Design, Simulation and Control of a New Tendon Actuated Manipulator With Lockable Joints

, M.Sc. Thesis Sharif University of Technology Honarvar, Mohammad (Author) ; Alasty, Aria (Supervisor) ; Salarieh, Hasan (Supervisor)

Abstract

Hyper-redundant manipulators have large number Degrees of Freedom. Because of their redundancy, such manipulators have the advantage of obstacle avoidance, overcoming singularities and intrusion into highly constrained environments. The most challenging task in designing hyper-redundant manipulators is the synthesis of actuating mechanisms with appropriate kinematics and effective power supply. Most of previous techniques in implementing hyper-redundant robots have the disadvantages of: -Using large number of actuators, -Heavy weight due to large number of actuators, -Complexity of the control system due to need of synchronizing subsets of motors. In this thesis a novel hyper redundant...

Hybrid Switching of Harvesting Energy Systems Based on Peizoelectric Material

, M.Sc. Thesis Sharif University of Technology Tahmasbi, Mohammad (Author) ; Alasty, Aria (Supervisor) ; Salarieh, Hasan (Supervisor)

Abstract

For many low-powered portable and wireless electronic applications the finite energy density of chemical batteries places limits on their functional lifetime. Through the use of energy harvesting techniques, ambient vibration energy can be captured and converted into usable electricity in order to create self-powering systems which are not limited by finite battery energy. Typical energy harvesting systems are composed of two components, a transducer that converts the mechanical vibrations into electrical energy and a power converter that efficiently delivers the harvested energy to the electronic load. The practical design of energy harvesting systems must include both components and...

Modeling and Control of an Electrode Regulation System for an Electric Arc Furnace

, M.Sc. Thesis Sharif University of Technology Bastanikia, Alireza (Author) ; Salarieh, Hasan (Supervisor) ; Alasty, Aria (Supervisor)

Abstract

Rate of steel production in each country could lead us to rate of growth and development of that country. Having magnetite and hematite mines, inexpensive energy and labor, make steel production more feasible in Iran; so using technology to reach efficient production should be considered by clients.
Electrode regulation system controls the main input energy to electric arc furnace, i.e. electrical energy. Using this system could decrease tap to tap time and increase plant productivity. In present study, after brief review of literature, mathematical model for electrical and hydraulic model derived, and then different controllers designed for combination of these models. Results show good...

Orbit Determination of LEO Satellites through Combining the SGP4 and HPOP Methods and Magnetic Sensor Data

, M.Sc. Thesis Sharif University of Technology Sadeghi Boroujeni, Pouria (Author) ; Salarieh, Hasan (Supervisor) ; Alasti, Arya (Supervisor)

Abstract

Once the satellite is in space, it is very important to make sure that it is in its correct and prescribe orbit, along with the appropriate attitude, at any given point of time. Orbit determination and finding the exact position and velocity of a satellite is one of the most important factors in space missions. The purpose of this work is improvement in orbit determination of LEO satellites. In order to achieve this goal, combination of SGP4 and HPOP algorithms with Kalman filter is used. The HPOP algorithm uses from integration of equations of motion for finding the position and velocity of a satellite. So this algorithm is very accurate for the short time propagation, but since it is...

Dynamical Modeling and Control of an XY Nano-Positioner with Flexural Mechanism

, M.Sc. Thesis Sharif University of Technology Heravi, Mohammad (Author) ; Salarieh, Hasan (Supervisor) ; Nejat Pishkenari, Hossein (Supervisor)

Abstract

Nowadays, nano-positioners play an important role in advanced technologies, such as atomic force microscopy, genetic manipulation, nano-metrology, nano-fabrication, semi-conductors and etc.In this paper, a dynamical model has been derived for a nano-positioner. This nanopositioner was designed and fabricated in Sharif university of technology. In this paper the mentioned mechanism has been considered as a planar mechanism. First, a finite element model has been developed in Comsol multi-physics software. This model was used as the reference model in the next steps. Afterward, a 10 degrees of freedom model was proposed to estimate the Comsol model. The mass, stiffness, as well as damping...

