of Technology ; Sayyaadi, Hassan (Supervisor)
Abstract
Robots were designed to aid humans in tasks that were repetitive and/or dangerous. Classical robotic control methods (such as PIDs) show little adaptability in difficult tasks. Deep reinforcement learning is a machine learning approach for finding an optimized agent via trial and error. This research explores the application of deep reinforcement learning (DRL) algorithms to perform a pick and place task with a robotic arm attached to a moving platform. The study focuses on the use of state-of-the-art RL algorithms, including Truncated Quantile Critics (TQC) and Hindsight Experience Replay (HER), to train an agent in a simulated environment. The paper discusses the robotic environment, the...
Sentiment-Based Topic Analysis on Product Demand Prediction: Pre-Release and Post-Release Study
, M.Sc. Thesis Sharif University of Technology ; Aslani, Shirin (Supervisor)
Abstract
This thesis examines the impact of electronic word-of-mouth (e-WOM) on product demand forecasting, specifically in the context of video game consoles. This study examines the importance of emotion-based topics and their impact on demand forecasting at two stages of the product life cycle: pre-launch and post-launch. Using sentiment analysis and topic modeling, this study uncovers product sales drivers and captures evolving consumer sentiment throughout the product lifecycle. By integrating insights from diffusion theory and consumer information search theory, this research contributes to the field of demand forecasting using social media data. This research shows that by using the topics...
Improved algorithms in parallel evaluation of large cryptographic S-boxes
, Article International Journal of Parallel, Emergent and Distributed Systems ; Volume 35, Issue 4 , 2020 , Pages 461-472 ; Ghasemi, R ; Sharif University of Technology
Taylor and Francis Ltd
2020
Abstract
Nowadays computational complexity of fast Walsh Hadamard transform and non-linearity for Boolean functions and large cryptographic substitution boxes is a major challenge of modern cryptography research on strengthening encryption schemes against linear and differential attacks. Time and memory complexities of the best existing algorithm for computing fast Walsh Hadamard transform and non-linearity for (Formula presented.) substitution boxes is (Formula presented.). This paper proposes three new innovation in acceleration methods that improve the computation time for paralleled Walsh matrix up to 68 folds and the evaluation time for non-linearity degree up to 1021 folds. These methods...
A Study of Intragroup Block-Trading Incentives on the Tehran Stock Exchange
, M.Sc. Thesis Sharif University of Technology ; Heidari, Mehdi (Supervisor) ; Ebrahimnejad, Ali (Supervisor)
Abstract
Using the data of the Tehran Stock Exchange, we analyze the characteristics and explanatory factors of major intra-group and out-of-group transactions and test the tunneling hypothesis in intra-group transactions. We find that out-of-group transactions can be largely explained by changes in control or management, firm size, and the type of the firm. However, intra-group transaction properties mostly depend on the difference between the parent company's cash flow rights in the buyer and seller companies. Also, in the final analysis, we conclude that many intra-group transactions are made to change the structure of the business groups, especially when investment companies buy shares of listed...
Development of systematic framework for an intelligent decision support system in gas transmission network
, Article Industrial and Engineering Chemistry Research ; Volume 54, Issue 43 , 2015 , Pages 10768-10786 ; 08885885 (ISSN) ; Bozorgmehry Boozarjomehry, R ; Sharif University of Technology
American Chemical Society
2015
Abstract
In a gas transmission network (GTN), faults can easily propagate due to the interconnections of streams. The main objective of this paper is to develop a systematic framework for an online decision support system (DSS) in order to make the right decisions to get the GTN out of critical conditions (which cannot be handled by the plant controllers) smoothly. One of the key features of the proposed scheme is its lack of dependence on prior knowledge of the fault signals (e.g., number of faults, and their origin). In this article, the GTN is modeled by a fuzzy directed graph (FDG). The proposed approach utilizes a reasoning algorithm based on the deviations that exist in the process variables...
