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    Design and Construction of a Mobile Social Robot for Pediatric Cancer Hospitals (Dr. Arash) Part A: Upperbody and Arms

    , M.Sc. Thesis Sharif University of Technology Khamooshi, Mobin (Author) ; Meghdari, Ali (Supervisor) ; Alemi, Minoo (Supervisor)
    Abstract
    No-one likes being confined to a hospital bed. Children particularly can feel lonely, bored or frightened in these conditions. Hours feel like days, and they may not be able to fully comprehend why they are there. Among kids hospitalized because of distinct diseases, children with cancer have incomparable status and needs. They experience physical and mental problems caused by cancer and medications. Cancer treatment may cause distress which can lessen the effectiveness of the treatment. Utilizing social robots to interact with children in clinical environments has been verified to both diminish their distress level and enhance the effectiveness of the treatment process. To improve the... 

    Cyclic Behavior of Interior Reinforced Concrete Beam-column Connection with Self-consolidating

    , Ph.D. Dissertation Sharif University of Technology Salehi Mobin, Jalal (Author) ; Kazemi, Mohammad Taghi (Supervisor)
    Abstract
    A significant amount of research in self-consolidating concrete technology is being placed in evaluating the suitability of the material for use in structural applications. However, research is needed to confirm the ability of self-consolidating concrete structural elements to adequately resist vertical and lateral loads. In a reinforced concrete building subjected to earthquake type loading, the beam to column connections constitute one of the critical regions and they must be designed and detailed to dissipate large amounts of energy without a significant loss of stiffness or strength. In the experimental part of this study, four full size interior beam-column subassemblages with 3.0 m... 

    Experimental Investigation of Asphaltene Precipitation and Deposition in Enhanced Oil Recovery by Low Salinity Waterflooding

    , M.Sc. Thesis Sharif University of Technology Hosseini, Ali (Author) ; Ayatollahi, Shahabadin (Supervisor) ; Fatemi, Mobin (Supervisor)
    Abstract
    Asphaltenes are a polydisperse mixture of the heaviest and most polarizable fractions of the crude oil. They are defined according to their solubility properties as being soluble in aromatic solvents but insoluble in light paraffin solvents. Asphaltenes are usually responsible for many problems like wettability changes of the reservoir rock, pore clogging in the reservoir porous matrix and fouling in wellbore tubing and production surface facilities. Most of the studies in the literature, addressing the asphaltene precipitation and deposition (APD), are investigating natural depletion or gas injection process such as CO2 flooding. These studies show that asphaltene deposition and... 

    Conceptual design of a social robot for pediatric hospitals

    , Article 4th RSI International Conference on Robotics and Mechatronics, ICRoM 2016, 26 October 2016 through 28 October 2016 ; 2017 , Pages 566-571 ; 9781509032228 (ISBN) Meghdari, A ; Alemi, M ; Khamooshi, M ; Amoozandeh, A ; Shariati, A ; Mozafari, B ; Sharif University of Technology
    Institute of Electrical and Electronics Engineers Inc  2017
    Abstract
    No-one likes being confined to a hospital bed. Children particularly can feel lonely, bored or frightened in these conditions. Hours feel like days, and they may not be able to fully comprehend why they are there. Among kids hospitalized because of distinct diseases, children with cancer have incomparable status and needs. They experience physical and mental problems caused by cancer and medications. Cancer treatment may cause distress which can lessen the effectiveness of the treatment. Utilizing social robots to interact with children in clinical environments has been verified to both diminish their distress level and enhance the effectiveness of the treatment process. To improve the... 

    Design performance characteristics of a social robot companion "Arash" for pediatric hospitals

    , Article International Journal of Humanoid Robotics ; Volume 15, Issue 5 , 2018 ; 02198436 (ISSN) Meghdari, A ; Shariati, A ; Alemi, M ; Amoozandeh Nobaveh, A ; Khamooshi, M ; Mozaffari, B ; Sharif University of Technology
    World Scientific Publishing Co. Pte Ltd  2018
    Abstract
    This paper presents the design process and construction of a mobile social robot companion "Arash" for educational and therapeutic intervention for children with chronic diseases; one which is based on their interests and needs. This study concentrates on children with cancer who suffer from physical pain caused by both the disease and its treatment. Moreover, cancer treatment causes emotional distress, which can reduce the efficiency of medications. Using social robots to interact with ill children in a hospital environment could decrease their distress, thereby improving the efficiency of the treatment. Arash is a 15 degrees-of-freedom cost effective humanoid mobile robot companion,... 