Integrated Pricing and Queuing Problem

, M.Sc. Thesis Sharif University of Technology Goodini, Kambiz (Author) ; Shavandi, Hasan (Supervisor)

Abstract

Joint price and service capacity decisions and integrated pricing and queuing problems with finite or infinite buffers are two remarkable issues of pricing research. In this thesis we consider a joint price and service capacity determination problem in a single server, finite buffer queuing system. Customers arrival and serving occur as Poisson processes. Because of finite buffer capacity, customers finding the system full upon their arrival would be rejected. Customers differ with respect to their reservation prices and time sensitivities. This study focuses on investigating the effect of finite buffer capacity and customers reservation prices and time sensitivities on optimal policy and...

Application of Pricing in Flowshop Scheduling

, M.Sc. Thesis Sharif University of Technology Yarali, Safar (Author) ; Shavandi, Hasan (Supervisor)

Abstract

This research considers coordination of pricing and scheduling decisions in a make-to-order environment. We consider a two machine flowshop environment. The objective is to maximize the total net profit, i.e. revenue minus scheduling cost resulting from pricing and scheduling decisions. Prices of orders are set by the manufacturer and demand is a non-increasing function of price. Two mixed integer linear programming models have been developed for the research problem. As the problem is shown to be NP-Hard, a Metaheuristic algorithm is developed which is combination of two tabu search sub algorithms, one for pricing and the other for scheduling. And to evaluate performance, results from...

On The Non-Linear Behavior of Continuous Beam to Column Connection

, M.Sc. Thesis Sharif University of Technology Rahmani, Ahmad (Author) ; Moghadam, Hasan (Supervisor)

Abstract

A special steel beam-to-column connection, named Khor-jini, is commonly used for steel framing system in Iran. In this system, two continuous beams are passed next to the columns and are connected to the column side using seated brackets.This type of connection has been common in Iran from the late past. Unfortunately, the seismic behavior of Khorjini frames had not been sufficiently studied prior to Manjil Earthquake of 1990. Due to very large damages which occurred in steel structures especially in connections during the said earthquake, the seismic behavior of this type of connection was studied and some of its weak points were recognized.In this study non-linear...

Geometrical Optimization of Traction Infinitely Variable Transmission for Minimizing of Rollers Deformation

, M.Sc. Thesis Sharif University of Technology Afzali, Abolfazl (Author) ; Zohoor, Hasan (Supervisor)

Abstract

With intensified concerns of rising fuel vehicles that reduce fossil fuel globally and also prescript strict rules by standard institutes, vehicle manufacturers try to find a way for reducing the fuel of their products. One these methods use a continuously variable transmission (CVT) instead of manual and automatic gearboxes. Various CVT’s have been proposed in recent year.
One of the proposed systems is traction infinitely variable transmission (TIVT) that is type of traction drive continuously variable transmission and has been presented in 2007. Research on this system showed that average efficiency is about 96% that is high efficiency. Completed research in 2011 showed that despite...

Distribution Problem in Heterogeneous Networks with the Assumption of Flexibility in the Delivery of Goods

, M.Sc. Thesis Sharif University of Technology Fakhimi, Ramin (Author) ; Shavandi, Hasan (Supervisor)

Abstract

In this research, we consider a network of distiribution channels and a central warehouse to deliver the products to distribution centers. We assume the price of products are fixed and the central warehouse is authorized to change the delivery amount for each DC in a reasonable interval. The main idea is authorizing the central warehouse to be flexible in delivery of ordered amounts of DCs in a reasonable interval in order to reduce the transportation cost and then maximizing the profit.
The problem is formulated as a linear integer programming model and the properties of optimal solution is analyzed. Based on the properties of the model a solution algorithm is developed to solve the...