Design and prototype of an active assistive exoskeletal robot for rehabilitation of elbow and wrist
, Article Scientia Iranica ; Volume 23, Issue 3 , 2016 , Pages 998-1005 ; 10263098 (ISSN) ; Zohoor, H ; Khadem, S.M ; Sharif University of Technology
Sharif University of Technology
2016
Abstract
Due to the increasing number of people suffering from physical disabilities in the elbow and wrist, developing an assistive wearable robot seems crucial. These disabilities are mostly common in elderly people and people who are suffering from spinal injury or stroke. In this paper, a wearable assistive robot for rehabilitation of the wrist and elbow is developed. The mechanism has 3 Degree of Freedom (DoF); two active DoF for assisting the exion/extension of the elbow and wrist, and a passive one in order to have unconstrained supination/pronation of the forearm. The motors and sensors were chosen based on kinematic constraints governing the motion of arms and wrists. Finally, with the...
Development of an Intelligent Decision Support System to Operate Gas Transmission Network
, M.Sc. Thesis Sharif University of Technology ; Bozorgmehry Boozarjomehry, Ramin (Supervisor)
Abstract
In plant-wide systems, faults can easily propagate due to the interconnection of streams. The main objective of this paper is to develop a systematic framework for online decision support system (DSS) in order to make the right decision to get the process out of critical conditions (which cannot be handled by the plant controllers) smoothly. One of the key features of the proposed approach is its lack of dependence on prior knowledge of the fault signals (e.g. number of faults, and their origin). In the proposed scheme, the plant is modeled by a fuzzy directed graph (FDG). The proposed scheme utilizes a backward reasoning based on the deviations that exists in the process variables...
Techno-Economic Analysis of Various Technologies for Offshore Flare Gas Recovery in Iran
, M.Sc. Thesis Sharif University of Technology ; Sattari, Sorena (Supervisor)
Abstract
In 2023, global gas flaring at upstream oil and gas facilities reached its highest level in the past five years, with a 7% increase compared to the previous year. Iran, which is the second-largest flare of gas in the world after Russia, saw the largest increase globally, with a 19% rise in flaring volume. On the other hand, while offshore fields have accounted for about 12% of Iran's total oil production over the past decade, these fields have contributed to nearly 40% of the country’s total gas flaring. This study explored the feasibility of four methods for recovering flared gas from Iran’s offshore fields, including: transporting flared gas to land for sale as raw gas, transporting it to...
Investigating the effect of engine noise on power management strategy of a hybrid electric vehicle
, Article Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering ; Volume 232, Issue 10 , 2018 , Pages 1287-1296 ; 09544070 (ISSN) ; Aliramezani, M ; Khadem Nahvi, M ; Sharif University of Technology
SAGE Publications Ltd
2018
Abstract
Hybrid electric vehicles (HEVs) have been developed as a promising way to decrease the fuel consumption and emissions of conventional vehicles. Although the noise emission of HEVs is generally lower than that of conventional vehicles, it is still an issue, especially in urban transportation. In this paper, a power management strategy is developed to minimize the annoying noise of the engine for an HEV. This is a modified version of the strategy that was originally established based on the speed ratio of continuously variable transmission (CVT) as the control parameter (CVT-based strategy). The engine combustion noise is assessed using the experimental data of the in-cylinder pressure. Also,...
A proper transform for satisfying benford's law and its application to double JPEG image forensics
, Article 2012 IEEE International Symposium on Signal Processing and Information Technology, ISSPIT 2012, 12 December 2012 through 15 December 2012 ; 2012 , Pages 240-244 ; 9781467356060 (ISBN) ; Razzazi, F ; Behrad, A ; Ahmadi, A ; Babaie-Zadeh, M ; Sharif University of Technology
2012
Abstract
This paper presents a new transform domain to evaluate the goodness of fit of natural image data to the common Benford's Law. The evaluation is made by three statistical fitness criteria including Pearson's chi-square test statistic, normalized cross correlation and a distance measure based on symmetrized Kullback-Leibler divergence. It is shown that the serial combination of variance filtering and block 2-D discrete cosine transform reveals the best goodness of fit for the first significant digit. We also show that the proposed transform domain brings reasonable fit for the second, third and fourth significant digits. As an application, the proposed transform domain is utilized to detect...