    Cyclic behaviour of interior reinforced concrete beam-column connection with self-consolidating concrete

    , Article Structural Concrete ; Volume 17, Issue 4 , 2016 , Pages 618-629 ; 14644177 (ISSN) Salehi Mobin, J ; Kazemi, M. T ; Attari, N. K. A ; Sharif University of Technology
    Wiley-Blackwell  2016
    Abstract
    A significant amount of research on self-consolidating concrete (SCC) technology has been devoted to evaluating the suitability of the material for its use in structural applications. However, more research is required to confirm the adequacy of SCC structural members for resisting gravity and seismic loads. This study focuses on the experimental investigation of the seismic performance of interior reinforced concrete beam-column connections with SCC. Four beam-column connection specimens, three with SCC and one with normally vibrated concrete (NC), were designed for this experimental study. Factors such as concrete type (SCC or NC) and axial load ratio (0, 7.5 and 15 % of column section... 

    Compositional Simulation of Reservoirs Using Finite Element Method

    , M.Sc. Thesis Sharif University of Technology Mehrnia, Mohammad (Author) ; Pishvaie, Mahmoud Reza (Supervisor) ; Mobin, Fatemi (Supervisor)
    Abstract
    One of the main purposes of this study is to present a robust and yet efficient semi-discretized algorithm for compositional simulation. All the equations including both the mass balance and the phase equilibrium equations are solved simultaneously which forms a Differential-Algebraic set of Equations and is solved by utilizing an efficient MATLAB solver. Furthermore, another formulation and algorithm is proposed which is consisted of two sets of equations, the primary equations (differential mass balance equations) and the secondary equations (the algebraic phase equilibrium equations). The gradient terms in the primary equations are discretized by using finite element method (Galerkin... 

    2D Compositional Simulation of Reservoirs using Finite Volume Method

    , M.Sc. Thesis Sharif University of Technology Abdollahzadeh, Soleiman (Author) ; Pishvaie, Mahmoud Reza (Supervisor) ; Fatemi, Mobin (Supervisor)
    Abstract
    One of the main purposes of this project is to propose an efficient and stable algorithm of a semi-discretized formulation for compositional simulation of oil reservoirs. In this algorithm, all the equations including both mass balances and equilibrium equations are solved simultaneously. The gradient terms are discretized by the Finite Volume Method (FVM). The resulting Differential Algebraic Equation, the so-called DAE, are solved by MATLAB functions. Another novel technique developed, handles each block equations set, separately. In this block-by-block scheme, there are two set of equations; the primary (mass balance) and secondary (equilibrium) equations. In the primary ones, the... 

    Experimental Investigation of Fractures’ Water Shut-off in Low Salinity Water Injection Using Preformed Particle Gels

    , M.Sc. Thesis Sharif University of Technology Sanandaji, Farshid (Author) ; Fatemi, Mobin (Supervisor) ; Ghazanfari, Mohammad Hossein (Supervisor)
    Abstract
    As the reservoir matures, especially in fractured reservoirs, oil production is usually accompanied by the production of some unwanted water. Water production causes environmental problems and imposes high costs on the production system, including the cost of separating water and oil, corrosion of facility, and sometimes, leading to abandoning well. One way to solve this problem is to use gels as a blocking agent. Today, preformed particle gels are used as an alternative to in situ gels, which can solve some issues of in-situ gels, such as uncertainty in gelling time and penetration depth.This research comprises three main parts. In the first part, four samples of preformed particle gels... 

