Sharif Digital Repository

In this paper, we propose a new method for mobile robot path planning in dynamic environment when the trajectories of obstacles are unknown. Our algorithm first utilizes a global approach called clearance based probabilistic roadmap method to find a suitable path and then locally apply evolutionary algorithm to keep the structure of the path when obstacles collide with the path. As a result, the path will act like an elastic band. To reach real time applicability, a light fitness function is proposed compare to other genetic algorithms to reduce the computation time needed for calculating and repairing path. Simulation results show that our method not only can keep the original structure of... 

Data prefetching is a well-known technique to hide the memory latency in the last-level cache (LCC). Among many prefetching methods in recent years, the Global History Buffer (GHB) proves to be efficient in terms of cost and speedup. In this paper, we show that a fixed value for detecting patterns and prefetch degree makes GHB to (1) be conservative while there are more opportunities to create new addresses and (2) generate wrong addresses in the presence of constant strides. To resolve these problems, we separate the pattern length from the prefetching degree. The result is an aggressive prefetcher that can generate more addresses with a given pattern length. Furthermore with a variable... 

In this paper, a new method for path planning is proposed using a genetic algorithm (GA). Our method has two key advantages over existing GA methods. The first is a novel environment representation which allows a more efficient method for obstacles dilation in comparison to current cell based approaches that have a tradeoff between speed and accuracy. The second is the strategy we use to generate the initial population in order to speed up the convergence rate which is completely novel. Simulation results show that our method can find a near optimal path faster than computational geometry approaches and with more accuracy in smaller number of generations than GA methods. © 2009 IEEE  

Emerging cloud workloads in today's modern data centers have large memory footprints that make the processor's caches to be ineffective. Since L1 data cache is in the critical path, high data cache miss rates degrade the performance. To fix the issue in traditional workloads, data prefetchers predict the needed data to hide the memory latency and ultimately improve performance. In this paper, we focus on the L1 data cache to answer the question on why state-of-the-art prefetching methods are inefficient for modern workloads in terms of performance and energy consumption? This is because L1 cache is the most important player affecting the processor performance. Results show that, on the one... 

The energy consumption for processing modern workloads is challenging in data centers. Due to the large datasets of cloudworkloads, the miss rate of the L1 data cache is high, andwith respect to the energy efficiency concerns, suchmisses are costly formemory instructions because lower levels ofmemory hierarchy consume more energy per access than the L1. Moreover, large last-level caches are not performance effective, in contrast to traditional scientific workloads. The aim of this article is to propose a large L1 data cache, called Domino, to reduce the number of accesses to lower levels in order to improve the energy efficiency. In designing Domino, we focus on two components that use the... 

In this paper, two different important quality metrics, clearance and execution time, for motion planning of mobile robots are studied. Then a new approach, called Clearance-Based Probabilistic Roadmap Method (CBPRM (c)), is proposed which in contrast to VV(c) method, Visibility-Voronoi with clearance c, beside satisfaction of a predefined clearance is very efficient in running time. This provides the CBPRM (c) to be applicable in dynamic environments which require realtime approaches. Experiments showed that the CBPRM(c) is able to generate paths with very low execution time considering determined clearance. © 2008 IEEE  

Overlay multicast has gained much attention in recent years as an alternative method to network layer multicast, especially for mobile ad hoc networks (MANETs). In this paper, we propose a new overlay multicast protocol to achieve simplicity of deployment, rapid adaptation of overlay structure when nodes move, and reduced delay. In our algorithm, to join or leave a multicast group, it is only sufficient for a member node to inform its first upstream member node. This updates the tree structure more rapidly when nodes move. In addition, join and leave delays are reduced and this makes the protocol suitable for multimedia multicasting in MANETs. Simulation results compared to that of ODMRP and... 

Server workloads operate on large volumes of data. As a result, processors executing these workloads encounter frequent L1-D misses. In a many-core processor, an L1-D miss causes a request packet to be sent to an LLC slice and a response packet to be sent back to the L1-D, which results in high overhead. While prior work targeted response packets, this work focuses on accelerating the request packets. Unlike aggressive OoO cores, simpler cores used in many-core processors cannot hide the latency of L1-D request packets. We observe that LLC slices that serve L1-D misses are strongly temporally correlated. Taking advantage of this observation, we design a simple and accurate predictor. Upon... 

