Sharif Digital Repository

Cable-driven robots are referred to as parallel robots actuated with cables. In fact,in such robots rigid links are replaced by cables, which may be extended to desired lengths without making mechanism much heavy. This robot possesses a number of unique properties that makes it suitable for many industrial applications. The main factor which makes cable robots analysis different from other parallel robots is the incapability of cables to push objects. Hence, obtaining the workspace of a cable robot is one of the most important subjects associated with this type of robot.The goal of this thesis is to design a spatial translational cable driven robot, which may be used for object handling. For... 

Uncertain fuel prices and also global climate changes are accompanied by some state initiatives such as renewable portfolio standards (RPS). This has caused a fast growth in the amount of renewable energy installed worldwide especially wind energy over last decades. However, the intrinsic characteristics of wind farms output power, i.e. intermittency and volatility of wind speed along with being non-dispatchable in output generation of wind turbine raises many new technical and financial challenges for power system operators and planners. Up to these issues, large level of wind power penetration causes a growing concern in wind energy curtailment issue which the wind farm’s operator may be... 

In recent decades the use of FRP materials for strengthening structures has been developed extensively, thanks to their high strength, sufficient stiffness, high durablity, and ease of use. A great deal of research has been conducted on strengthening reinforced concrete beams and columns with FRP composites. By contrast, not many researches are performed on slabs, especially two-way slabs. In these few researches, the loading and boundary conditions are limited to simplest ones. Therefore, in this thesis, the focus of attention is on strengthening reinforced concrete slabs under various loads and boundary conditions using FRP composites.
In this thesis, first, FRP composites and their... 

One of the key subjects in the area of mathematical optimization is a class of problems known as combinatorial optimization. We can find the optimal solution of continuous optimization problems feasible in time. But, in combinatorial optimization, we aim to obtain the optimal solution of the problem over a finite set. These problems are NP-hard and no polynomial-time solution has been proposed for this class of problems so far. Thus, in practical scenarios, we often use heuristic methods for solving NP-hard problems. There are lots of heuristic methods and choosing the best one in different situations might be challenging. In recent years, with the advances in deep neural networks,... 

Access to global memory is one of the bottlenecks in performance and energy in GPUs. Graphical processors uses multi-thread in streaming multiprocessors to reduce memory access latency. However, due to the high number of concurrent memory requests, the memory bandwidth of low level memorties and the interconnection network are quickly saturated. Recent research suggests that adjacent thread blocks share a significant amount of data blocks. If the adjacent thread blocks are assigned to specific streaming multiprocessor, shared data block can be rused by these thread blocks. However the thread block scheduler assigns adjacent thread blocks to different streaming multiprocessors that increase... 

Design of complex systems requires different challenges to be met simultaneously. Yet the current methods lack a sound theoretic framework and thus designers normally rely on heuristic or empirical methods; based on available experiences. Such approaches to the system design entail both technical and business risks and subsequently increase the probability of long-term problems. In this research, along with the theoretical framework of the systems design concepts, we discuss number of important models. The main concentration of the work, however, is to; somehow, correlate Axiomatic Design Matrix (ADM) with Design Structure Matrix (DSM). Here we exploit mathematical model based on sets and by... 

Graphene is a one layer atom thickness and zero energy gap so for using it in nano electronic and transistors baised on graphene it's energy gap should be opened.one of the methods for opening graphene band gap is creating nano scale boundaries or synthesize graphene nanoribbons. One of the new methods for graphene nanoribbon synthesize is longitudinal opening of carbon nanotube. In this thesis graphene nanoribbons synthesize with this method and analyze with AFM and Raman spectroscopy. Carbon nanotubes also have energy gap and IR absorption recently they used for living cell destruction. In this thesis we synthesize graphene nanoribbons and analyzing their optical absorption and use it for... 

TiO2 is known as a photocatalyst in near UV-Visible light region with better efficiency compared to other semiconductor photocatalysts. Many attempts have been done to increase the efficiency of this photocatalyst. also, application of 2D carbon nanostructures namely graphene for increasing the photocatalytic activity of TiO2 has shown positive results.
In this research, we first synthesized Graphene Oxide (GO) suspension by exfolation of graphite oxide suspension. then we fabricated TiO2 thin films on glass substrates by so-called sol-gel method. finally we fabricate Graphene Oxide/TiO2 nanowalls composite films as a photocatalyst in visible light. X-ray photoelectron spectroscopy... 