Comment on: "Synchronization of two chaotic nonlinear gyros using active control" [Phys. Lett. A 343 (2005) 153]

, Article Physics Letters, Section A: General, Atomic and Solid State Physics ; Volume 372, Issue 14 , 2008 , Pages 2539-2540 ; 03759601 (ISSN) Salarieh, H ; Sharif University of Technology

Elsevier 2008

Abstract

A modification to the control law presented in [Y. Lei, W. Xu, H. Zheng, Synchronization of two chaotic nonlinear gyros using active control, Phys. Lett. A 343 (2005) 153] is proposed. © 2007 Elsevier B.V. All rights reserved

Thermal stresses and kinetics of phase transformation on the run-out table after hot strip rolling of low-carbon steels

, Article International Journal of Advanced Manufacturing Technology ; Volume 83, Issue 9-12 , 2016 , Pages 1725-1736 ; 02683768 (ISSN) Hasan Nasab, M ; Serajzadeh, S ; Sharif University of Technology

2016

Abstract

A thermo-elastic analysis coupled with a phase change model is employed to evaluate thermal stresses as well as progress of austenite decomposition after hot strip rolling operations. The thermo-mechanical finite element analysis is utilized to assess the distributions of temperature and thermal stresses during cooling while at the same time, a model based on the additivity rule is used to determine the rate of austenite to ferrite decomposition. The proposed model is applicable to multi-pass rolling schedules while the effects of different process parameters including the rolling speed and cooling configuration of the run-out table can be taken into account. In order to verify the...

Water and emissions nexus for biodiesel in Iran

, Article Renewable and Sustainable Energy Reviews ; Volume 93 , 2018 , Pages 354-363 ; 13640321 (ISSN) Haj Hasan, A ; Avami, A ; Sharif University of Technology

2018

Abstract

Biodiesel is an attractive renewable energy in Iran. However, the concerns for food security, emissions, and water requirement move us towards developing the analytical framework to study emission-water nexus of biodiesel via the multi objective sustainable planning of biodiesel supply chain. Here, the literature of biodiesel in Iran is comprehensively reviewed and main issues are discussed. Then, a supply chain planning model is applied to depict the optimal path ways to minimize costs, net emission, and water use in Iran during 25 years. The microalgae via open ponds and jatropha cultivation reduce the total costs and improve negative emissions. The jatropha optimizes the water use and...

Comparative assessment of bioethanol supply chain: insights from Iran

, Article Biofuels ; 2018 ; 17597269 (ISSN) Haj Hasan, A ; Avami, A ; Sharif University of Technology

Taylor and Francis Ltd 2018

Abstract

Biofuels are important alternative fuel in recent years. In this work, the bioethanol supply chain planning is performed by BioEnergy Supply Model to optimally find the best pathways using economic and environmental objective functions in Iran. Then, different sustainability criteria focusing on environmental, economic, and social concerns are assessed for possible routes of the bioethanol production from available resources. Although agriculture residues and wastes, decrease the greenhouse gas emissions but municipal solid wastes are more economic and require less water. The agricultural wastes and residues improve the sustainability. Then, criteria focusing on environmental, economic, and...

Comparative assessment of bioethanol supply chain: insights from Iran

, Article Biofuels ; Volume 12, Issue 4 , 2021 , Pages 475-483 ; 17597269 (ISSN) Haj Hasan, A ; Avami, A ; Sharif University of Technology

Taylor and Francis Ltd 2021

Abstract

Biofuels are important alternative fuel in recent years. In this work, the bioethanol supply chain planning is performed by BioEnergy Supply Model to optimally find the best pathways using economic and environmental objective functions in Iran. Then, different sustainability criteria focusing on environmental, economic, and social concerns are assessed for possible routes of the bioethanol production from available resources. Although agriculture residues and wastes, decrease the greenhouse gas emissions but municipal solid wastes are more economic and require less water. The agricultural wastes and residues improve the sustainability. Then, criteria focusing on environmental, economic, and...