This paper investigates the efficiency and performance of several of the fiooding techniques popular in secondary and enhanced oil recovery. These processes include water fiooding, immiscible and miscible gas fiooding, and several forms of water-alternating-gas (WAG) injection. The study is carried out numerically on a typical one-dimensional domain using an advanced high-resolution central scheme. Some performance indices such as oil cut drop, breakthrough time, and sweep efficiency were employed to evaluate the appropriateness of each injection strategy  

Purpose - The purpose of this paper is to investigate the performance of a specific class of high-resolution central schemes in conjunction with the black oil models for hydrocarbon reservoir simulation. Design/methodology/approach - A generalized black oil model is adopted, in which the solubility of gas in both oil and water and evaporation of oil are considered, leading to a system of equations prone to degeneracy. A computer code is generated and three test cases are solved to evaluate the performance of various schemes in terms of accuracy and discontinuity handling. Findings - It is shown that, although some of the central schemes are highly sensitive to the choice of... 

Objectives: To investigate the effects of blood and platelet-rich fibrin (PRF), commonly used scaffolds in regenerative endodontic treatment (RET), on the hydration, microstructure, and color stability of three hydraulic calcium silicate cements (HCSCs), OrthoMTA, RetroMTA, and TotalFill-BC-RRM. Materials and methods: The HCSCs were prepared and placed into polyethylene molds and transferred to Eppendorf tubes containing PRF, blood, or PBS and then incubated for 1 week or 1 month. The microstructure and hydration of the cements were studied by scanning electron microscopy (SEM), energy-dispersive X-ray spectroscopy (EDS), and X-ray diffraction (XRD). The chromatic alteration of materials was... 

The effect of a permanent magnetic field on the heat transfer characteristics of hybrid graphene-magnetite nanofluids (hybrid nanofluid) under forced laminar flow was experimentally investigated. For this purpose, a reduced graphene oxide-Fe3O4 was synthesized by using two-dimensional (2D) graphene oxide, iron salts and tannic acid as the reductant and stabilizer. Graphene sheets acted as the supporting materials to enhance the stability and thermal properties of magnetite nanoparticles. The thermo-physical and magnetic properties of this hybrid nanofluid have been widely characterized and it shows that the thermal conductivity increased up to 11%. The hybrid nanofluid behaves as a Newtonian... 

The heat transfer characteristics and entropy generation rate of hybrid graphene-magnetite nanofluids under forced laminar flow that subjected to the permanent magnetic fields were investigated. For this purpose, a nanoscale reduced graphene oxide-Fe3O4 hybrid was synthesized by using graphene oxide, iron salts and tannic acid as the reductant and stabilizer. The thermophysical and magnetic properties of the hybrid nanofluid have been widely characterized and thermal conductivity has shown an enhancement of 11%. The experimental results indicated that the heat transfer enhancement of hybrid magnetite nanofluid compared to the case of distilled was negligible when no magnetic field was... 

Using multiple antennas at the transmit and receive sides of a passive radar brings both the benefits of MIMO radar and passive radar. However one of the obstacles arisen in such configuration is the receive antennas placement in proper positions so that the radar performance is improved. Here we just consider the case of positioning one receiver among multiple illuminators of opportunity. Indeed it is a start for the solution of optimizing the geometry of the multiple receivers in a passive radar  

SbCl3 supported on montmorillonite K-10 is an efficient catalyst for the ring opening of epoxides with aromatic amines under solvent-free conditions and microwave irradiation to give the corresponding b-amino alcohols in high yields with high regioselectivity  

In this paper, we consider an integrated sensing and communication (ISAC) system with wireless power transfer (WPT) where an unmanned aerial vehicle (UAV)-based radar serves a group of energy-limited communication users in addition to its sensing functionality. In this architecture, the radar senses the environment in phase 1 (namely sensing phase) and mean-while, the communications users (nodes) harvest and store the energy from the radar transmit signal. The stored energy is then used for information transmission from the nodes to UAV in phase 2, i.e., uplink phase. Performance of the radar system depends on the transmit signal as well as the receive filter; the energy of the transmit... 

One of the important obstacles in MIMO (Multiple Input Multiple Output) radars is the issue of designing proper transmit signals. Indeed, the capability of signal design is a significant advantage in MIMO radars, through which, the system can achieve much better performance. Many different aspects of this performance improvement have been considered yet, and the transmit signals have been designed to attain such goal, e.g., getting higher SNR or better detector's performance at the receiver. However, an important tool for evaluating the radar's performance is its ambiguity function. In this paper, we consider the problem of transmit signal design, in order to optimize the ambiguity function... 

Two gains play key roles in recently developed MIMO wireless communication systems: "spatial diversity" gain and "spatial multiplexing" gain. The diversity gain refers to the capability to decrease the error rate of the MIMO channel, while the multiplexing gain implicitly refers to the amount of increase in the capacity of the MIMO channel. It has been shown that there is a fundamental tradeoff between these two types of gains, meaning interplay between increasing reliability (via an increase in the diversity gain) and increasing data rate (via an increase in the multiplexing gain). On the other hand, recently, MIMO radars have attracted much attention for their superior ability to enhance...