Position and Attitude Control for a Quadrotor Using Nonsmooth Feedback

, M.Sc. Thesis Sharif University of Technology Mirshamsi, Alireza (Author) ; Namvar, Mehrzad (Supervisor)

Abstract

In recent years, autonomous unmanned aerial vehicles (UAVs) have attracted considerable amount of interest because of a wide area of applications and a lot of advantages. UAVs have been extensively used for military operations that include tracking, surveillance, active engagement with weapons and airborne data acquisition. UAVs are also in demand commercially due to their advantages in comparison to manned vehicles. These advantages include lower manufacturing and operating costs, flexibility in configuration depending on customer request and not risking the pilot on demanding missions. Quadrotor, which is a kind of rotary wing UAVs, has many advantages such as the vertical take-off and...

Superconducting properties ofY1-xTbxBa 2Cu3O7-δ and Y1-xTb xSr2Cu2.7Mo0.3O7-δ

, Article Modern Physics Letters B ; Volume 24, Issue 4-5 , 2010 , Pages 419-429 ; 02179849 (ISSN) Mirshamsi, S ; Fallahi, S ; Akhavan, M ; Sharif University of Technology

2010

Abstract

We have investigated the effect of Tb substitution for Y in both YBa 2Cu3O7-δ and the more stabilized YSr 2Cu2.7Mo0.3O7-δ systems. Adding Mo has been shown to stabilize the Tb-doped systems. The samples of Y1-xTbxBa2Cu3O7-δ with x=0.0, 0.1, 0.15, 0.2, 0.3, 0.35, 0.4, 0.5, 0.55, and 0.6, and of Y 1-xTbxSr2Cu2.7Mo0.3O 7-δ with x=0.0, 0.2, 0.4, 0.6, and 0.8 have been prepared by the standard solid-state reaction technique. The superconducting transition occurs only with x=0-0.5 for the Ba-based samples, and with x=0-0.8 for the Sr-based samples. The structural parameter identification and phase determination of the samples have been carried out by the Rietveld analysis of the X-ray diffraction...

Experimental modeling and optimizing process parameters in the laser assisted machining of silicon carbide particle-reinforced aluminum matrix composites

, Article Materials Research Express ; Volume 6, Issue 8 , 2019 ; 20531591 (ISSN) Mirshamsi, S. M. A ; Movahhedy, M. R ; Khodaygan, S ; Sharif University of Technology

Institute of Physics Publishing 2019

Abstract

The process of laser assisted machining (LAM) of metal matrix composites (MMC) is experimentally studied. The effects of process parameters (cutting speed, feed rate and depth of cut), laser parameters (laser power, laser frequency and laser beam angle), and the percentage of reinforcing particles on the tool wear and the surface roughness are investigated. Furthermore, the effects of the mentioned parameters on the built-up edge (BUE), chip shape, and workpiece temperature are explored. The experiments were performed using uncoated tungsten carbide and PCD tools under dry conditions. In order to analyze the sensitivity of the process parameters, the Plackett-Burman method was used for...

A 3D path planning algorithm based on PSO for autonomous UAVs navigation

, Article 9th International Conference on Bioinspired Optimization Methods and Their Applications, BIOMA 2020, 19 November 2020 through 20 November 2020 ; Volume 12438 LNCS , 2020 , Pages 268-280 Mirshamsi, A ; Godio, S ; Nobakhti, A ; Primatesta, S ; Dovis, F ; Guglieri, G ; Sharif University of Technology

Springer Science and Business Media Deutschland GmbH 2020

Abstract

In this paper, a new three-dimensional path planning approach with obstacle avoidance for UAVs is proposed. The aim is to provide a computationally-fast on-board sub-optimal solution for collision-free path planning in static environments. The optimal 3D path is an NP (non-deterministic polynomial-time) hard problem which may be solved numerically by global optimization algorithms such as the Particle Swarm Optimization (PSO). Application of PSO to the 3D path planning class of problems faces typical challenges such slow convergence rate. It is shown that the performance may be improved markedly by implementing a novel parallel approach and incorporation of new termination conditions....

