Finding Proper Modular Robots Structure by Using Genetic Algorithm

, M.Sc. Thesis Sharif University of Technology Haghzad Klidbary, Sajad (Author) ; Bagheri Shouraki, Saeed (Supervisor)

Abstract

Modular Robots are group of robots which are made of small components called modules. The advantage of these robots to others is their ability to change physical configuration. Using of these robots in configuration changing due to environmental conditions is popular. While, reconfiguration is one of the most important features in modular robot, it’s the most important concern too. Path planning problem is one of the important problems in robotics .So far, most of presented path planning methods and algorithms are based on fixed-structure and they had little attention to path planning and configuration changing, simultaneously. In this thesis, the Genetic Algorithm is used to find path and...

Managing Variability of Quality Attributes in Software Product Line

, M.Sc. Thesis Sharif University of Technology Nassiri Amini, Melissa (Author) ; Mirian Hosseinabadi, Hassan (Supervisor)

Abstract

Nowadays Software product line technology receives notable considerations due to great advantages of cutting the costs and time to market, and improvement of the quality of software products. Variability plays a key role in software products line. Quality attributes can be a source of variability in software products line, therefore having an approach to manage them is essential. Quality attributes should be considered in all parts of software development life cycle, started by capturing and modeling in an appropriate way, mentioning in architecture design and being used in final products configurations. In this research at first, the necessity of study of quality attributes in software...

Configuration Design of Mechanical Structure Coupled with MSMA in Energy Harvesting

, M.Sc. Thesis Sharif University of Technology Effatpanah Hesari, Mojtaba (Author) ; Sayyadi, Hassan (Supervisor)

Abstract

In recent years, energy harvesting from ambient sources in order to use for low-powered electronics has been considered by many researchers. Wind energy, solar energy, water energy, mechanical energy from vibrations, etc are common sources of ambient energy. In this thesis, optimization of energy harvesting from ambient vibration using magnetic shape memory alloy is presented. To this end, a clamped-clamped beam coupled with MSMA units is considered. A shock load is applied to a proof mass which is attached to the middle of the beam. As a result of beam vibration a longitudinal strain is produced in the MSMA. This strain changes magnetic flux inside the coil connected to MSMA and as a...

Vulnerability Analysis of DOS Attack in IEC61850 Protocol Using Configuration File Manipulation

, M.Sc. Thesis Sharif University of Technology Moradi Pahnekolaei, Mohammad Hassan (Author) ; Jahangir, Amir Hossein (Supervisor) ; Bayat Sarmadi, Siavash (Co-Supervisor)

Abstract

The IEC61850 Standard was introduced for IED, Intelligent Electronic Device, in a power substation so that different devices from different manufacturers could work together. Each of these devices must be configured to start communication. Chapter 6 of the IEC61850 Standard discusses the configuration language of these devices, SCL, Substation Configuration Language, as well as how to write it in detail.A failure or denial-of-service attack can occur in a power substation if a tampering or embedding a breach in devices’ configuration occurs. To discover such attack, one can model the behavior of all the components in the SCL language using a language describing the behavior, and then compare...

A Multi-Objective Model to Plan Hospital Wards Capacity with Uncertainty Demand

, M.Sc. Thesis Sharif University of Technology Nobahari, Ali (Author) ; Najafi, Mehdi (Supervisor) ; Rafiee, Majid (Supervisor)

Abstract

Hospital inpatient units are critical resources because of limited space and large construction investment and operating costs. The essential criteria of hospital capacity are the number of hospital beds. Inpatient beds are shared among different types of care units with different arrival rate, length of stays and needs. Hospitals face many challenges and problems in management of inpatient units, especially in advanced societies that have been increasingly faced in demand in medical units and the need for proper use of limited and scarce hospital resources is strongly felt, including existing challenges, lack of balance in the performance of inpatient units. In this project, we investigate...

Evaluation of Synchronization Mechanisms of Dual HW-RAID controllers in Data Storage Systems

, M.Sc. Thesis Sharif University of Technology Gerami Diznab, Mohamad Hossein (Author) ; Asadi, Hossein (Supervisor)

Abstract

Using single RAID HW-Controller in data storage systems can become a single point-of-failure. Hence, it will affect system availability. As a result, in enterprise-class storage systems, utilizing dual-HW-Controller architecture for managing redundant array of independent disks is prevalent to enhance performance and reliability. Employing such architecture, however, faces major challenges. One of these challenges is the synchronization of dual-HW-based controllers in case RAID arrays revealing erratic behaviours. No thorough study has been done for evaluating dual-controller architecture synchronization mechanisms and its performance. In this thesis, different configurations of enterprise...