Sharif Digital Repository

One of the problems in vessels is the marine oscillations that occur due to the collision of sea waves with the vessel. These oscillations in small yachts can cause passengers to seasick upside down and overturn objects in the boat, or in industrial ships can cause problems in the operation of cranes on vessel, and in military vessels can cause errors in targeting weapons and radar systems. The purpose of this research is to design and simulate a robotic compensating table that can actively compensate the vessel fluctuations by using control algorithms in three directions of Roll, Pitch and Heave and create a level that can be used in Medium-sized boats were used to eliminate harmful... 

A high percentage of patients with lower extremities disability are consist of paraplegic patients, hemiparetic patients, spinal cord injuries and chronic stroke patients. Currently, a variety of methods are developed and being used for gait rehabilitation of these patients. Recently, beside physiotherapy and different types of exercises, gait trainers are used to help patients to obtain their walking abilities. The main goal of this work is to modeling, analysis and comparison of two different types of power transmission system for a gait training robot. A familiar gearbox and a cable mechanism for power transmission are studied and mechanical impedance and accuracy of systems in... 

The main objective of this project is to take the first step in designing torsional vibration damper (TVD) for engines in Iran. To this end a complete dynamic model of a 4 cylinder internal combustion engine comprising of all reciprocating parts plus the crankshaft was developed using Bond Graph method. Real firing data of the engine was used as input to the system and output torque to gearbox shaft as the output. The system equations in two cases, with TVD and without TVD were derived. MATLAB software was used to solve these equations in finding the quality of performance of the torsional vibration damper. Dynamic properties of crankshaft and designed TVD were obtained using finite element... 

One of the important experiments on satellites and their components is testing of their resistance to shock wave known to pyroshock. Pyroshock is transient response of a structure to a high frequency and high acceleration shock wave that is created by the action of a member of pyrotechnics in the satellite structure. This research is for design, construction and calibration of a pyroshock simulator apparatus which is done with specific requirements and aims. For this purpose, in first step an experimental test is done and validation of computer simulation is obtained by using results of test. By use of computer simulation tool, new design is presented. After constructing the apparatus and... 

Swaying is an unfavorable phenomenon in moving suspended loads. So, cranes are usually equipped by anti-sway controllers. In this thesis, various controllers have been applied to a prototype of gantry crane system with various control inputs, and their competency has been assessed. First, a 2-DOF model has been introduced. This model contains a trolley and double pendulum with variable length attached to it. Then, it has verified by two approaches: first is comparing with simplified equations of model with flexible cable; and second is comparing with behavior of simulated system by Visual Nastran software. Next, a SISO linear controller has been designed for container cranes and applied to... 

In This project the most important phenomena for design of Vibration Isolation Module is investigated and modeled. These isolators are used in mooring Arrays. One of the most important problems in design of these isolators is lacking of suitable information in resources. Vortex Induced Vibration in Towed Cable and Flutter of Drogue are the most important source of vibrations. They are modeled and frequency band for a typical Sonar Array is calculated. Then by investigating of Normal and Tangantional Vibration in towed cables, it was found that normal vibration is damped, so the Isolators must be damped transactional vibrations. Before final design, for better understanding of the problems... 

Due to enhancements in medical world, some medical instruments have been developed in order to assist surgeons. Navigation systems as one of the progressive ones make a virtual environment to simplify the surgeons. Three-dimensional registration is a necessary step through these systems and widely used in shape analysis, surface representation, and medical image-aided surgery. In addition, It’s relevance to medical imaging is that there is much useful anatomical information in the form of collected surface points which originate from complimentary modalities. In this study, the kinematic relations between two point clouds with different coordinate definitions have been generated. Using... 

Human walking is widely recognized as one of the most adaptable and robust forms of locomotion in nature, with intricate neural and biomechanical systems interacting to support this complex behavior. It is proposed that these systems are organized in a hierarchical structure, with the lower level comprising a complex distributed system consisting of muscles and the spinal cord, and the higher level being the brain cortex. The higher level is responsible for training and monitoring the output of the lower level, and intervening when the lower system fails to stabilize the system. To control the lower level, one popular model that has emerged is the central pattern generator (CPG). It is... 

One of the most important methods of controlling discharge in water industry which is widely used in irrigation, water distribution, waste-water engineering, drainage, flood control and other water related projects, is side weir. The hydraulic behavior of flow over side weir is spatially varied flow with decreasing discharge. Various investigators have related the weir discharge coefficient as a function of main channel upstream Froude number and the fraction of weir height to upstream depth . Performance of sharp crested side weirs with extended length (as labyrinth side weir with asymmetric geometry) has been studied in this thesis. The variables for this study are height of weir ,... 

