Sharif Digital Repository

The challenge of finding an optimized and reliable path dates back to emersion of mobile robots. Several approaches have been developed that have partially answered this need. Satisfying results in previous implementations has led to an increased utilization of sampling-based motion planning algorithms in recent years, especially in high degrees of freedom (DOF), fast evolving environments. Another advantage of these algorithms is their probabilistic completeness that guarantees delivery of a path in sufficient time, if one exists. On the other hand, sampling based motion planners leave no comment on safety of the planned path. This paper suggests biasing the Rapidly-exploring Random Trees... 

Blood vessels, especially large vessels have a greater thermal effect on freezing tissue during cryosurgery. Vascular networks act as heat sources in tissue, and cause failure in cryosurgery and reappearance of cancer. The aim of this study is to numerically simulate the effect of probe location and multiprobe on heat transfer distribution. Furthermore, the effect of nanoparticles injection is studied. It is shown that the small probes location near large blood vessels could help to reduce the necessary time for tissue freezing. Nanoparticles injection shows that the thermal effect of blood vessel in tissue is improved. Using Au, Ag and diamond nanoparticles have the most growth of ice ball... 

A major problem in real-time packet-based communication systems, is misrouted or delayed packets which results in degraded perceived voice quality. If packets are not available on time, the packets are considered as lost. The easiest solution in a network terminal receiver is to replace silence for the duration of lost speech segments. In a high quality communication system, to avoid degradation in speech quality due to packet loss, a suitable method or algorithm is needed to replace the missing segments of speech. In this paper, we introduce an adaptive filter for replacement of lost speech segment. In this method Kalman filter as a state-space based method will be used to predict the... 

The effect of temperature, pressure and bonding time on microstructure of temperature gradient transient liquid phase (TGTLP) diffusion bonded Al7075 alloy using liquid gallium interlayer was investigated. The selected bonding method relies on using the minimum amount of liquid gallium on faying surfaces, using a very fast heating rate to reach the joining temperature and imposing a temperature gradient across the bond region. The microstructure of the diffusion bonded joints was evaluated by light optical microscopy, scanning electron microscopy and energy dispersive spectroscopy (EDS). Results show that by increasing the temperature, pressure and time of joining, a more uniform... 

The effects of hydrophilic and hydrophobic nanosilica (SiO2) on the morphology, mean diameter distribution of fibers, mechanical and piezoelectric properties of poly (vinylidene fluoride) (PVDF) nanofibers were studies. We prepared Nanofibers by the electrospinning of PVDF solutions containing 1.5 wt.% both hydrophilic and hydrophobic nano-SiO2 loadings. Morphology and diameter distribution of the electrospun nanofibers were studied using field emission scanning electron microscopy (FE-SEM) analysis. Tensile test was used to study the effect of both types of nanosilica on the tensile strength, young's modulus and strain at break. Piezoelectric characterization of the electrospun fibers were... 

In order to determine the activity of C137s in soil resulting from nuclear accidents or fallouts, the best choice is to use HPGe detectors due to their best energy resolutions. In this regard, in order to enhance the detection efficiency, the Marinelli beakers have been used to increase the radiation interaction with the sensitive volume of the detector. In previous works, to optimize the dimension of Marinelli beakers, the assumption was that the emission rate of the source is homogeneous in beaker volume. In the present study, to investigate the effect of the inhomogeneous emission rate of the source on the optimum dimensions of the beaker, in a simple case, the beaker was divided into two... 

In this research, an extended finite element model has been investigated. Investigation of opening and closure stress always has been one of the difficult parameters to analysis of results; therefore, the utilization of finite element methods would be a good and logical alternative for this purpose. In addition, linear elastic fracture criteria are used for validation of numerical results from the simulation. In this work, a detailed analysis of the influence of different parameters in the results of a specific specimen with a semi-elliptical tooling groove in terms of closure and opening stress is presented, and the impact of optimum element size in fracture characteristic in various load... 

To overcome recent energy and environment challenges, developing efficient and low cost photocatalysts are unavoidable. In this context, design of semiconductor nanostructures modified with earth abundant co-catalysts for water splitting reactions requires well engineered and controlled process to optimize surface interface and maximize nanocomposite system efficiency. Here, TiO2 nanotube were synthesized electrochemically and decorated with cobalt based nanostructure co-catalyst for water oxidation reaction using low cost and scalable electro-deposition approach. By changing deposition parameters and complete studying on samples surface morphology and related statistical analysis data,... 

In this paper, modeling and control of a new cable-driven robot is presented. In this mechanism, the cable arrangement eliminates the rotational motions leaving the moving platform with three translational motion. The mechanism has potentials for large scale manipulation and robotics in harsh environments. In this article kinematics and dynamics models for the proposed cable-driven architecture are derived. Additionally, Feedback linearization under input constraints is used for the control of the robot. The control algorithm ensures the cable tensions are positive while minimizing the sum of all the torques exerted by the actuators. Finally, the implementation of the proposed method is... 