WO3 is known as a photocatalyst in the visible light region, but with lower efficiency compared to more interesting semiconductor photocatalysts such as TiO2 and ZnO. Many attempts have been done to increase the efficiency of this photocatalyst by incorporating metal and metal oxide nanoparticles or recently carbon nanotubes.On the other hand, application of graphene, as an unrolled carbon nanotube, for increasing the photocatalytic activity of TiO2 and ZnO has shown positive results. Furthermore, it was reported that such semiconductor photocatalysts (and very recently WO3) can photocatalytically reduce the chemically exfoliated graphene oxide sheets under UV-vis irradiation.
In this... 

Graphene nanogrids fabricated by graphene nanoribbons obtained through oxidative unzipping of multi-walled carbon nanotubes, used as two-dimensional selective templates for accelerated differentiation of human mesenchymal stem cells (hMSCs), isolated from umbilical cord blood, into osteogenic lineage. The biocompatible and hydrophilic graphene nanogrids showed high actin cytoskeleton proliferations that coinciding with patterns of the nanogrids. The amounts of proliferations found are slightly better than proliferation on hydrophilic graphene oxide (GO) sheets, and significantly higher than non-uniform proliferations on hydrophobic reduced graphene oxide (rGO) sheets and polydimethylsiloxane... 

Knowledge Based Firms are considered to be important for the economic development of a country in regards to both employment growth and innovative activity. The latter is believed to contribute significantly to the increase in productivity and therefore the competitiveness of Iran’s economy. This study contributes to the above literature by investigating the factors that are believed to treat the growth of such firms in Iran. The purpose of this study is to identify functional risks of vital signs monitors via Fault Tree Analysis (FTA) method to use as a guide for manufacturers to identify and control hazards. Therefore, 30 knowledge based firms were selected as sample. Then, based on a... 

One atom thick layer of pure carbon in bonded and hexagonal lattice is named graphene. graphene has unique mechanical, optical, thermal and electrical properties and because of these properties has grabbed attention. graphene has been made from high pure graphite by different methods such as CVD(chemical vapor deposition) , chemical exfoliation , micromechanical cleavage and colloidal suspension. through these methods, green methods for synthesis of graphene, using eco-friendly reductants during synthesis of graphene instead of hydrazine and recently using waste(not graphite) are attractive for synthesis of graphene. Following this idea , a group has produced graphene from wastes such as... 

Graphene is a two dimensional lattice which is created from carbon atoms. Having special feature, it has such various medical usage, for example in diagnosing and treating cancer. Adding a particular factor to graphene could improve their efficiency. In comparis on with graphene itself, graphene oxide and reduced graphene oxide are much more successful in diagnosing and treating than others because of their higher hygroscopic. Recent studies state that hydrogenized combinations including hydrogenized graphene show desired results. Due to its higher hygroscopic and the possibility of adherence to the cells, hydrogenized graphene could be very effective in diagnosing and treating the sarcomas.... 

This study discusses about mass customization and optimization of supply network in which both goal considering to set the flow of raw material and final product to satisfy the customer demand. The mass customization is more important concept in this study, so that this goal is placed to the first objective. In this research, the model which contained both goal is presented. The model focus on mass customization and try to satisfy various products demand, which constitute 3 kind of speed demands. Each product can satisfy in 3 way: fast, normal, slow.In the first model the new approach present in which the speed affects all of supplying, manufacturing and distributing system. The system try... 

Graphene oxide is a single sheet of Carbon atoms which has been arranged on a two-dimensional honeycomb lattice. Functional groups such as epoxy, carboxyl and carbonyl are located on basal plane and at the edges of graphene oxide and they localize electrons on the surface of graphene oxide and open band gap in its band structure. Pure graphene has zero band gap, so existence of fluorescence properties is unlikely; but graphene oxide has fluorescence properties due to band gap in its band structure. Fluorescence properties of graphene have been used in live cell imaging and drug delivery, so study and increasing of fluorescence properties is significantly important. The purpose of this... 

The Internet is often used for communication-based applications such as online banking, stock trading, and shopping where service interruption is unacceptable. Thus, analysis of the impact of the failures of hardware, software, and related services’ performance quality of the service provided to users is of importance to designers and managers in these functions. In this study, we developed a strategy to the design of a dynamic combination of file servers with the aim of providing reliability and SLA. At first, we examine the reasons for the violation of service level in file host services and datacenters, and then we introduce the criteria to measure the violation of service level on the...