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    Document Biped hopping control bazsed on spring loaded inverted pendulum model [electronic resource]

    , Article Int. Journal of Humanoid Robotics ; Vol. 7, No. 2, pp. 263-280, 2010 Tamaddoni, H. (Hossein) ; Jafari, Farid ; Meghdari, Ali ; Sohrabpour, Saeed ; Sharif University of Technology
    Abstract
    Human running can be stabilized in a wide range of speeds by automatically adjusting muscular properties of leg and torso. It is known that fast locomotion dynamics can be approximated by a spring loaded inverted pendulum (SLIP) system, in which leg is replaced by a single spring connecting body mass to ground. Taking advantage of the inherent stability of SLIP model, a hybrid control strategy is developed that guarantees a stable biped locomotion in sagittal plane. In the presented approach, nonlinear control methods are applied to synchronize the biped dynamics and the spring-mass dynamics. As the biped center of mass follows the mass of the mass-spring model, the whole biped performs a... 

    The Effect of Heart Dynamic Motion on LDL Concentration in Coronary Arteries

    , M.Sc. Thesis Sharif University of Technology Seyed Hossein, Saeed (Author) ; Dehghan Firoozabadi, Bahar (Supervisor)
    Abstract
    Heart attack is considered as one of the most common reasons of morality all over the world. Coronary Atherosclerosis is known as the major causes of heart attack. The commence and proceed of this disease is related to cross of Low Density Lipoprotein. In this project, based on numerical simulation using ANSYS Fluent, hemodynamic variables and the rate of LDL particles penetration to porous wall of coronary artery is investgated. The geometry is the first bifurcation of Left Anterior Descending and is located on the supposed sphere that represents heart configuration. Sinsuidal variations of shere radii, simulates pulsating movement of heart. Heart diameter is supposed to remain constant... 

    Analysis and Verification of a Routing Protocol Conformance Test Program

    , M.Sc. Thesis Sharif University of Technology Hosseini Shakib, Seyed Mostafa (Author) ; Jahangir, Amir Hossein (Supervisor)
    Abstract
    Routers play a key role in transferring information between various Networks. It is very important to make sure about the compatibility of OSPF in a router with its standard description. In this regard, before presenting or applying a router and also evaluating its performance, it is necessary to carry out conformance test with the help of network equipment testers Tester designers extract test cases from protocol standard description through non-formal ways and exam them on network equipment.
    In this thesis, a part of OSFP protocol has been modeled through colored Petri nets. In this regard, two sections of OSPF RFC have been model checked: neighbor state machine and data base... 

    Robust adaptive backstepping control of uncertain lorenz system [electronic resource]

    , Article Journal of American Institute of Physics ; 2010, Vol. 20, pp. 1-5 Nejat Pishkenari, H. (Hossein) ; Jalili, Nader ; Mahboobi, Seyed Hanif ; Alasty, Aria ; Meghdari, Ali ; Sharif University of Technology
    Abstract
    In this paper, a novel robust adaptive control method is proposed for controlling the Lorenz chaotic attractor. A new backstepping controller for the Lorenz system based on the Lyapunov stability theorem is proposed to overcome the singularity problem that appeared in using the typical backstepping control method. By exploiting the property of the system, the resulting controller is shown to be singularity free and the closed loop system is globally stable. Due to unavailability of system states measurement in practice, the controller is selected such that only one system state is needed. To overcome the problem of parameter uncertainty, an additional term to Lyapunov function is added and... 

    Selection of the Optimal Orientation of Parts in Rapid Prototyping Processes

    , M.Sc. Thesis Sharif University of Technology Amir Hossein Golmohammadi (Author) ; Khodaygan, Saeed (Supervisor)
    Abstract
    Additive manufacturing (AM), also known as Rapid prototyping or D printing, is a new technology for the manufacturing of the physical parts through an additive manner. In the AM process, the orientation pattern of the part is one of the most important factors that significantly affects the product properties such as the build time, the surface roughness, the mechanical strength, the wrinkling, and the amount of support material. The build time and the surface roughness are the more imperative criteria than others that can be considered to find the optimum orientation of parts. In this research, Two method is used to optimize part build orientation (PBO). In the first method a new combined... 

