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... 

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... 

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... 

Influence of excavating the Tehran metro line 7 tunnel on surface settlement, stresses and deformations induced in Towhid tunnel is investigated using numerical modeling. Construction of Metro tunnel as the new one must be carried out without imposing any damage to the Towhid tunnel as the existing tunnel. Towhid tunnel is a set of twin tunnels along the Chamran highway in Tehran. The tunnels were constructed using sequential excavation method and lined with cast in place reinforced concrete; on the other side metro line 7 is being constructed using 2 EPB tunnel boring machines and lined with reinforced concrete segments. This research consists of the study of the effects of pillar width,... 

Foam injection for enhanced oil recovery is concerned by petroleum engineers because it decreases adverse effects of fingering and gravity segregation caused by the injected fluid .Obviously foam stability is an important factor in the efficiency of this process. So investigating it is an imperative. One of the ways that less studied and can improve foam stability is using of nanoparticles. In this project effect of nanoparticles on foam stability and displacement mechanism during foam flooding has been discussed.
Study consisted of two sets of experiments. In the first part, the static foam stability in the presence of silica nanoparticles has been investigated. Also influence of... 

Miscible displacement in fluid flowing through a porous medium plays an important role in many environmental and industrial applications; for instance, miscible displacements in enhanced oil recovery processes and pollutant spreading in groundwater. A large number of numerical approaches have been developed to solve the advection-dispersion equation that describes the behavior of miscible displacement in porous media. Most of these numerical models suffer from numerical dispersion. Random walk seems to be an effective method to overcome this problem especially in heterogeneous media. Here, a random walk model was developed and used for simulating miscible displacement in heterogeneous porous... 

Due to the increasing spread of metal industries and the need for raw material as feed for electric furnaces in order to produce cast iron and steel, as well as scrap deficiency and rising prices, the use of sponge iron as a substitute for scrap was considered in this project Therefore, in order to achieve the chemical analysis of the sorel ingot that is special for spherical graphite cast iron production with low manganese and chromium content, the direct reduction process was carried out using tunnel kiln method on low-manganese iron ore concentrate.After the investigation on direct reduction parameters including the saggers and coal grading,the produced sponge iron has melted in... 

The use of air bearings was began the last decade. Oil-free air bearing technology is implemented in rotating machines such as turbines, Micro gas turbines and turbocharged, this technology has improved the efficiency of rotating systems. In rotating machines, at high speeds, passing through the critical speed happens. As a result, the natural frequency of the system is crossing the critical speed, which causes system instability and lack of system amplitude control. Instability causes damage to the system. The aim of this thesis is to investigate the nonstationary vibrations of a flexible rotor with air bearings in the passing critical speeds. Behavior of air bearings is also considered to...