A novel forensic image analysis tool for discovering double JPEG compression clues
, Article Multimedia Tools and Applications ; Volume 76, Issue 6 , 2017 , Pages 7749-7783 ; 13807501 (ISSN) ; Razzazi, F ; Behrad, A ; Ahmadi, A ; Babaie Zadeh, M ; Sharif University of Technology
Springer New York LLC
2017
Abstract
This paper presents a novel technique to discover double JPEG compression traces. Existing detectors only operate in a scenario that the image under investigation is explicitly available in JPEG format. Consequently, if quantization information of JPEG files is unknown, their performance dramatically degrades. Our method addresses both forensic scenarios which results in a fresh perceptual detection pipeline. We suggest a dimensionality reduction algorithm to visualize behaviors of a big database including various single and double compressed images. Based on intuitions of visualization, three bottom-up, top-down and combined top-down/bottom-up learning strategies are proposed. Our tool...
Quantization-unaware double JPEG compression detection
, Article Journal of Mathematical Imaging and Vision ; Volume 54, Issue 3 , 2016 , Pages 269-286 ; 09249907 (ISSN) ; Razzazi, F ; Behrad, A ; Ahmadi, A ; Babaie Zadeh, M ; Sharif University of Technology
Springer New York LLC
2016
Abstract
The current double JPEG compression detection techniques identify whether or not an JPEG image file has undergone the compression twice, by knowing its embedded quantization table. This paper addresses another forensic scenario in which the quantization table of a JPEG file is not explicitly or reliably known, which may compel the forensic analyst to blindly reveal the recompression clues. To do this, we first statistically analyze the theory behind quantized alternating current (AC) modes in JPEG compression and show that the number of quantized AC modes required to detect double compression is a function of both the image’s block texture and the compression’s quality level in a fresh...
A novel forensic image analysis tool for discovering double JPEG compression clues
, Article Multimedia Tools and Applications ; Volume 76, Issue 6 , 2017 , Pages 7749-7783 ; 13807501 (ISSN) ; Razzazi, F ; Behrad, A ; Ahmadi, A ; Babaie Zadeh, M ; Sharif University of Technology
2017
Abstract
This paper presents a novel technique to discover double JPEG compression traces. Existing detectors only operate in a scenario that the image under investigation is explicitly available in JPEG format. Consequently, if quantization information of JPEG files is unknown, their performance dramatically degrades. Our method addresses both forensic scenarios which results in a fresh perceptual detection pipeline. We suggest a dimensionality reduction algorithm to visualize behaviors of a big database including various single and double compressed images. Based on intuitions of visualization, three bottom-up, top-down and combined top-down/bottom-up learning strategies are proposed. Our tool...
A part-level learning strategy for JPEG image recompression detection
, Article Multimedia Tools and Applications ; Volume 80, Issue 8 , 2021 , Pages 12235-12247 ; 13807501 (ISSN) ; Razzazi, F ; Behrad, A ; Ahmadi, A ; Babaie Zadeh, M ; Sharif University of Technology
Springer
2021
Abstract
Recompression is a prevalent form of multimedia content manipulation. Different approaches have been developed to detect this kind of alteration for digital images of well-known JPEG format. However, they are either limited in performance or complex. These problems may arise from different quality level options of JPEG compression standard and their combinations after recompression. Inspired from semantic and perceptual analyses, in this paper, we suggest a part-level middle-out learning strategy to detect double compression via an architecturally efficient classifier. We first demonstrate that singly and doubly compressed data with different JPEG coder settings lie in a feature space...
QuT: A low-power optical network-on-chip
, Article Proceedings - 2014 8th IEEE/ACM International Symposium on Networks-on-Chip, NoCS 2014, 17 September 2014 through 19 September 2014 ; 2015 , Pages 80-87 ; 9781479953479 (ISBN) ; Enright Jerger, N ; Hessabi, S ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2015
Abstract
To enable the adoption of optical Networks-on-Chip (NoCs) and allow them to scale to large systems, they must be designed to consume less power and energy. Therefore, optical NoCs must use a small number of wavelengths, avoid excessive insertion loss and reduce the number of microring resonators. We propose the Quartern Topology (QuT), a novel low-power all-optical NoC. We also propose a deterministic wavelength routing algorithm based on Wavelength Division Multiplexing that allows us to reduce the number of wavelengths and microring resonators in optical routers. The key advantages of QuT network are simplicity and lower power consumption. We compare QuT against three alternative...