Source Enumeration and Identification in Array Processing Systems

, Ph.D. Dissertation Sharif University of Technology Yazdian, Ehsan (Author) ; Bastani, Mohammad Hasan (Supervisor)

Abstract

Employing array of antennas in amny signal processing application has received considerable attention in recent years due to major advances in design and implementation of large dimentional antennas. In many applications we deal with such large dimentional antennas which challenge the traditional signal processing algorithms. Since most of traditional signal processing algorithms assume that the number of samples is much more than the number of array elements while it is not possible to collect so many samples due to hardware and time constraints.
In this thesis we exploit new results in random matrix theory to charachterize and describe the properties of Sample Covariance Matrices...

Design of Three Fingered 5 –DOF Hand for Laparoscopic Surgery

, M.Sc. Thesis Sharif University of Technology Masoumnia, Adel (Author) ; Zohoor, Hasan (Supervisor)

Abstract

Today, many surgical procedures such, gallbladder, gastric bypass, placement of a ring around the stomach, partial removal of colon, removal of tumors use laparoscopic techniques. In this surgery, a variety of tools to capture and remove the internal organs can be used. Sometimes the surgeon selects the proper tools and replacement during surgery, so the surgeon had to do different things with the operation. These tools generally cannot be used because of the large internal organs device is small and does not have enough degrees of freedom. In laparoscopic surgery, the surgeon operate in the abdominal cavity using a thin instrument that is inserted through the trocar hole would do. If...

Pricing and Lead Time Decisions in Decentralized Supply Chains Under Competition

, M.Sc. Thesis Sharif University of Technology Afzalabadi, Maryam (Author) ; Shavandi, Hasan (Supervisor)

Abstract

This thesis investigated a two-echelon supply chain consists of one retailer and several manufacturers that faces a price and lead time sensitive demand. We use a Stackelberg game for decision analysis of prices and lead times determined by manufacturers as Leader and retailer as a Follower. We assume that demand depends to the retailer’s price. Market share of each manufacturer, is also price and lead time sensitive. Objective of each firm is to determine price and planned lead time to maximize her own profit. We first determine the best response of the retailer to manufacturers’ decision and next at manufacturers’ level, we will solve the problem for one manufacturer at first and then we...

Designi an Adaptive Beamforming Algorithm, Robust Against Direction-of-Arrival Mismatch

, M.Sc. Thesis Sharif University of Technology Rahmani, Mostafa (Author) ; Bastani, Mohammad Hasan (Supervisor)

Abstract

Adaptive beamforming performance is very sensitive to any mismatch between actual and presumed steering vectors of desired signal. In addition to this sensitivity, presence of desired signal in training snapshots dramatically reduces the convergence rate, as compared to the case that signal-free training snapshots are available.
The present work is aimed at proposing a new adaptive beamformer that is robust against direction-of-arrival (DOA) mismatch and has high convergence rate. This method is based on desired signal elimination from training snapshots and sub-array beamforming technique. To this end, a Blocking matrix that converts primary data to desired signal free data is...

Modeling of Water Injection into the Desuperheater of Steam Generator

, M.Sc. Thesis Sharif University of Technology Setareh, Milad (Author) ; Saidi, Mohammad Hasan (Supervisor)

Abstract

One of the most important equipment in a power station is desuperheater which its operation has effect on power station performance and efficiency.It is necessary to identify and evaluate the most important factors that have effect on its performance. Using desuperheater cause that the temperature of exhausting superheat steam of boiler decreases to the desired quantity. If the temperature of superheat steam is very high, it will cause burning of superheater pipes that is very dangerous.Steam is used for two purpose of power generating and operational process. Unfortunately these applications have different requirement. In power generating for maximizing efficiency, turbine needs high...