Sharif Digital Repository

The main purpose of the present thesis is to establish a decentralized controller for some car–like multi robots to follow and hunt moving targets. Robots are very similar to actual cars considering geometric dimensions, mass and moment of inertia and so on; and outputs of the controller are steering-wheel and driving-wheel torques appropriately. Dynamics of the moving target is so that it escapes from the robots. Robots are equipped with antenna for getting wireless sensory signals, including range and bearing sensors. Kalman filter is used for estimation the target relative position and speed and robots state variables. The controller is designed for doing the above mentioned group... 

The AISC Seismic Design Provisions now include capacity design requirements for steel plate shear walls,which consist of thin web plates that infill frames of steel beams, denoted horizontal boundary elements)HBEs), and columns, denoted vertical boundary elements (VBEs). The thin unstiffened web plates are expected to buckle in shear at low load levels and develop tension field action, providing ductility and energy dissipation through tension yielding of the web plate. HBEs are designed for stiffness and strength requirements and are expected to anchor the tension field formation in the web plates. VBEs are designed for yielding of web plates and plastic hinge formation at the ends of the... 

Pyramidal and network ownership structures that provide ultimate owners with more control over companies are common in the Iranian stock market. Given the multi-layered shareholding networks and the significant changes that have occurred in the ownership structure of large Iranian companies in the last two decades, the purpose of this study is to investigate the relationship between ownership structure and performance of companies. To achieve this purpose, ownership structure is examined using four measures; cash flow right of the largest shareholder, the wedge between control right and cash flow right of the largest shareholder, difference in cash flow rights of the largest two... 

In the recent decades, because of the reduction of the fossil sources and increasing the environmental pollution, also worldwide population growth and the necessity of energy have made humanbeing to use the Renewable Energy. Wave energy is an opulent source of energy in many parts of the world, especially in Iran.
In this thesis, in the first chapter, different kinds of renewable energy are introduced, and the importance of them is discussed. In the second chapter, the mechanisms of extracting energy by the wave energy converters are investigated, and their types are discussed. Then, in the next chapter, wave equations, wave spctrums and simulation of a flap wave energy converter in... 

In this thesis, effects of bending and torsional elasticity of a flapping wing on its average lift and input power are studied, using a semi-analytic method. Bending stiffness and torsional rigidity of wing spar, wing mass ratio and chordwise and spanwise center of gravity, also spar location are considered as variables for controlling elastic behavior of the wing.Governing integral equation is derived using Hamilton principle via modified quasi aerodynamic and linear Green-Lagrange strain tensor. Also an idealized flapping pattern is used to maximize average acceleration during each cycle. Next, integral equation is converted to a set of ordinary differential equations by means of Galerkin... 

Integrated silicon photonic networks have attracted a lot of attention in the recent decade due to their potential for low-power and high-bandwidth communications. However, despite high bandwidth and low-loss data communication capability, optical NoCs are susceptible to on-chip temperature variations. In these promising networks, packets’ erroneous routing due to thermally-induced resonant wavelength shift of microring resonators are common temporary faults unless heat control mechanism is adopted. In other words, thermal drifts may paralyze wavelength-based operation of these networks. On the other hand, employing a heat control mechanism in an ONoC necessitates developing thermal fault... 

Occurrence of natural disasters such as earthquake could seriously damage most buildings especially those with insufficient resistance located in urban worn-out textures. In order to reduce unpleasant consequences of an earthquake, appropriate policies need to be considered to persuade the beneficiaries to follow retrofitting standards in the process of planning, designing, and construction of buildings. These policies shall be implemented through institutions in arbitrary or obligatory forms, by encouragement or penalty mechanisms. In order to consider these policies, first of all we need to identify the beneficiaries and their particulars. By studying and considering subjects discussed in... 