Uses of Multi Speed Gearbox to Improve Infinitely Variable Transmission Performance
, M.Sc. Thesis Sharif University of Technology ; Saadat Foumani, Mahmoud (Supervisor)
Abstract
In recent decades, the air pollution issue and fuel resource constraints have compelled researchers to find ways to replace fossil fuels or reduce their consumption. Since the Vehicles are one of the most important sources of pollution and energy consumer, efforts to reduce vehicles fuel consumption can be an effective action to reduce air pollution. A proper powertrain system has an important task to reduce fuel consumption and air pollution.
Uses of continuously variable transmission system (CVT) and infinitely variable transmission (IVT), which makes the internal combustion engine to operate in optimal condition, can help to achieve this goal. In this thesis, the target is find...
Uses of continuously variable transmission system (CVT) and infinitely variable transmission (IVT), which makes the internal combustion engine to operate in optimal condition, can help to achieve this goal. In this thesis, the target is find...
A modular force-controlled robotic instrument for minimally invasive surgery – efficacy for being used in autonomous grasping against a variable pull force
, Article International Journal of Medical Robotics and Computer Assisted Surgery ; Volume 12, Issue 4 , 2016 , Pages 620-633 ; 14785951 (ISSN) ; Behzadipour, S ; Mirbagheri, A ; Farahmand, F ; Sharif University of Technology
John Wiley and Sons Ltd
2016
Abstract
Background: Many deficiencies of minimally invasive robotic surgery systems can be eliminated by using automated laparoscopic tools with force measurement and control capability. Method: A fully modular, automated laparoscopic instrument with a proximal force sensory system was designed and fabricated. The efficacy of the instrument was evaluated experimentally when functioning in an autonomous force-controlled grasping scheme. Results: The designed instrument was shown to work easily with standard laparoscopic tools, with the whole distal part detachable for autoclave sterilization. The root mean squared error (RMSE) of the actual pinch force from the target ramp was 0.318 N; it was 0.402 N...
Design, Fabrication and Control of a Force-Feedback-Enabled Robotic Instrument for Minimally Invasive Surgeries
, M.Sc. Thesis Sharif University of Technology ; Farahmand, Farzam (Supervisor) ; Behzadipour, Saeed (Co-Advisor)
Abstract
Aside from many advantages of minimally invasive surgery, it has some drawbacks. Surgeons` loss of dexterity dexterity, lack of force feedback and the consequent reduced sensation of forces are some of these drawbacks. Also, surgeons` ergonomically inappropriate posture gets him fatigued, causing hand tremor which is furthermore magnified by the long instruments. Robotic surgery systems have overcome some of minimally invasive surgeries limitations. But still some drawbacks such as high cost of maintenance or lack of haptic force feedback have impeded their widespread application. The high cost of maintenance is mostly caused by instrument changing and sterilization.The main goal of this...
Treatability Study of Industrial Slaughterhouse Wastewater
, M.Sc. Thesis Sharif University of Technology ; Shaygan Salek, Jalaloddin (Supervisor)
Abstract
Almost all of the animal slaughter is done in slaughterhouses. Environment concerns about slaughterhouse industries have been increased as increase in their production. In this study, a DAF+SBR system was used for treatment of industrial slaughterhouse wastewater and efficiency of this system was evaluated.In DAF, we used anionic polymer and PAC as coagulant. We reached best composition in 2 ppm of AP and 200 ppm of PAC. After that DAF system run in different pressures to estimate the best operational pressure & A/S. Best operational pressure and A/S is 4 bar and 0.038. After pretreatment, biological treatment by using SBR reactor was carried out. The results of the SBR reactor showed that...
Pressure and temperature functionality of paraffin-carbon dioxide interfacial tension using genetic programming and dimension analysis (GPDA) method
, Article Journal of Natural Gas Science and Engineering ; Volume 20 , September , 2014 , Pages 407-413 ; ISSN: 18755100 ; Jahromi, I. R ; Zolghadr, A ; Ayatollahi, S ; Sharif University of Technology
2014
Abstract
A precise semi-empirical correlation for the calculation of interfacial tension (IFT) between the carbon dioxide and paraffin group to be used in an enhanced oil recovery process and the chemical industry is introduced. Genetic programming and dimension analysis (GPDA) are combined to create a correlation for the calculation of the equilibrium interfacial tension of the carbon dioxide and paraffin group, based on the explicit functionality of the pressure and temperature. The parameters of the correlation consist of critical temperature, critical pressure, density of paraffin at normal temperature, and diffusion coefficients. The pool of experimental data for developing the correlation...