Experimental Study and Optimization of Laser Assisted Machining of Particle Reinforced Aluminum Matrix Composite

, M.Sc. Thesis Sharif University of Technology Mirshamsi, Mohammad Ali (Author) ; Movahhedy, Mohammad Reza (Supervisor) ; Khodaygan, Saeed (Co-Supervisor)

Abstract

In this thesis, the process of laser assisted machining (LAM) of metal matrix composites (MMC) is experimentally studied. The effects of process parameters (cutting speed, feed rate and depth of cut), laser parameters (laser power, laser frequency and laser beam angle), and the percentage of reinforcing particles on the tool wear and the surface roughness are investigated. Furthermore, the effects of these parameters on the built-up edge (BUE), chip shape, and workpiece temperature are explored.The experiments were performed using uncoated tungsten carbide and PCD tools under dry conditions. In order to analyze the sensitivity of the process parameters, the Plackett-Burman method was used...

Rcci Curvature for Metric-Measure Space via Optimal Transport

, M.Sc. Thesis Sharif University of Technology Taheri, Abolfazl (Author) ; Bahraini, Alireza (Supervisor) ; Ranjbar Motlagh, Alireza (Co-Advisor)

Abstract

One of the important questions in mathematics is generalized. In case of metric spaces, one of the questions is: Can we extend notions of Riemannian geometry to arbitrary metric spaces smoothly? Ricci curvature is one of the most important concepts in differential geometry. Ricci curvature is defined for the Riemannian manifold and has many applications in mathematics and physics like Einstein’s equation in relativity theory. There is a good notion for a metric space having “sectional curvature bounded below by K” or “sectional curvature bounded above by K”, due to Alexandrov. Can we define the concept of Ricci curvature in metric space? A motivation for this question comes from Gromov’s...

, M.Sc. Thesis Sharif University of Technology (Author) ; Khaloo, Alireza (Supervisor)

Abstract

Seismic design codes reduce loads by using response modification factor. Because of the reserved strength in structural elements and capacity of structure to dissipate energy, structures can be designed for lower seismic loads. This factor has modified over time. In this thesis, the effect of the reduction in behavior factor on the response of two kinds of reinforced concrete systems were evaluated. Moment resisting frames and dual systems with different heights and regularity in plan, heve been design according to the behavior factor which is recommended in the 3rd edition of the Iranian codes of practice for seismic resistance design of buildings (Standard No. 2800). Drift and...

Prediction of Financial Markets Using Combination of Artificial Intelligence and Technical Analysis

, M.Sc. Thesis Sharif University of Technology (Author) ; Haji, Alireza (Supervisor)

Abstract

Generally, nowadays, machine learning methods are used in many different areas for their superiority over other methods of prediction. Although being a tough task, stock market prediction with machine learning approaches is being spread due to satisfying results published ever yday. Machine learning methods usually use varied kinds of data ,including structured data such as market data, technical indicators and some fundamental data as well as unstructured one entailing text and graph data in order to enhance their predictability capacity. In this thesis we aimed to find out more about the importance and the contribution of structured data in prediction and we tried to attain a framework...

, M.Sc. Thesis Sharif University of Technology (Author) ; Hajji, Alireza (Supervisor)

Abstract

This thesis presents an inventory control system which is based on Meta-heuristic Algorithms.In this thesis we will optimize the input values of our tree-echelon inventory model (keeping costs,stock worth,reorder costs,...) with these Algorithms. The presented method is able to determine the optimal stock level, costs of system and number of shipments in the system. The method is basically a decision support system (DES) and it is able to provide the order scheduling parameters of goods at operational level. The aim of the current research is to demonstrate that a Meta-heuristic algorithmis capable of solving complex inventory problems and with future improvements it is able to achieve...

