Sharif Digital Repository

The present research intends to design a controller for modular reconfigurable manipulator robots. Manipulators are made up of several links and joints. By attachment of links and joints in different ways, one may make a variety of robot configurations in modular reconfigurable manipulators.
To meet modularity and reconfiguration needs, hybrid control architecture was selected which contains a central supervisory section and distributed controllers located on individual modules. Central supervisory section specifies the trajectory of the robot and other control tasks like position control, speed control and etc. are performed by distributed controllers. In hybrid architecture, dynamic... 

In the proton exchange membrane fuel cells (PEM, the produced water would be divided into two phases of vapor and liquid. distribution of both liquid and vapor phases in different cell layers affects the performance, the efficiency and the life of a fuel cell significantly. Moreover, Nano pores of the cathode catalyst layer are involved with some phenomena such as electrochemical reaction kinetics, heat and mass transfer and interface phase change. One of the most important problems in the performance of fuel cells is distribution of liquid water in the porous areas. Water flooding in fuel cells causes to delay in oxygen transport to active sites in the catalyst layer because the pores of... 

The propagation behavior of Love wave in functionally graded magneto-electro-elastic half-spaces with a quadratic variation is addressed. The magneto-electromechanical coupling factor, the dispersion relations, electric potential, magnetic potential and displacement are obtained analytically for both magneto-electrically open and short conditions. The effect of gradient coefficient on phase velocity, group velocity and magneto-electromechanical coupling factor are plotted and discussed. Research on the wave propagation in magneto-electro-elastic materials is still very limited. This work provides us with a theoretical foundation to design and practically apply SAW devices with high... 

In this study, the interaction between thin plate completely bonded to the transversely isotropic halfspace and a concentrated force applied horizontally (Mindlin-type force) are considered. This problem has been solved analytically. This problem is used as sample for thin solid films and surface coating technology, where the surface of solid is covered by thethin plate for increasing its stiffness. Moreover, this problem is a good sample when homogenous solid is subjected to contact loading and can be seen that mechanical properties of material which is near the solid surface varies; consequently, a two-phase solid is created.Because of the influence of noted inhomogeneity, solid is... 

Hydrodynamics plays a crucial role in defining the performance of fluidized beds. The numerical simulation of fluidized bed is very important in the prediction of its behaviour. From this point of view, in the present study a dynamic two dimensioanl model is developed for the modeling of regenerator system of a UOP fluid catalytic cracking (FCC) unit of Abadan refinery with a high-efficiency regenerator. Of the various modeling and simulation techniques, computational fluid dynamics (CFD) is employed in this thesis. Effects of gas velocity, the transient local solid volume fraction, pressure drop for gas and solid phase, solid holdup distribution and solid circulation pattern have been... 

Privacy preserving data mining helps organizations and companies not only to deal with privacy concerns of customers and regular limitations, but also to benefit from collaborative data mining. Utilizing cryptographic techniques and secure multiparty computation (SMC) are among widely employed approaches for preserving privacy in distributed data mining. The general purpose of secure multiparty computation protocols to compute specific functions on private inputs of parties in a collaborative manner and without revealing their private inputs. Providing rigorous security proof of secure multiparty computation makes it a good choice for privacy preservation, despite of its cryptographic... 

The rapid growth of Android operating system alongside its open-source nature has made it as the most popular operating system of mobile devices. On the other hand, regarding the increasing computational power of mobile devices, a wide variety of applications are coming to this type of devices. Meanwhile unfortunately many malicious softwares trying to keep up with other applications, are targeting this popular operating system. Therefore with regard to the fact that this type of devices usually store private and sensitive information of their users, security of mobile operating systems is considered very important. Having this matter in mind, the goal of this research work has been... 

In this study, a new concrete slab stiffened by concrete pedestals and steel cables is introduced. The slab system is studied by employing both analytical and numerical methods. The steel cables are connected to the edges of slab and the concrete pedestals mounted at the bottom face of slab act as the middle supports of cables. The tension force in the cable and its inclination results in upward forces acting at the bottom face of slab. With the aims of classical theory of thin plates and the superposition technique, the problem of a simply supported rectangular slab stiffened by cables is studied analytically. The obtained results are verified by a numerical modelling implemented in SAP2000... 

The parametric study of a new introduced metallic yielding damper called telescopic damper is addressed. The telescopic damper comprises of three concentric steel pipes connected together by lead shear keys. The inner and outer steel pipes are subjected to axial loading which results in the shear yielding of the embedded lead cylinders. The inner steel pipe has a lock which limits its movement to some certain extent and beyond this limit the outer tube activates. Employing ABAQUS software, the behavior of damper under cyclic loading is studied numerically. The finite element model is verified by available results in the literature. The effects of inner and outer steel pipes thickness,... 

