Sharif Digital Repository

Rehabilitation usually involves physical therapy, occupational therapy and counseling for the patient's morale to help to restore his power and performance. Considering the economic outlook and the costs of rehabilitation methods and due to the increasing prevalence of stroke and the need to recover the patients in a short period, only the use of robotic systems opens the door to the medical community. Since a large rehabilitation robots designed and built and each been used according to their advantages and shortcomings. In this project, the major shortcomings examined and exoskeleton designed on two major features including portability and covering shoulder workspace. Shoulder movement was... 

Rehabilitation science has been proved that, in most cases, manipulation of injured body part, repeatedly, can help in returning the performance of that part. So robots can be useful for rehabilitation applications. Rehabilitation robots can record physical parameters such as position, velocity and force, so can play important role in developmentof making decisions on exercise types. Among the existing robots, cable-driven robots have specifications such as vast workspace, low cost, flexibility and light weight which make them suitable for rehabilitation applications.
The purpose of this research is kinematic design of a multi-link cable-driven robot for arm rehabilitation.In the most of... 

Dynamic positioning system is a controller system used to maintain the position and heading of a vessel with no use of anchors, jack ups but only using the propellers installed on the vessel. A vessel has six degrees of freedom, including three rotations and three transfer. In dynamic positioning systems, the vessel is controlled only on the horizontal plane such that its position and heading are controlled according to predetermined values. To achieve this, position and heading of the vessel is determined and the controller system computes the direction and required power of each propeller. Preliminary systems utilized PID controllers. As the control science has advanced, model based... 

Traffic accidents around the world kill a large number of people every year, and their lightest consequences are temporary disabilities for citizens. According to the statistics, the number and severity of accidents have been growing, due to the expansion of cities and the human population there, and this increases the need to pay attention to traffic safety. One of the substantial subcategories of traffic safety research is public transportation. However, limited studies have been done in this field. One of the main modes of public transportation are buses, which bring more risk of accidents to passengers, due to their size and higher passenger capacity compared to passenger vehicles.... 

Among motorized vehicles, motorcycles are recognized as a common mode of transportation in countries with low to moderate income. Iran is also one of the countries where motorcycles are considered a primary means of transportation. However, in recent years, motorcycle accidents have sharply increased, with 30 percent of accidents in Iran involving motorcycles. This highlights the importance and necessity of taking measures to enhance safety and reduce motorcycle accidents in Iran. In this study, data on intercity motorcycle accidents in the provinces of Khorasan Razavi, Isfahan, Qom, Mazandaran, Gilan, Hamedan, Hormozgan, and Ilam were used. The main objective was to identify and compare the... 

Because of severe weather events (such as floods and storms), transportation infrastructures are directly and indirectly damaged, which may cause many undesirable economic and social losses for people and cities. Among various severe events, flood is known as an important factor in the breakdown (closure of roads and bridges) of the components of the transportation network. Evaluating the performance of the city's road transport network against flood events leads to a better understanding of the network's condition and allows decision-makers to identify the weaknesses in the system and reduce potential damages as much as possible. In this research, with the aim of investigating the... 

In this research, a dashboard has been developed to support decision-making in the integration of freight companies. Freight companies usually consist of a limited number of vehicles due to the high cost of vehicles, while the fixed costs of a freight company constitute a significant part of that company's total cost. Therefore, if these companies are merged, their total cost will be substantially decreased. Moreover, under particular demand levels, the integration of freight companies reduces the mileage, travel time, and the number of required cars. Therefore, the integration of freight companies not only reduces fixed costs but also reduces other costs including greenhouse gas costs by... 

Various public transportation types, e.g., Trains, Buses, and Airplanes, are susceptible to damages made by the impacts of the external objects, which are typically classified as low to medium velocity impacts. This problem reveals the significance of investigating the effects of impact on thin-walled structures, which are the main components of these vehicles' bodies. Owing to the controllable rheological properties of the Magnetorheological fluid with respect to the magnetic field, it can be utilized to control the structure exposed to impact adaptively and minimize the damages. Due to this purpose, sandwich structures such as sandwich beams and plates, thanks to their extended response... 

In recent years, energy storage systems have received widespread attention from researchers to increase the reliability of the power grid. These systems have different types that compressed air system is of special importance due to its high stored energy and long life. In this system, the surplus of electricity generated from renewable energy sources or grid electricity at low power consumption is compressed and stored in a tank. When there is a need for power consumption or peak power consumption, compressed air will generate electricity by passing through the turbine and will help the network. Large-scale type of the system requires special geographical location for air storage; for this... 