    System Optimization in Edge Computing Using Meta-Learning

    , M.Sc. Thesis Sharif University of Technology Zouashkiani, Saeed Reza (Author) ; Hossein Khalaj, Babak (Supervisor)
    Abstract
    In the evolving landscape of edge computing, with an increasing number of devices and applications, the demand for real-time processing and resource optimization has rapidly grown. Computational offloading, which involves transferring processing tasks from these devices to more powerful edge servers, has been proposed to reduce execution latency. In edge computing environments, computational and communication resources are numerous and constantly changing. Additionally, real-world applications involve interdependent processing tasks. All these factors lead to the NP-hardness of the dependent task offloading decision. To tackle these challenges, traditional reinforcement learning (RL) methods... 

    Investigation on Friction Stir Lap Welding of Al-5083 Sheet to St-12 Sheet and to Al-1100 Clad St-12 Sheet

    , Ph.D. Dissertation Sharif University of Technology Movahedi, Mojtaba (Author) ; Kokabi, Amir Hossein (Supervisor) ; Seyed Reihani, Morteza (Supervisor)
    Abstract
    In this study, friction stir lap welding of Al-5083 alloy sheets with 3 mm thickness to St-12 steel sheets with 1 mm thickness (joint without intermediate layer) and to Al-1100 clad St-12 sheets (joint with the Al-1100 intermediate layer) was investigated. The cladding process was done by rolling. For each type of joints, the bonding mechanism, optimum process parameters to reach the joints with the highest fracture loads and also the microstructure evolutions at the joint region were studied. Furthermore, for the joints without intermediate layer, the effects of the Al-5083 annealing treatment before welding and the post-weld heat treatment of the joints on the fracture loads were explored.... 

    Feasibility Study on Fabrication of Copper-Graphite and Copper-Babbitt Composites by Friction Stir Processing (FSP)

    , M.Sc. Thesis Sharif University of Technology Sarmadi, Hassan (Author) ; Kokabi, Amir Hossein (Supervisor) ; Seyed Reihani, Morteza (Supervisor)
    Abstract
    Because of low friction coefficient, Copper-Graphite and Copper-Babbitt composites can be used as brushes and bearing materials instead of materials containing lead which cause environmental problems. So far, many methods such as powder metallurgy and centrifugal casting have been used to fabricate Copper-Graphite composites. The most important problem of these methods is agglomeration of Graphite particles. Simultaneous stirring of samples during fabrication process which is one of the features of friction stir processing (FSP), can solve the problem. Recently, FSP has been used for fabricating surface composite for the purpose of producing hard and wear resistance layers on ductile... 

    Design, Fabrication and Control of a Tilting-Rotor Quadrotor

    , M.Sc. Thesis Sharif University of Technology Bagheri, Alireza (Author) ; Nejat, Hossein (Supervisor) ; Behzadipour, Saeed (Supervisor)
    Abstract
    This project deals with the design, fabrication and control of a tilting-rotor quadrotor. This type of UAV can have high maneuverability in all 6 degrees of freedom (3D attitude and 3D position). The rotor axes can be tilted independently to produce desired force and torque vectors. This capability resolves limitations of the classic quadrotors and provides independent control of orientation and position. To control this UAV, we have proposed a control scheme relating the desired trajectory to the required forces and torques. Then a PID controller for the simultaneous control of position and attitude is designed. This controller is tested in a simulation and the results show that the control... 

    Pore-Level Modeling of Immiscible Drainage Validation in the Invasion Percolation and DLA Limits

    , M.Sc. Thesis Sharif University of Technology Daliri, Ahmad (Author) ; Ghazanfari, Mohammad Hossein (Supervisor) ; Jamshidi, Saeed (Co-Advisor)
    Abstract
    Two phase flow through porous media is one of great interests which have been studied for decades in petroleum sciences and even other fields, e.g. hydrology and physics, to solve problems such as enhanced oil recovery, contaminated groundwater or CO2 sequestration projects. Flow in porous media typically predict by means of Darcy’ law which in two phase flow lead to equations such as Buckley-Leverett or Koval, but today it is well approved that compact prediction of flow pattern by these equations may be accompanied by enormous errors and it’s because flow in certain condition is fractal. In this work a new mechanistic model has been used for simulating of immiscible drainage process and... 

