Sharif Digital Repository

Today, robots have been widely used in various tasks. Swarm robots are the focus of many researchers because of their low cost and their flexibility. However, due to the nature of dynamics in water and locomotion systems in it, very few of them have been developed. Applications of Swarm Robotics at sea include: the formation of temporary sea bridges, the collection of marine litter, assistance to large ships for maneuvering in ports, and carrying of oceanographic sensors. Therefore, the purpose of this study is to design a system for self-control and autonomy of unmanned surface robots with the ability to connect and carry objects. First, the robot was modeled according to its hydrodynamic... 

One of the most important concerns in food industry is decreasing the contamination of food and increasing their shelf life. Antimicrobial/antioxidant packaging, an active packaging concept, can be considered an extremely challenging technology that could have a significant impact on shelf-life extension and food safety of meat and meat products. Due to harmfulness of chemical preservatives, their use has been limited and therefore natural antimicrobial/antioxidant agents have become more popular. Propolis is a natural resinous substance, with a high polyphenol content, produced by honeybees and characterized by antimicrobial, anti-inflammatory and antioxidant properties, which make it... 

A Polygonal finite element method without conforming mesh was introduced by the authors for modeling large deformation elastoplastic problems. In this method, the geometry and interfaces of the problem are modeled on a uniform mesh. The boundaries are defined on the uniform background mesh using the level set method. Different polygonal elements will be created at the intersection of the interface and the uniform mesh. Polygonal element shape functions are used for the interpolation. In this paper, the capability of this polygonal finite element approach for modeling large deformational frictionless dynamic contact-impact problems is investigated. Contact interfaces are modeled independent... 

In this thesis, manganese oxide nanoparticles with about 5 nm size were synthesized via solvothermal to maximize surface and active sites for proton relaxation. The synthesized nanoparticles were coated with gentisic acid to acquire suitable colloidal stability and biocompatibility. The nanoparticles showed low cytotoxicity in MTT assay. Electrosteric mechanisim was employed for colloidal stability. This mechanisim doesn’t need high surface charge and thick coat which are vital for particles functionality. Then by cell culture eliminating and adding protamine sulfade, nanoparticles uptake were increased tremendously. In this thesis for first time Prussian blue was utilized for staining... 

Diseases such as cancer lead to extensive conversion in the biological structure of cells. These conversions can overshadow cell function. The dynamics of a cell directly depends on how it interacts with other cells and the extracellular environment. Most of these interactions are associated with the occurrence of mechanical phenomena and are due to forces that the cell has experienced. Cell mechanics manifests itself in the Mechanotransduction, the ability of a cell to sense and respond to external forces. Cancer alters the mechanical properties of the components of the cytoskeleton. Understanding the biomechanical behavior of cells and cytoskeleton can play an important role in early... 

In photocatalitic activity of titana an effective approach to achieve high charge separation efficiency and high level of sensitivity under visible light is coupling it with another semiconductor with smaller band gap and appropriate banding energy structure. achieving all mentioned above, we used bilayer structure and coupled TiO2 with hematite which its small band gap(Eg ~ 2.1 ev) is sensitive to visible light. Bilayer systems of TiO2/Fe2O3 , Fe2O3/TiO2 were fabricated by sol-gel process and variable parameter was upper layer thickness. The layers were deposited on glass substrate via sol-gel process. The upper layers were prepared in different thicknesses in two ways. First, they... 

Recently, quasi 1D (Q1D) structures of materials such as nanowires, nanorods and nanobelts with high surface to volume ratio (A/V) and small grain size devoted an extensive part of researches. This is due to their unique properties and thus various applications in manufacturing of nanometric devices. Niobium pentoxide (Nb2O5) as semiconductor with wide bandgap has been applied in various fields including: electrochromic devices, gas sensors, anti-reflective coatings, capacitors, photocatalysts , field emission and recently; antibacterial systems. In this project , initially niobium thin films was deposited on Si(100) substrate using RF magnetron sputtering method and then niobium oxide... 

Modeling the water flow in cohesive fracture is a fundamental issue in the crack growth simulation of cracked concrete gravity dams and hydraulic fracture problems. Discontinuities in porous materials such as concrete, soil and rock have important role on the mechanical and hydraulic behavior of a multiphase system. The creation and propagation of discontinuities, such as cracks in a multi-physics system, lead to a complex non-linear coupled problem with continuous topological changes in the domain.In this study, a mathematical model is presented for for the analysis of dynamic fracture propagation in the saturated and semi-saturated porous media. The solid behavior incorporates a discrete... 

Entanglement spectrum is the set of eigenvalues of reduced density matrix for a definite state. It contains more information than the entanglement entropy. This spectrum can show entanglement measure, quantum phase transition and topological order in a system. In recent years, the entanglement spectrum for several models has been studied. The entanglement spectrum shows a correspondence to the energy spectrum within some specific regions, which are related to the edge state of the system; It has been verified for the Heisenberg ladder [1] and fractional quantum Hall effect [3]. Moreover, the topological order can be seen in the entanglement spectrum. There exists an acceptable adaption... 

Gesture and motion evaluation are needed for a variety of applications. The use of human hand motions as a natural interface tool has motivated researchers to conduct research in the modeling, analysis and evaluation of various hand movements. In particular, human-computer intelligent interaction has been a focus of research in vision-based gesture recognition. In this work, we introduce a 3-D hand model evaluation method that offers flexible and elaborate representation of hand motion. We used landmarked points on tips and joints of the fingers and calculated the 3-D coordinates of these points through a stereo vision system followed by an HMM (Hidden Markov Model) to recognize hand... 

International Data Company (IDC) has reported, at the end of 2020, the total amount of digital data stored in the entire world will reach 40 thousand Exabytes. The idea of accessing this volume of data, anywhere at any time by exploiting commodity hardware, led into the introduction of cloud storage. The abounded rate and variety of failures in the equipment used in cloud storage systems, placed fault tolerance, at top of the challenges in these systems. HDFS layer in Hadoop has provided cloud with reliable storage. Replication is the conventional method to protect data against failures in HDFS. But the storage overhead is a big deal and therefore designers are tending towards erasure codes.... 

Internet of Things (IoT) is a communicative infrastructure, which establishes IP-based connections between many smart devices with limited energy supplies. The gathering of such an enormous number of connected devices would impose many challenges, with routing the most important issue. Standardization of the IPv6 Routing Protocol for Low-power and Lossy Networks (RPL) was a major step towards fulfilling the IoT routing requirements. The key element in determining the routing policies and creation of the topology in RPL is the objective function. According to our studies, more than 97% of the consumed energy of a node in wireless networks is due to transceiver activities. On the other hand,... 

In this project, two types of graphene obtained from chemical and chemical vapor deposition (CVD) methods were studied for gas/vapor sensing applications . In chemical method, oxidation and exfoliation of graphite was performed in liquid phase. AFM, XPS, Raman spectroscopy and Uv-visible spectroscopy were indicated that single layers synthesis of graphene oxide (GO) sheets was formed successfully. Reduction of the GO to reduced graphene oxide (RGO) was chemically done by hydrazine as a conventional reducing agent and melatonin as a green alternative. Photocatalytic reduction and hybridization of GO with TiO2 was also studied. TEM, SEM and AFM analyses confirmed nucleation and growth of TiO2...