Sharif Digital Repository

This work aims to propose a new technique that considerably helps enhance time and precision needed to identify "Inertia Parameters (IPs)" of a typical Autonomous Space-Robot (ASR). Operations might include, capturing an unknown Target Space-Object (TSO), "active space-debris removal" or "automated in-orbit assemblies". In these operations generating precise successive commands are essential to the success of the mission. We show how a generalized, repeatable estimation-process could play an effective role to manage the operation. With the help of the well-known Force-Based approach, a new "modular formulation" has been developed to simultaneously identify IPs of an ASR while it captures a... 

This work describes a new formulation to study the identifiability characteristics of Serially Linked Multi-body Space Systems (SLMBSS). The process exploits the so called “Lagrange Formulation” to develop a linear form of Equations of Motion w.r.t the system Inertia Parameters (IPs). Having developed a specific form of regressor matrix, we aim to expedite the identification process. The new approach allows analytical as well as numerical identification and identifiability analysis for different SLMBSSs' configurations. Moreover, the explicit forms of SLMBSSs identifiable parameters are derived by analyzing the identifiability characteristics of the robot. We further show that any SLMBSS... 

This paper presents the first fault-tolerant resource locking protocol for multiprocessor real-time systems. Resource locking protocols control access to shared resources in real-time systems. Most of the previous studies in resource locking protocols have focused on decreasing blocking time and resource conflicts. The use of such protocols in multiprocessor safety-critical real-time systems necessitates fault tolerance in the design of these systems. However, in research focused on multiprocessor real-time systems, fault tolerance has received low attention in resource allocation studies. In addition, many solutions proposed to improve the reliability in real-time scheduling ignored... 

Twitter as one of the most important microblogging online social networks has attracted more than 200 million users in recent years. Although there have been several attempts on characterizing the Twitter by using incomplete sampled data, they have not been very successful to estimate the characteristics of the whole network. In this paper, we characterize Twitter by sampling from its social graph and user behaviors through a random walk based sampling technique called Respondent-Driven Sampling (RDS). To the best of our knowledge, for the first time RDS method and its estimator are used in order to obtain uniform unbiased estimation of several key structural and behavioral properties of... 

Multi-walled carbon nanotubes (MWCNTs) are one of the preferred candidates for reinforcing polymeric nanobiocomposites, such as acrylic bone type of cement. In this study, at first, bulk samples of the reinforced polymethylmethacrylate (PMMA) matrix were prepared with 0.1, 0.25, and 0.5 wt per wt% of MWCNTs by the casting method. Tensile and three-point bending tests were performed to determine the essential mechanical properties of bone cement, such as tensile and bending strengths. The tensile fracture surfaces were investigated by scanning electron microscopy (SEM). The commercial software (Abaqus) was used to conduct finite element analysis (FEA) by constructing a representative volume... 

In this study, effects of glycerol (10, 20, and 30 wt%) and Sodium Montmorillonite (Na-MMT) (0%, 2.5%, and 5%) contents on the degradation of corn starch polymers were investigated. Films were prepared by casting corn starch solution using a modified method to enhance the nanoclay distribution. Biodegradability studies were performed by enzymatic and burial tests using pristine and enriched soils. The biodegradability of samples in pristine soil was faster, and all samples were fully degraded in 6 months. The effect of nanoparticles on the mass reduction in degradation was more pronounced than that of glycerol. In all glycerol concentrations, Na-MMT addition increased tensile strength. FTIR... 

Metal-free D–D–π–A type dyes (i.e., Car-Cy, Car-Rh, Dpa-Cy, and Dpa-Rh) were designed and synthesized for dye-sensitized solar cells (DSSCs). In the structure of the sensitized dyes, an imidazole ring is connected to a carbazole or diphenylamine moiety as a donor while cyanoacetic acid or rhodanine-3-acetic acid was introduced as an acceptor/anchor. The molecular structures of D–D–π–A type dyes were characterized using IR, NMR and MS spectral data. The optical, electrochemical, theoretical, light harvesting property, HOMO/LUMO levels, redox behavior, and photovoltaic properties of the synthesized dyes were evaluated. Among the fabricated photovoltaic devices based on the prepared dye, Dpa-Cy... 

It is widely supposed that methodological naturalism, understood as a thesis about the methodology of science, is metaphysically neutral, and that this in turn guarantees the value-neutrality of science. In this paper we argue that methodological naturalism is underpinned by certain ontological and epistemological assumptions including evidentialism and the causal closure of the physical, adoption of which necessitates commitment to metaphysical naturalism. © 2019, Springer Nature B.V  

In this paper we introduce a new low phase noise cascode Cross-coupled oscillator by use of the general topology of Cross-coupled oscillator and cascode amplifier. By simulation a comparison between the conventional Cross-coupled oscillator and the new cascode Cross-coupled oscillator is also presented, which shows that the latter improves the phase noise by 2dB under the same conditions. The figure of merit (FOM) of -186.4 dBc/Hz is achieved for the new oscillator by simulation  

In Industry 4.0, the emergence of new information technology and advanced manufacturing technology (e.g., digital twin, and robot) promotes the flexibility and smartness of manufacturing systems to deal with production task fluctuation. Digital twin-driven manufacturing system with human-robot collaboration is a typical paradigm of intelligent manufacturing. When production task changes, manufacturing system reconfiguration with dynamic opeartion task allocation between operator (human) and robot is a key manner to maintain the production efficiency of intelligent manufacturing system with human-robot collaboration. However, the differences between operator and robot are neglected during... 

this paper presents two new methods for power flow calculation of power systems in presence of Dynamic Flow Controller (DFC), which is a new member of FACTS controllers. In first method A new steady state model of DFC is introduced for the implementation of the device in the conventional Newton-Raphson power flow algorithm. The impact of DFC on power flow is accommodated by adding new entries and modifying some existing ones in the linearized Jacobian equations of the same system without DFC. The focus of second method is on the discrete nature of the DFC and including its effects on power flow. This method is based on Nabavi model for FACTS devices. A case study on a power system located in...