    Investigating the Role of Molecular Diffusion on Oil Recovery by Gas Injection Into Fractured Reservoirs and Scaling Up the Experimental Data

    , Ph.D. Dissertation Sharif University of Technology Sistan, Morteza (Author) ; Ghazanfari, Mohammad Hossein (Supervisor) ; Jamshidi, Saeed (Co-Supervisor)
    Abstract
    Fracture reservoir modeling is an important subject since a lot of oil and gas resources around the world are preserved in them. One of the enhanced oil recovery methods in these reservoirs is gas injection and especially CO2 injection because of environmental issues. In one part of this research, a new diffusion mechanism called “double cross-phase diffusion” is introduced and applied to simulate the non-equilibrium gas injection process into fractured rocks. This new mechanism represents additional multicomponent gas diffusion into the crude oil through the water phase, existing in porous media as initial water saturation. Therefore, a lab-scale simulator, by implementing the generalized... 

    Experimental in Investigating of Automated Bottom Hole Pressure Control Drilling (MPD)

    , M.Sc. Thesis Sharif University of Technology Mohammadi, Moslem (Author) ; Ghazanfari, Mohammad Hossein (Supervisor) ; Jamshidi, Saeed (Supervisor)
    Abstract
    MPD technique manages drilling pressure to keep bottom hole Pressure balanced in the well. The objective to this studs, is to approximate the well pressure to formation pressure to prevent entry of fluid into the well. MPD is a new method drilling in which, driller controls the annulus pressure in order prevent drilling problems. the circulating fluids system employed by MPD technology is more akin to that of a pressure vessel. In this thesis, using in laboratory-made machine, reacts with sudden changes in pressure at the bottom hole in the shortest possible time. Basically, this system is a system where well bore pressure management is obtained by adjusting the pressures along the well bore... 

    Dissimilar Friction Stir Welding between Aluminum Alloy and Magnesium Alloy

    , M.Sc. Thesis Sharif University of Technology Sadeghi Alavijeh, Ali Reza (Author) ; Kokabi, Amir Hossein (Supervisor) ; Seyed Reihani, Morteza (Supervisor)
    Abstract
    In this project, Dissimilar Friction Stir Welding (FSW) between aluminum alloys (1100-H12 and 5083-O) and Magnesium alloy (AZ31B-O) with 3mm thickness were butt joined. Fusion welding of aluminum/magnesium alloys has failed because of forming much more intermetallic compounds. By using friction stir welded samples, effect of welding parameters such as tool travel speed, tool rotation rate, tool position respect to weld centerline, and sheet position respect to tool direction on mechanical (tensile strength, yield strength and elongation) and microstructural properties of the welds were investigated. After several tests, range of optimum parameters were obtained. In both 1100 and 5083 alloys,... 

    Design and Fabrication of a Device for Positioning Magnetic Micro Robot

    , M.Sc. Thesis Sharif University of Technology Agha Seyed Mirzabozorg, Amir Hossein (Author) ; Nejat, Hossein (Supervisor) ; Vossoughi, Golamreza (Supervisor)
    Abstract
    At the moment, one of the most important challenges that human beings are struggling with is the dominance of micro and nano dimensions. Considering the potential of microorganisms, and in particular magnetic microscopes, it is believed that using this technology, humans would be able to meet most of their needs. Studies have shown that it is possible to control the position of a magnetic microrobots, through the production of magnetic fields, with sufficient accuracy. Since magnetic fields are biocompatible, magnetic microrobots can also be used in biotechnology and medical applications.In this dissertation, a positioning device was designed and constructed with the ability to position the... 

    Core-Scale Modeling and Experimental Study of Surfactant Flooding due to Enhanced Oil Recovery in Carbonate Rocks

    , M.Sc. Thesis Sharif University of Technology Seidy Esfahlan, Mina (Author) ; Ghazanfari, Mohammad Hossein (Supervisor) ; Jamshidi, Saeed (Co-Advisor)
    Abstract
    Chemical flooding such as surfactant flooding in oil reservoirs can change the wettability and interfacial tension between oil and water and so reduce the residual oil saturation in the reservoir. Some of these materials can be adsorbed a lot on the surface of carbonate rocks, so it is difficult to predict the oil recovery factor in such process. Therefore it is necessary to survey the adsorption amount of surfactants in chemical EOR injections.In this thesis, the adsorption of a nonionic surfactant on the surface of carbonate rock is experimented and the proper model is obtained. Then the surfactant is injected in a core saturated with oil to observe the efficiency of this surfactant in... 

