Sharif Digital Repository

In this paper, a mobile manipulator is developed and studied in order to manipulate the complicated objects and navigate in an indoor environment. The arm consists of an actuator that makes the first linkage to move in two degrees of freedom in the first step of the task. In the next mode of the task, another actuator causes the second linkage to move in the third degree of freedom. In addition, the arm contains a gripper that grabs a variety of objects such as a screw. Therefore, the robotic arm can manipulate objects, and the mobile robot connected to the arm can detect, classify and track targets in its surrounding. Results carried out that the manufactured robot is able to manipulate and... 

In this study, Cu-TiC nanocomposites were produced by high energy ball milling of elemental powders and in-situ formation of TiC in the copper matrix. Cu-40wt% Ti powder mixture were milled for 60 h, then graphite powder was added, subsequently milling was continued for further 10 h. Based on theoretical calculations, at this composite, the amount of TiC as reinforcement should be 60.25vol% (45.47wt%). The effect of milling time on solution progress of titanium in the copper lattice was studied by X-Ray diffraction analysis (XRD) with CuKα radiation. Considering XRD of Cu-40wt%TiC after 60 h milling data and Williamson-Hall relation, crystallite size and lattice strain of copper were... 

Finding the most suitable location among some alternatives is one of the most important factors which could affect the whole success of the construction of a facility. The facility site selection is a multiple criteria decision making (MCDM) problem including both quantitative and qualitative criteria. Due to some difficulties in many real life cases, defining the exact values for MCDM problems is almost impractical and, it's preferable to use fuzzy values (fuzzy numbers) in this type of problems. In this study, we try to determine a suitable location for a Sewage Treatment Plant by using a new fuzzy weighted average (FWA) method. For this aim, ten different criteria is defined and then, by... 

The electric assist control strategy is one of the well-known methods for managing the power sources of hybrid electric vehicles. Because of the dependence of the electric assist control strategy approach on its parameters, optimization of this strategy can improve its performance, which results in lower fuel consumption and lower emission levels. However, one of the main concerns about optimization of this strategy is its dependence on the driving behaviour. This paper aims to propose a new control strategy based on the electric assist control strategy with a smaller number of control parameters and less dependence on the driving behaviour. This strategy is usable only for vehicles equipped... 

One way to reduce vehicles' fuel consumption (FC) is to optimize different parts of its powertrain. Among different modern powertrains, continuously variable transmission (CVT) is one of the common types which changes speed ratio between engine and wheels, continuously. Therefore, the CVT allows the engine to operate at its fuel-optimal speed. Due to the limited power transmission capacity and speed ratio range of the CVT, researchers attempted to combine the CVT with a planetary gear train and a fixed ratio mechanism. This mechanism is called infinitely variable transmission (IVT). In this study, a multi-speed gearbox (MSG) is used in the IVT and its impact on the powertrain performance and... 

This paper studies unamped oscillations of fractional-order Duffing system. Stability theorems for fractional order systems are used to determine the characteristic polynomial of the system in order to find the parametric ranges for undamped oscillations in this system. We also derive relations for estimating the frequency and the amplitude of the oscillations in this system using a describing function method. Finally numerical simulation results are provided to justify the analysis  

This paper deals with the existence and the characteristics of the limit cycles in the fractional-order Arneodo system. The analysis is done using the describing function method. Our focus is on a special case where two limit cycles exist. The parametric range for the case of interest is derived, and the frequency and the amplitude of the oscillation are predicted. Numerical simulation results are presented to further demonstrate the reliability of the analysis  

This paper studies undamped oscillations of fractional-order Duffing system. Stability theorems for fractional order systems are used to determine the characteristic polynomial of the system in order to find the parametric ranges for undamped oscillations in this system. We also derive relations for estimating the frequency and the amplitude of the oscillations in this system using a describing function method. Finally numerical simulation results are provided to justify the analysis  

As steel plate shear walls are typically used in the building central cores around the elevators and stairs, introduction of an opening as door seems to be inevitable in steel plate shear wall spans. Due to the weakening of the steel plate shear walls’ performance caused by this particular type of opening, the use of stiffeners around the opening is necessary. Nevertheless, introduction of stiffeners around all sides of the opening, which does continue to boundary elements, is very expensive and inefficient. Therefore, the study on the effect of different arrangements of stiffeners on the behavior of steel plate shear walls is significant. In this research, a number of steel plate shear... 

In this study, a combination of energy and exergy analysis is applied for the industrial sulfur recovery unit (SRU) in commercial simulation software. The data of energy and exergy are obtained from the simulator and Excel (for physical and chemical exergy), respectively. In doing so, five intensified SRU configurations namely: (1) hot gas bypass (2) acid gas bypass (3) inlet stream preheating (4) acid gas enrichment and (5) oxygen (air) enrichment are compared in terms of energy production, reaction furnace temperature, sulfur recovery and pollutant emission into environment. Then, irreversibility in these five arrangements is compared and all the proposed methods show higher useful exergy... 

In overlay networks, the mechanism of a peer randomly joining and leaving a network, causes a topology mismatch between the overlay and the underlying physical topology. This causes a large volume of redundant traffic in the underlying physical network as well as an extra delay in message delivery in the overlay network. Topology mismatch occurs because overlay networks are not aware of their underlying physical networks. In this paper we present a mathematical model for topology awareness of overlay networks (degree of matching between an overlay and its underlying physical network) and the efficiency of message delivery on them. Then we experimentally show that the model is precise in the... 

The minimum linear arrangement (MINLA) is a NP-hard problem in general. But there are some classes of graphs optimally solvable in polynomial time. In this paper, we solve the minimum linear arrangement problem for a new class of graphs (Chord graphs) in polynomial time. Also, we present a closed formula for the cost of optimal arrangement. Our motivation to solve the problem for this class of graphs is its application in optimization of peer-to-peer overlay networks. © 2008 Elsevier Inc. All rights reserved  

In peer-to-peer (P2P) overlay networks, the mechanism of a peer randomly joining and leaving a network, causes a topology mismatch between the overlay and the underlying physical topology. This causes a large volume of redundant traffic in the underlying physical network as well as an extra delay in message delivery in the overlay network. Topology mismatch occurs because overlay networks are not aware of their underlying physical networks. In this paper we present a mathematical model for topology awareness of overlay networks (degree of matching between an overlay and its underlying physical network) and the efficiency of message delivery on them. We also after determining the... 

Land cover classification is one of the most important applications of POLSAR images. In this paper, a hybrid biogeography-based optimization support vector machine (HBBOSVM) has been introduced to classify POLSAR images of RADARSAT 2 in band C acquired from San Francisco, USA. The main purpose of this classification is to minimize the number of features and maximize classification accuracy. The proposed method consists of three main steps: preprocessing, feature selection and classification. As preprocessing, radiometric calibration, speckle reduction and feature extraction have been performed. In the proposed HBBO, the combination of onlooker bee of artificial bee colony (ABC) and... 

The effects of the entanglement of the inflaton field which initially entangled with those of another field on observables like power spectrum are known in the context of the Schrödinger field theory. To clarify this effect in the Heisenberg picture, there were some attempts to construct the initial entangled state by making use of an entangled transformation (like Bogoliubov transformation) between the Bunch-Davies vacuums and squeezed states. We study the role of the time-dependent entangled transformation in the Schrödinger field theory. We derive the relation between two vacuum states which their mode functions are transformed by the entangled transformation in Schrödinger picture. We...