Sharif Digital Repository

Microrobots (MRs) have attracted a lot of attention during recent years due to their promising biomedical applications. Due to their small size, these robots have limited capability to carry energy sources, sensors, or actuators, so researchers try to transfer energy from outside as much as possible. For this purpose, various actuation methods such as optical, acoustic, electric, and magnetic have been proposed. Magnetic field is the most used energy source. The current study deals with the design and implementation of a system for simultaneous independent control of multiple swimming magnetic MRs. The ability to control multiple MRs simultaneously and independently could lead to higher... 

Unmanned Aerial Vehicles have been used for different applications despite their short life. In last recent years, the developements in technology which leads to producing smaller electronical and electromechanical deveices, attract more attention to the researches in these fields. Among these vehicles, unmanned helicopters are more important because of their special abilities and capabilities. However there are some drawbacks which makes using them more difficult.
In this project, the first principle modeling of a RC helicopter has been accomplished and a parametric model including different sections effects has been created. This model has been implemented for a Trex600 CF helicopter.... 

In the problem of Distributed Multi¬User Secret Sharing (DMUSS), in which K users are connected through some error¬free links to N distinct storage nodes with the same size M information unit, the users desire to retrieve their corresponding secret message through an arbitrary set of accessible storage nodes. A trusted master node, which knows all of the secret messages transmits correctly and privately, the messages with a means of coding. The capacity of Distributed Multi¬User Secret Sharing is the supremum of all achievable schemes satisfying privacy and correctness conditions. In this thesis we have investigated two notions of privacy namely, individual and joint privacy. Individual... 

Unmanned Aerial Vehicles (UAVs) have attracted huge attention in recent years due to the technology improvements. Among them, Unmanned Helicopters (UHs) have great importance because of their special abilities. In this research, the problem of design and implementation of an actual flight control system for an unmanned helicopter is investigated. For this purpose, first a multi-level flight simulation environment is developed in Simulink software environment to model the helicopter flight dynamics. The system identification, control system design and implementation are successfully performed in this flight simulator. Next, the actual helicopter flight control system is designed and produced... 

Control and guidance of a vehicle is vital for it to do its mission correctly. Guidance system and decisional algorithms used in it need exact information of instantaneous position, velocity, and attitude of the guided vehicle to determine and issue proper guiding commands.
Estimation algorithms and navigation sensors are two necessary tools for navigation. In the first section of present study, the satellite equations of motion are derived and a 6-DOF simulation is done for it. In the second section, measurements of star tracker will be simulated using results of the first section. The third section appertains to development of navigation equations, attitude determination using UKF... 

The low female labor force participation rate in the Iranian labor market relative to the global average and even to countries that do not differ significantly from the socio-economic characteristics of our country is one of the important questions of the Iranian labor market. In this study, we seek to answer the question of whether the economic participation rate of married women will increase if the gender gaps in wages, job findings and job losses among women and men are eliminated in the Iranian labor market. To answer this question using household expenditure and income data and labor force data, we show that between the two categories of occupations, in terms of the share of women's... 

Fatigue crack growth can have harmful effects on the reliability rotary machine. While an early warning to crack, can be used to extend the life of these expensive machines and increase reliability.Structural Vibration Condition Monitoring as a primary fault detection method, achieved to a lot amazing result and for this reason studies vibration behavior of cracked rotational shaft is a big issue for engineers of dynamic machine.In this research, first check the fault detection methods based on structural vibration condition monitoring, mode shape methods were extracted. Then by modeling rotational shaft in computer and creation of crack on it, fault detection quality of these methods have... 

It is important to provide an appropriate and economically method with technical and engineering considerations to stabilize excavated underground spaces. The necessity of this, especially for the construction of underground metro stations located in the cities which faces many problems, is more evident. In this research, it has been tried to introduce an optimal method according to the type of area for the construction of the underground station. In order to obtain stress and strain condition in structural elements and surface deformations due to different stages of excavating, numerical modeling in FLAC3D has been used. By examining the parameters that affect the sustainability of this... 

In the present study, the effects of increasing the value of shale gas production, either due to increased production or price increases, have been studied on economic variables such as employment, wage, property value and the number of births. In this regard, the data for each of these variables was used at the county level in the United States of America between 2000 and 2011. In order to estimate the desired effects, counties are divided into two types of boom and non-boom counties. The findings indicate that increasing natural gas production will lead to more employment and wage growth in boom counties than non-boom counties. Also, during the period of increasing production, the value of... 

In this study, we aim to learn representations from microscopic cell images that effectively capture the features of drugs affecting the cells, allowing us to identify effective drugs for treating a disease. We employ two parallel learning paths using predictive and generative models. Specifically, we have achieved a predictive model on the RxRx19a dataset that, unlike previous models, is interpretable, optimized, and robust to dras- tic changes in drug properties. Additionally, we have developed the first generative model on this dataset, which not only generates high-quality images but also discovers a meaningful latent space. This latent space divides the representation into relevant... 

Co-movement between inflation and nominal interest in response to an interest rate shock, dubbed neo-fisherianism, has been the subject of contentious debate since the advent of non-inflationary ZLB environment. We design an economic model rich with banking features to understand the economic responses to permanent and long-term interest rate shocks. We find that responses to a permanent positive interest rate shock depend on the monetary authorities’ speculation of the new long-term inflation rate, with the most probable outcome being a permanent increase in inflation. Responses to a long-term positive interest rate shock depict an increase and then decrease in inflation. We also discover...