    Compositional Modeling of Surfactant Adsorption in Chemical Flooding with Verification with Laboratory Data

    , M.Sc. Thesis Sharif University of Technology Khandan, Hossein (Author) ; Jamshidi, Saeed (Supervisor) ; Ghazanfari, Mohammad Hossein (Supervisor)
    Abstract
    One of the most important EOR methods in oil reservoirs is surfactant and polymer flooding. Surfactants cause decreasing in interfacial tension between oleic and aqueous phases. However, polymers give us efficient mobility control in displacing oil by increasing the viscosity of aqueous phase. Therefore, oil is displaced in aqueous phase by viscous forces.
    One of the most important challenges in surfactant flooding is adsorption. The net surface charge distributed on the rock surface depends strongly on pH. When we inject surfactant in reservoir, electrostatic charge on rock surface causes the first-layer adsorption. After that we have had second-layer adsorption.
    In this thesis we... 

    Investigation of the Optimum Conditions for the Regeneration of Anion and Cation Exchange Resins of the TR System of Bushehr Nuclear Power Plant

    , M.Sc. Thesis Sharif University of Technology Arkannia, Mohammad Hossein (Author) ; Outokesh, Mohammad (Supervisor) ; Seyed Kalal, Hossein (Supervisor) ; Habibian, Alireza (Co-Supervisor)
    Abstract
    The main purpose of this research is to select a suitable solution for regeneration of ion exchange resins of TR system of Bushehr nuclear power plant and also to compare and evaluate the possibility of using industrial cationic resin (Amberlite IR120) instead of nuclear grade cationic resin (Amberlite IRN97).First, different solutions for regeneration of cationic resins were investigated. For this purpose, three strong acids including hydrochloric acid (HCl), sulfuric acid (H2SO4) and nitric acid (HNO3) were selected and each of these acids was tested in two different concentrations and two different linear velocities; Also, to evaluate the appropriate solution for anionic resin... 

    Multiscale Modeling of Coronary Blood Flow and Effects on Endothelial Cells

    , Ph.D. Dissertation Sharif University of Technology Pakravan, Hossein Ali (Author) ; Saeedi, Mohammad Saeed (Supervisor) ; Firoozabadi, Bahar (Co-Advisor)
    Abstract
    Atherosclerosis in coronary arteries is one of the most important topics due to its high prevalence and the importance of these arteries for supplying blood to the heart. The morphology of endothelial cells (ECs) is an independent index for determining the atheroprone sites. The ECs show a regular elongated and aligned configuration to the blood flow, at the atheroprotected regions; on the other hand, at the atheroprone regions, the cells have a polygonal, randomly oriented morphology. The thesis intended to propose a method for coronary artery simulation, which is able to determine the atheroprone sites regarding the ECs morphology. In addition, the attempts were made to investigate the... 

    Investigation the Interaction of the Colloidal Particles with Magnetic Cores by Optical Tweezers

    , Ph.D. Dissertation Sharif University of Technology Kabi, Sareh (Author) ; Seyed Reihani, Seyed Nader (Supervisor) ; Langari, Abdollah (Supervisor)
    Abstract
    Optimizing optical tweezers and achieving powerful traps has always been a challenging topic for researchers , since the trap stiffness increases with increasing laser power which may damage specimens , especially biological ones and cells . In this thesis , we introduce a special geometry and structure of particles that , have the possibility to increase the stiffness (strength) of the optical trap and cause the magnetic response of particles at optical frequencies . Special geometries such as a combination of dielectric particles with magnetic nanoparticles that emphasize the role of the laser magnetic field and lead to changes in the electrical and magnetic properties at the laser... 

    Stanley depth of the integral closure of monomial ideals

    , Article Collectanea Mathematica ; Volume 64, Issue 3 , November , 2013 , Pages 351-362 ; 00100757 (ISSN) Seyed Fakhari, S. A ; Sharif University of Technology
    2013
    Abstract
    Let I be a monomial ideal in the polynomial ring S=K [x1,... xn]. We study the Stanley depth of the integral closure Ī of I. We prove that for every integer k ≥ 1, the inequalities (S/Ik) ≤ sdepth (S/Ī) and sdepth(Ik) ≤ sdepth(Ī) hold. We also prove that for every monomial ideal I⊂ S there exist integers k1,k2≥ 1, such that for every s≥ 1, the inequalities sdepth (S/Isk1) ≤ sdepth(S/Ī) and sdepth (Isk2) ≤ sdepth (Ī) hold. In particular, mink{sdepth(S/Ik)} ≤ sdepth(S/Ī) and min̄k {sdepth (Ik)}≤ sdepth(Ī). We conjecture that for every integrally closed monomial ideal I, the inequalities sdepth(S/I)≥ n-l (I) and sdepth (I)≥ n-l (I)+1 hold, where l (I) is the analytic spread of I. Assuming the...