An important class of applications which have been rapidly growing recently is the one that create and use time series data. These types of data sets are ordered based on the timestamps associated to their data items. In practice, traditional relational databases are unable to satisfy the requirements of these data sets; however, NoSQL databases with column-wide data structure are appropriate infrastructure for them. These databases are very efficient in read and write operations (especially for time series data, which are ordered) and are able to store unstructured data. Time series data may contain valuable and sensitive information; hence, they should be protected from the information... 

Nowadays large volume of sensitive data of organizations are stored in the databases. Thus, databases are attractive to the attackers to execute different types of attacks with different purposes. The useful information that attackers try to achieve in the preliminary steps of the attacks against the databases, is the database structure or schema. One of the popular approach to extract the schema of a database is to analyze the returned error messages from its DBMS. Hence, a solution to prevent schema disclosure via the error messages is customizing and modifying them. To achieve this goal, in this thesis, we propose a framework to handle and customize the error messages automatically and... 

In this study, a new type of metallic yielding damper called Telescopic damper is proposed and analyzed numerically. The damper comprises of three concentric steel tubes connected together by lead shear keys. The relative axial deformation of steel tubes under axial forces results in shear deformation and yielding in lead shear keys and dissipates energy. The inner steel tube has a lock which limits its movement to some certain extent and beyond this limit the outer tube activates. Therefore, a multi-linear force-deformation behavior with two different yield plateaus is expected for the introduced telescopic damper. The multi-level yield plateaus of damper makes it effective in both low and... 

Cloud computing is a new computing environment where computing infrastructure, platform and software are provided as a service. Rapid growth of cloud environments has increased the importance of security requirements and challenges for both service providers and users in cloud. Two main security issues in software as a service (SaaS) delivery model are access control and privacy preserving in basic web services and also in composite services obtaining through the automatic composition and inference of policies from the ones specified for basic services. In this thesis, we present a privacy preserving access control model and framework for service composition in SaaS delivery model of cloud... 

In this thesis, static and dynamic analysis of nano beams based on second strain gradient theory is presented. Due to their small sizes, nano electro mechanical devices (NEMS) hold tremendous promise for novel, versatile and very sensitive devices for different applications ranging from actuators, transducers and also mass, force, light and frequency detectors. Therefore accurate modeling and analysis of such devices has an important role in their design and performance improvement. Neglecting the size effect, traditional theory of elasticity can not be suitable to predict mechanical behavior of these systems and so, it should be used non-classical theories which include size dependency... 

Ordinary structures absorb a large amount of input energy by structural elements whereas failure in these elements causes a huge loss in structure and it’s really difficult to repair or unrepairable. Nowadays a wide range of metallic dampers is used in structures as fuse elements. this research evaluates the response of structures that are equipped with a novel steel damper named Telescopic Lead Yield Damper (TLYD) which was introduced by Eskandari in 2018. As TLYD has a different yielding plateau it can tolerate large deformations. In this research firstly this novel damper was introduced and the performance of the damper under cyclic loading was demonstrated. Then a numerical model of 6,... 

The main purpose of this study is Performance Based Analysis of steel bridges equipped with Telescopic Dampers and also to design a suitable damper in order to improve the behavior of the structural system and, consequently, reduce the damage to the structure after the earthquake. Different models of dampers such as Buckling Restrained Braces (BRB’s), Hydraulic Dampers, Viscous Dampers, Shear Panel Dampers, Visco-Elastic Dampers, etc., are used according to their specifications along with Laminated Rubber Bearings (LRB’s) to control the structural behavior of bridge, reduce deck displacement and base shear. The result of this project is the design of a special type of telescopic dampers,... 

In this research, a homogeneous elastic half-space with transversely isotropic behavior, reinforced by an isotropic thin membrane is investigated under static loading with an analytical approach. The membrane is considered as an infinite plane with a thickness of negligible and buried at the arbitrary depth from the surface of the half-space, also its flexural strength is neglected and only the in-plane stiffness is considered for it. The reinforced half-space is investigated under several concentrated and distributed static loads, which are applied to the surface of the half-space or buried at the depth of the membrane. The membrane is first modeled as a three-dimensional elastic layer and... 

Attacks on Android devices often take the form of repackaging. Attackers change a well-known app that has been downloaded from the app store, reverse engineer it, add some malicious payloads, and then upload the modified app to the app store. Because it is difficult for users to distinguish between the changed app and the original app, users can be easily duped. The malicious code inside the modified apps can launch attacks after they are installed, typically in the background. There are so many repackage detection method proposed during last years of researches in this area. developing an approach to detect android repackaged application should contains two main goal, speed and accuracy of... 

In recent years, the increase in the pace of data generation and costs of maintaining personal servers resulted in the demands for cloud-based services. Map-Reduce model is a programming model for parallel computations in distributed environments such as public clouds. While this model facilitates the process of big data for customers, there are concerns that the integrity of computation is violated since cloud owners are motivated to reduce the costs. To solve this problem, different approaches are proposed in four general categories which there are constraints and flaws in each of them. These four categories are such as based on replication, watermarking, report analysis and based on...