Air enterance in to flowing water is something that is commonly seen in the water conveyance systems. The mixture of Air and water that flow together create a kind of flow that is called two phase flow. This kind of flow is often seen in culverts and water conveyance systems. There are different flow patterns in two phase flow. Considering pressure fluctuation, pressure drop and pressure recovery, slug flow pattern is the most complicated pattern among all.
Sometimes a singularity is used in a tunnel; one of the singularities that are frequently used in water conveyance system is expansion transition. In this study an experimental setup is used to model two phase slug flow, which passes... 

Local scouring at the downstream of sluice gates in the erosive beds is one of the main concerns of hydraulic engineers because of the significant damage that it can cause to the hydraulic structures. It is important to control the local scour depth at downstream of hydraulic structures to ensure safety operation of these systems. Many researchers have conducted various studies to predict the maximum depth and diameter of scour hole and develop new methods in order to control this phenomenon. One way to overcome this problem is the use of apron, or non-erosive bed. In order to shorten the apron length or decrease the effect of the... 

It is well known that arrays of antennas make it possible to steer the radiation pattern without steering a physical structure. For the past few decades this has been considered for many civil and military communication systems. Recently, ultra-short pulses are considered for high resolution radars and ultra-wideband communication systems. Systems with short pulses and large antenna arrays may benefit from high resolution in both temporal and spatial domains. But the implementation of the ultra-wideband feeding circuits for such antenna arrays is a hard job even with state of the art electronics. Optical technology has been applied, successfully, to a number of radio applications such as... 

Sharp crested weirs are one of the main and oldest means of measuring discharge in water conveyance systems. Many studies have been done on sharp rectangular weirs and have provided many relationships regarding the effect of geometric parameters and various factors on discharge coefficient of the weirs.In some places, due to existence of obstacles or barriers in the channel, it is impossible to create a symmetrical continuous weir some other cases,multiple or asymmetric weirs should be used, which is the main concept of this project.Since it seems unlikely that a purely mathematical model can review the impact of the multiplicity and asymmetry of these weirs without using empirical... 

High-power (108 – 109 W) RF pulses with a carrier frequency of C band and a duration of several oscillation periods can be produced through direct energy conversion of a travelling high-voltage pulse with the use of nonlinear elements.
Nonlinear transmission lines consist either of lumped nonlinear elements and provide spatial dispersion of excited oscillations or of elements uniformly distributed on a certain line segment. The first type of NLTL’s can be referred to NLTL’s with spatial dispersion. The second type of NLTL’s is ensemble of nonlinear oscillators with a characteristic natural frequency and temporal dispersion. In the first case, the duration of electromagnetic pulses is... 

During 1980s Additive Manufacturing technologies for the purpose of prototyping with fast and less expensive, under the name of Rapid Prototyping was invented. But nowadays under the vast progress made in this field, it possesses a notable place in different industries such as automobile manufacturing, aerospace, architecture, medicine and so on for part manufacturing. In all AM machines, the CAD model design part is manufactured by adding layered to each other. In this research, at first by explaining manufacturing process and current different technologies, the place of this manufacturing process in today and future industry, is analyzed. For discussing replacement of this method instead... 

If the size of the conventional telecommunication antennas -that are widely used in transmitting broadcasted radio and TV messages- is reduced by a nanometer size these antennas can be used at optical frequencies. Dimensions of these optical nanoantennas -that made of nanoparticles with highly permittivity- can be smaller than half of the wavelength. Based on this capability, optical nanoantennas have some important applications such as optical communication, photovoltaic devices, non-classical light, and optical sensing. After studying on optical nanoantennas and their features, in this project, we present distinctions between optical NAs and MW antennas and then investigate about different... 

The Deep Fading Effect is a destructive factor in communication systems, one of the solutions to eliminate it is the use of Diversity, and there are two types of indicators of Diversity, Spatial Diversity and Polarization Diversity. Spatial Diversity is a common method to reduce the Fading Effect while increasing the cost and increasing the volume of the communication station, which to optimize the cost and reduce the volume of the communication station, the Polarization Diversity Structure is added to the telecommunication system. To apply Spatial Diversity, several Antennas with different Polarizations are used, which The most common method in mobile telecommunication station systems is... 

Cloud computing has brought about many changes in the new business arena. These changes do not only include technological changes, but have penetrated the business models of many companies. For example, in recent years, many companies have migrated from their former systems to cloud computing for reasons such as easy and low-cost access to high-performance hardware and software systems, and to avoid maintenance and repair costs and security costs.Due to the economic conditions in recent years and the high cost of electronic items, the criterion of purchase price has become much more important than in the past among people when buying such goods. Now in the Iranian electronics market,...