The Ricci Flow with Applications to the Poincare and Calabi Conjectures

, M.Sc. Thesis Sharif University of Technology Safdari, Mohammad (Author) ; Bahreini, Alireza (Supervisor)

Abstract

Poincare conjecture is one of the rst eorts for classifying 3-manifolds that was stated in the begining of 20th century. Eorts for proving this conjecture continued for about 100 years and nally Perelman has solved it in 2003. He has used Ricci ow which has been invented by Richard Hamilton in the early 80's. In this thesis rst we will introduce Ricci ow and will state the results before Perelman such as short time and long time existence of solution. Then we will mention some applications of Ricci ow and will state an explanation of the proof of uniformization and Calabi conjecture by Ricci ow. After that we start the main part of the thesis. In this part we will montion one of the...

Feasibility And Study(CNG Cylinder Production Plant)

, M.Sc. Thesis Sharif University of Technology Mousavi, Mohammad (Author) ; Haji, Alireza (Supervisor)

Abstract

Nowadays best using of fossil fuels sources of the country (and) importance of comparison against lack of capacity in petrol production make determined the programmers and the directors to foresee and design expanded programs of the goals, to use natural gas for car fuels. To reach fulfillment of these programs, the confirmed needs of the natural gas cylinders are improved and make it essential to invest on producing compressive natural gas cylinders. In this way economical and technical change researches has been done in order to construct on department to produce 200,000 compressive natural gas cylinders in a year during two sets.(shifts) According to the results of technical researches...

Synthesis, Characterization and Field Emission Study of Molybdenum Oxide (MoOx)Nanostructures

, M.Sc. Thesis Sharif University of Technology Khademi, Ali (Author) ; Moshfegh, Alireza (Supervisor)

Abstract

Different molybdenum oxide nano/micro structure thin films were synthesized by thermal evaporation method under various growth conditions such as deposition time, temperature and evaporation source-substrate distance. Molybdenum oxide nanostructures grown on Si(100) such as nanowalls, nanostars and nanowires were characterized with scanning electron microscopy (SEM), x-ray photoelectron spectroscopy (XPS), x-ray diffraction (XRD), atomic force microscopy (AFM) and high resolution transmission electron microscopy (HRTEM). Shape and type of nanostructures were determined with SEM, AFM and HRTEM analysis. XPS analysis showed that the synthesized nanostructures contained Mo6+, Mo5+, Mo4+ and...

Identification and Abnormal Condition Detection of a Cement Rotary Kiln

, M.Sc. Thesis Sharif University of Technology Sadeghian, Masoud (Author) ; Fatehi, Alireza (Supervisor)

Abstract

One of the most important parts of a cement factory is the cement rotary kiln which plays a key role in quality and quantity of produced cement. In this part, the physical exertion and bilateral movement of air and materials, together with chemical reactions take place. Thus, this system has immensely complex and nonlinear dynamic equations. These equations have not worked out yet. Only in exceptional case; however, a large number of the involved parameters were crossed out and an approximation model was presented instead. This issue caused many problems for designing a cement rotary kiln controller. In this thesis, we employed a nonlinear system identification method for identification,...

Entanglement and Decoherence in Optomechanical Systems Coupled through Photothermal Effects

, Ph.D. Dissertation Sharif University of Technology Abdi, Mehdi (Author) ; Bahrampour, Alireza (Supervisor)

Abstract

Optomechanical systems have attracted considerable attention in the last decade. Such a raising prominence is mainly due to its capability in providing new insight into the quantum behavior of macroscopic objects and exploring the interface between quantum and classical mechanics. Alongside this fundamental quest, cavity optomechanics has many other benefits, ranging from very precise measurements on forces and positions to quantum information processing. In this thesis, we investigate quantum properties of such systems. Particularly, we study cooling of the mechanical resonator toward its ground state and the entanglement between this mechanical resonator and the cavity field. Cooling the...