    Experimental Investigation and Modeling of Flow ّunction Variation in Enhanced oil Recovery Using Low Salinity/Smart Water Injection in a Carbonate Reservoir

    , Ph.D. Dissertation Sharif University of Technology Farhadi, Hamed (Author) ; Ayatollahi, Shahaboddin (Supervisor) ; Fatemi, Mobin (Supervisor)
    Abstract
    Low salinity water flooding (LSWF) as an efficient enhanced oil recovery (EOR) technique is proved to affect both, fluid-fluid and rock-fluid interactions to potentially release the trapped oil from the porous rock. Despite more than one decade of extensive research works on the low salinity water effect (LSWE), there are still many parameters to be studied for very complex cases. Therefore, in the first part of the experimental study of the dissertation, a systematic investigation on the effect of the initial wetting state (water-wet or oil-wet) of pure calcite is conducted to study the importance of fluid/fluid and fluid/rock interactions for LSWE investigation. In the case of initially... 

    Investigating the Role of Molecular Diffusion on the Performance of Non-Equilibrium Gas Injection in One of the Fractured Reservoirs in Iran

    , M.Sc. Thesis Sharif University of Technology Rigi, Ahmad (Author) ; Ghazanfari, Mohammad Hossein (Supervisor) ; Fatemi, Mobin (Supervisor)
    Abstract
    Major parts of Iran's oil reservoirs are fractured carbonates, which need time to produce oil due to their much lower permeability than sandstone reservoirs. Molecular diffusion mechanism is an efficient mechanism in oil recovery from fractured reservoirs under gas injection conditions. The main subject of this work is to investigate the role of molecular diffusion mechanism in the non-equilibrium gas injection project and its role in increasing the oil recovery rate in two southern fractured reservoirs located in the west of Iran, taking into account the capillary pressure, as well as the change of interfacial tension closely miscible conditions is also investigated through simulation. The... 

    Pore Scale Simulation of the Fluid/Fluid and Fluid/Rock Interactions on the Performance of Water Injection

    , M.Sc. Thesis Sharif University of Technology Mousavi, Mohammad Javad (Author) ; Fatemi, Mobin (Supervisor) ; Pishvaie, Mahmood Reza (Co-Supervisor)
    Abstract
    Two-phase fluid flow physics in porous media is applied in various fields. Studies have shown that wettability and surface tension, which represent fluid-rock and fluid-fluid interactions, have a significant effect on the dynamics of the immiscible displacement. Although the effects of wettability and surface tension on the macroscopic behavior of fluid flow are known, there is less understanding of it at the micro scale. Considering the essential role of wettability and surface tension in various fields, this project seeks to investigate the effects of wettability and surface tension on the movement and distribution of fluids and the dominant displacement mechanisms within the porous media... 

    Experimental Investigation on the Performance of Preformed Particle Gel (PPG) in the Combined Injection of Low-Salinity Water and CO2: Conformance Control and for in the Naturally Fractured Systems

    , M.Sc. Thesis Sharif University of Technology Abbasi Khoshkar, Peyman (Author) ; Fatemi, Mobin (Supervisor) ; Ghazanfari, Mohammad Hossein (Co-Supervisor)
    Abstract
    Excessive water production in highly heterogeneous mature reservoirs (water flooded or affected by water zones) leads to increased production costs. Water production causes sediment formation, creation of corrosion, water treatment and disposal, and finally due to the inefficiency of production, it leads to closure of the well.Among the methods introduced to reduce water production, the use of polymers and gels as an affordable and effective method has been widely used in enhanced oil recovery processes. The main mechanism in this method is blocking or limiting the major paths of water flow (fractures or high permeability zones) and thereby increasing sweep efficiency in water injection.... 

    Experimental Investigation on the Performance of Preformed Particle Gel in Improving Oil Recovery by Low Salinity Water Injection in Heterogeneous Porous Media

    , M.Sc. Thesis Sharif University of Technology Moshirpanahi Aliabad, Mohammad (Author) ; Ghazanfare, Mohammad Hossein (Supervisor) ; Fatemi, Mobin (Supervisor)
    Abstract
    Water production from high permeability regions such as fractures and channels in the reservoir can be considered as one of the problematic issues in oil production. In order to control water production, chemical methods such as polymer injection, surfactant injection, and foam injection are widely used, among all of them, Preformed Particle Gel (PPG) is the most efficient method.By injecting the preformed particle gel into the reservoir and blockage of fractures and high permeable regions, Injected water bypasses to the target zone. In this study, preformed gel with a unique formulation was synthesized by free radical polymerization method in the laboratory.Nano-Clay and Nano-Silica were...