New experimental results are presented for the solubility of carbon dioxide and hydrogen sulfide sulfide in six imidazolium-based ionic liquids included 1-octyl-3-methylimidazolium tetrafluoroborat ([C8mim][BF4]), 1-octyl-3-methylimidazolium hexafluorophosphate ([C8mim][PF6]), 1-octyl-3-methylimidazolium bis(trifluoromethylsulfonyl)-imide ([C8mim][Tf2N]), 1-octyl-3-methylimidazolium trifluoromethanesulfonate ([C8mim][TfO]), 1-hexyl-3-methylimidazolium trifluoromethanesulfonate ([C6mim][TfO]), 1-butyl-3-methylimidazolium trifluoromethanesulfonate ([C4mim][TfO]) at temperatures range from 303.15 to 353.15 K and pressures up to about 2.5 MPa. The solubilities of the mixture of CO2/H2S in... 

Pulse compression techniques such as linear frequency modulation (LFM) and phase-coded pulse are an active research topic in radar systems, spread spectrum communication applications, etc. Pulse compression technique is employed to achieve high range resolution with enough low average power. A problem in pulse compression is masking of small targets by the range sidelobes of large nearby targets. Furthermore, the range sidelobes may be detected as separate targets and thus increase the false alarm. The most popular waveform among pulse compression techniques is the LFM (also known as chirp). However, the LFM waveform is susceptible to electronic warfare; hence using the biphase coded... 

The main scope of this research is to develop an anthropometric lower extremity exoskeleal system in a virtual environment for augmentation purposes. The main challenge in the process of doing this research is to employ the biomechanical analysis of the human locomotion to provide the necessary background information for the design of devices that closely mimic the dynamics of the operator's motion. In this case, the appropriate degrees-of-freedom and associated range of motions for each joint should be determined. In addition, the kind of necessary actuators and measurement systems should be selected based on the muscle torque consumption analysis provided by a musculoskeletal model,... 

Frequency scarcity has emerged the necessity of opportunistic utilization of frequency bands, which can be realized through a cognitive radio system. During an agile communication between unlicensed users, a cognitive radio system must avoid collision with licensed users. Hence it should continuously observe the band of interest and report the presence of licensed user signals. This task is fulfilled by a vital part of a cognitive radio system, called the spectrum sensing core. Recently several techniques have been proposed for the spectrum sensing in literature. Some of them like matched filtering, cyclostationarity based detection are based on primary user signal features. However energy... 

Drop penetration into the capillary tube, as a classical problem, has been studied over 100 years. But there are a few studies that investigate forced impregnation of capillary tubes, which has major application in coating, inkjet printing and rain drop penetration into the soil, have been made. A comprehensive numerical investigation on millimeter droplet impact dynamics on a thick capillary tube with micrometer sized pore is conducted and validated against experimental data. This work is extended to oblique impact of drops into pores and normal impact on nanoscaled pores. We apply the finite volume numerical method to solve the time-dependent governing equations of continuity, momentum in... 

This study seeks to compare the effect of curing conditions in the sea, coast, and middle of the island environment on five mix designs of alkali-activated concrete (AAC) based on ground granulated blast furnace slag (GGBFS) and fly ash (FA) and the effect of the ratio of sodium silicate (SS) to sodium hydroxide (SH) and alkali activated solutions (AAMS) to the binder on mechanical properties. The compressive strength and load-deflection test was conducted to obtain uniaxial compressive strengths (UCS), modulus of elasticity ("E" _"S" ), elastic and ultimate strain, and dissipated energy. The most significant decrease in strength was observed in the coastal area and the sea. Also, the... 

The control approaches in Exoskeletons are different from Autonomous robot. Because the Exoskeletons are in connection and interaction with the user. On the other hand they can use the wearer’s abilities such as intelligence, sensory organs, self-control and etc. Therefore, one of the most important parts of exoskeletons control algorithms is its interaction with the user. This part should recognize the goal and purpose of the wearer such as stopping, walking start, change in stepping and direction and etc. properly. Utilizing these algorithms properly, one can reduce the muscle activities and energy consumption up to 20 percent [1]. This investigations demonstrate the importance of the... 

Intelligent design theory is based on this idea that Darwinian theory of evolution can not explain Irreducibly complexities in organisms. Intelligent design theory in explaining these complexities conclude the existence of an intelligent designer. It is claimed that by remaining officially agnostic about the nature of the designer, intelligent design theory can be offered as a scientific claim, rather than a religious one, which could make it a viable alternative to Darwinism. In this thesis we study sober's point of view on intelligent design. Sober believes that, initially, we shoud present the strongest formulation of intelligent design theory and then evaluating whether this theory is a...