A multi-item multiperiod inventory control model is developed for known-deterministic variable demands under limited available budget. Assuming the order quantity is more than the shortage quantity in each period, the shortage in combination of backorder and lost sale is considered. The orders are placed in batch sizes and the decision variables are assumed integer. Moreover, all unit discounts for a number of products and incremental quantity discount for some other items are considered. While the objectives are to minimize both the total inventory cost and the required storage space, the model is formulated into a fuzzy multicriteria decision making (FMCDM) framework and is shown to be a... 

A mesophilic iron oxidizing bacterium, Acidithiobacillus ferrooxidans, has been isolated (33 °C) from a typical chalcopyrite copper concentrate of the Sarcheshmeh copper mine in the region of Kerman located in the south of Iran. In addition, a thermophilic iron oxidizing bacterium, Sulfobacillus, has been isolated (60 °C) from the Kooshk lead and zinc mine near the city of Yazd in central Iran. Effects of some variable parameters such as solids concentration, temperature and pH on the bioleaching of chalcopyrite obtained from Sarcheshmeh copper mine were investigated. Bioleaching experiments were carried out in two batch airlift bioreactors with a recycling stream. The results indicate that... 

In this study, hydrogen generation is maximised by optimising the size and the operating conditions of an electrolyser (EL) directly connected to a photovoltaic (PV) module at different irradiance. Due to the variations of maximum power points of the PV module during a year and the complexity of the system, a nonlinear approach is considered. A mathematical model has been developed to determine the performance of the PV/EL system. The optimisation methodology presented here is based on the particle swarm optimisation algorithm. By this method, for the given number of PV modules, the optimal sizeand operating condition of a PV/EL system areachieved. The approach can be applied for different... 

In this work, the effects of the surface-modified nanodiamond particles (NDs) on the barrier, rheological, mechanical and thermal properties of ethylene vinyl acetate (EVA) composites for the packaging applications were investigated. Fourier transform infrared spectroscopy, as well as thermal gravimetric analysis were employed to study the grafting of vinyltriethoxy silane (VTS) on the surface of NDs. Afterwards, EVA samples containing 0, 0.1, 0.5, 1, 1.5 and 2 wt% of surface-modified NDs were prepared by a two-stage process including the solution and injection processes. In order to evaluate the physicochemical, rheological, mechanical and thermal properties of the EVA/NDs samples, field... 

The main purpose of this paper is modeling and simulation of in-situ releasing of smart nano-sized core-shell particles at the water-oil interface during polymer flooding. During the polymer flooding process, when these nano-particles reach the water-oil interface, migrate to the oil phase and the hydrophobic layer of them dissolves in this phase. After dissolution of this protective nano-sized layer, the hydrophilic core containing a water-soluble ultra high molecular weight polymer diffuses back into the water phase and with dissolving in this phase, dramatically increases viscosity of flooding water in the neighborhood of the water-oil interface. In this study, two different... 

IN738LC is one of the superior nickel base superalloys utilized at high temperatures in aggressive environments. However, experiencing high temperatures and stresses during service causes microstructure deterioration and degradation of mechanical properties in this alloy. To restore the microstructure and mechanical properties of the degraded alloy, rejuvenation heat treatments can be considered. In this study, the evolution of microstructural features in a creep damaged IN738LC superalloy during different stages of rejuvenation heat treatment cycles was investigated. During solution treatment stage, dissolution of coarsened γ′ precipitates, grain boundary films and transition zone around... 

The present study investigates the evolution of γ′ precipitate microstructure in a creep damaged IN738LC superalloy during different stages of rejuvenation heat treatment cycles. Dissolution of coarsened γ′ precipitates in the creep damaged alloy occurred during different solution treatments. The precipitates that did not dissolve completely during solution treatment and those formed during subsequent cooling were considered to be as remnant and cooling precipitates respectively. It was found that higher solution treatment temperatures result in lower volume fraction of remnant precipitates and further formation of cooling precipitates. Slower cooling rates after solution treatment gave the... 

This paper reports on the development of conductive porous scaffolds by incorporating conductive polyaniline/graphene (PAG) nanoparticles into a chitosan/gelatin matrix for its potential application in peripheral nerve regeneration. The effect of PAG content on the various properties of the scaffold is investigated and the results showed that the electrical conductivity and mechanical properties increased proportional to the increase in the PAG loading, while the porosity, swelling ratio and in vitro biodegradability decreased. In addition, the biocompatibility was evaluated by assessing the adhesion and proliferation of Schwann cells on the prepared scaffolds using SEM and MTT assay,... 

The classification of different organisms into subtypes is one of the most important tools of organism studies, and among them, the classification of viruses itself has been the focus of many studies due to their use in virology and epidemiology. Many methods have been proposed to classify viruses, some of which are designed for a specific family of organisms and some of which are more general. But still, especially for certain categories such as Influenza and HIV, classification is facing performance challenges as well as processing and memory bottlenecks. In this way, we designed an automated classifier, called PC-mer, that is based on k-mer and physicochemical characteristics of...