Improvement in Reinforced Concrete Beam-Column Connections Behaviour using FRP Sheets

, M.Sc. Thesis Sharif University of Technology Rokrokian, Ali (Author) ; Khaloo, Alireza (Supervisor)

Abstract

Performance of reinforced concrete frames is highly dependent on detailing of the joint connections between its members, such as beams and columns. To have a good structural behavior, joints must show ductile behavior and designed based on the philosophy of strong column-weak beam. In the case of sever lacking ductility, strength or even rigidity of the connections, or having a weak column-strong beam, in the existing structures, there is a need for seismic upgrading of the connection. There are several ways for seismic upgrading of this type of connections.In the last decade Fiber Reinforced Polymer (FRP) widely has been used to strengthening the reinforced concrete (RC) members. Most of...

Hodge Theory on Metric Spaces

, M.Sc. Thesis Sharif University of Technology Passbani, Hossein (Author) ; Bahraini, Alireza (Supervisor)

Abstract

Hodge theory is a beautiful synthesis of geometry, topology, and anal- ysis, which has been developed in the setting of Riemannian manifolds. On the other hand, spaces of images, which are important in the math- ematical foundations of vision and pattern recognition, do not fit this framework. This motivates us to develop a version of Hodge theory on metric spaces with a probability measure. We believe that this constitutes a step towards understanding the geometry of vision. We extend the theory of the Laplacian on domains of Euclidean space or on a manifold and next to metric space. Finally we give a beautiful application in web researcher engin.

Behran Mehr Peyma's Activities Analysis

, M.Sc. Thesis Sharif University of Technology Haghighi, Erfan (Author) ; Miremadi, Alireza (Supervisor)

Abstract

Behran Mehr Peyma (BMP) is an elevator equipment producer and trader in Iran which was established in 2004. At first they are producing some regular parts of elevator and then during these years they are trying to improve their work and expand their business till they have the 15% market share in elevator market in Tehran.In this thesis I am trying to use the SWOT and PETS methods to show the exact situation of BMP comparing to the whole market considering the competitors.During this reduction in the market I suggest to BMP to change some policies and use some of its strength to attract some new customers, changing their brand name and find a relation to contribute in some tenders and...

Evaluating and Improving the Reliability of Reversible Adiabatic Logic Styles

, M.Sc. Thesis Sharif University of Technology Akbar, Reza (Author) ; Ejlali, Alireza (Supervisor)

Abstract

Adiabatic logic families are a group of logic circuits which operate based on adiabatic principles to tremendously reduce power consumption. These families have basic difference with common logic families in transistor level structure and there signals are not quadrangular but trapezoidal. Also, in these systems the source lines and clock pulse are the same. Research on Adiabatic families needs theoretical information in reversible computing. So we will start this project with explaining fundamental information in this field. After that some of these logic families are introduced and three important and widely used of them (SCRL-RERL-2LAL) are chosen to simulate. In each of these families...

Performance Evaluation of Reinforced Concrete Bridge Deck Strengthened with FRP Laminates

, M.Sc. Thesis Sharif University of Technology Bozorgi, Neda (Author) ; Khaloo, Alireza (Supervisor)

Abstract

According to key importance of bridges in transportation system vital routes, a need to study and survey of bridges against destructive factors exist. Among these, bridges with concrete deck are widely used. One of the most important factors in destruction of these bridges is steel reinforcements corrosion and destruction of bridge deck. So in order to reduce the aggregation of reinforcements in critical sections and performance improvement of deck beams, a reinforcing substance which is not only resistant against corrosion but benefits from high resistance and stiffness is implemented.In this research the case studied bridge is simulated by finite elements software in two cases; reinforced...

Investigating Geometric Proximity Problems on Moving Points

, M.Sc. Thesis Sharif University of Technology Rahmati, Zahed (Author) ; Zarei, Alireza (Supervisor)

Abstract

An interesting theoretical and practical set of problems in computer science is concerned with the study of spatial relations among objects in a geometric space. Examples of such problems for a set of points P are finding the closest pair of the points P, partitioning space into regions such that all points of a region have minimum distance to the same point in P, and computing the Euclidean minimum spanning tree on P. Moreover, we need mechanisms to efficiently update these properties when the points P are allowed to move or may be inserted or deleted. This is to avoid re-computation of these properties from scratch. Here, we consider the Euclidean minimum spanning tree (EMST) of a set of...