Chemotherapy is a proven and effective systematic approach to treat various types of cancers. Despite its advantages, chemotherapy would kill healthy as well as cancer cells. To overcome this problem, different controlling strategies are implemented. This study aims to provide a medicine drug delivery schedule for chemotherapy (by designing a proper controlling system) based on the verifiable mathematical models. First, the dynamic model is analysed and stability points are reviewed. The selected model has five state variables and two inputs. In this study, the focus is on dynamic model analysis and obtaining an effective and appropriate treatment pattern by designing a proper controller. To... 

Natural disasters can damage the infrastructure of society. Damages to the infrastructure components of society can disrupt their service delivery. Disruption in providing services to society's infrastructure can disrupt social and economic activities and impose various significant costs on society. The cost of repairing the damaged infrastructure and reducing the income of households are among the economic damages of accidents. The decline in the quality of life, as well as the death and injury of people due to the breakdown of the infrastructure or the disruption in their services, are among the social damages caused by accidents. In the same way, natural disasters are considered a... 

Due to the vulnerability of urban fabric and residential buildings to earthquakes and considering its destructive social and economic effects on society, the need to adopt appropriate policies to prevent and reduce vulnerability, has been increasingly considered by policy makers. Despite the laws, regulations, incentives and penalties that policymakers have envisioned to prevent unprincipled and unsafe construction, evidence shows that a significant number of new buildings being built in the country are not earthquake resistant and there are many violations in design, implementation and supervision that is done by the stakeholders. To solve this problem, research has been done on the... 

Soil and water pollution is one of the most common types of pollution in terrestrial and aquatic ecosystems. The development of mines and the oil and petrochemical industry on one hand and the non-compliance with environmental requirements on the other hand have caused large amounts of hydrocarbon pollutants and heavy metals to enter the environment in recent decades. Petroleum materials and heavy metals leak into the surrounding environment during drilling and extraction in oil sites and mines or during land and sea transportation, despite the measures taken to control their pollution. The conducted studies show that human industrial activities are the only cause of environmental pollution... 

The power control of horizontal axis wind turbines can affect significantly the vibration loads and fatigue life of the tower and the blades. In this thesis, we are going to consider both the power control and vibration load mitigation of the tower fore-aft vibration. For this purpose, at first, we developed a fully coupled model of the NREL 5MW turbine. This model considers the full aeroelastic behavior of the blades and tower and is validated by experiment results, comparing the time history data with the FAST (Fatigue, Aerodynamics, Structures, and Turbulence ) code which is developed by NREL (National Renewable Energy Lab in the United States). In the next, to estimate EWV, a novel... 

Laboratory studies to investigate the effects of different saline concentrations (such as sodium chloride or calcium chloride) on the soil water retention behavior of clayey soils and their volumetric changes have received much attention recently. However, many previous studies have investigated these effects in only one path of the SWRC (wetting or drying path) and the effects of saline concentration on hydraulic hysteresis have not been considered. In addition, researchers have frequently studied these effects on SWRC on clay samples, and little research has been done on collapsible soils. Therefore, the most important purpose of this study is to investigate the effects of increasing... 

Nowadays electricity power has a key role in developing various aspects of the world. The great importance of fossil fuel power plants come from their large contribution in electricity power generation. Among the different fossil fuel power generation technologies, supercritical power plants have great advantages. They are an advanced power generation technology with high plant efficiency, high coal utilization and low emission. Their complexity and existing many unavoidable uncertainty sources in their dynamic such as changes of ambient temperature, climate condition and wear of components make their control challenging. To overcome mentioned problems and achieving a good performance, a... 

The instability and contamination leakage through tailings dams is one of the major problems of them. These dams are usually constructed through self-consolidation with minimum compaction effort, so special attention must be given to the stability of these structures. In addition, tailings dams contain considerable amounts of metals and chemically soluble contaminants resulting from mining processes in their reservoirs, making them more likely to leak contamination from the dam's foundation and body, causing pollution downstream. The infiltration of various chemical contaminants into the soil may alter its hydraulic and resistance properties. Laboratory studies have shown that pore solution...