Sharif Digital Repository

Transparency is a measure of performance in haptic devices. In order to improve transparency and reduce the difference between the impedance transmitted to the user and the target impedance it is necessary to compensate for the dynamics of the haptic device. Due to stability reasons improvement of transparency is limited. Passivity as a stability criterion has been used widely in design and analysis of haptic devices. Since passivity is a conservative criterion, it acts as an obstacle in improving transparency of the haptic interfaces. In this project instead of passivity, robust stability of the interaction is studied in the presence of parametric uncertainties due to variations in user... 

Transparent conductive materials have been widely used in semiconductor technology. Among them all, Indium tin oxide (ITO) has been utilized as electrodes in liquid crystal displays, solar cells, heat reflecting films and gas sensors.In general, the desired properties of transparent conductive oxides are high conductance and transmission. However, due to the complexity of ITO molecular structure, the film properties strongly depend on the depositon parameters.In first part of this thesis, physical properties and electrical characteristic of ITO films, different deposition techniques, and effects of deposition parameters (substrate temperature, pressure, power, etc. ) on film properties are... 

Common fracture treatments include open reduction and intramedullary nailing technology. However, these methods have disadvantages such as intraoperative X-ray radiation, delayed union or nonunion and postoperative rotation. Robots provide a novel solution to the aforementioned problems while having new challenges. The robotic system used in the study by providing more precise motion and exerting higher amount of forces makes the operation procedure more straightforward. In a normal operation 300-400 N of extension force would be needed which is fully provided by the surgen which leads to physical his/her (khastegi), by using the robotic system however, this force is simply provided without... 

Although using solar energies have some limitations, such as low efficiency, require a large space and high starting cost, they are one of the most attractive source of energies. The reasons that cause efficiency of the solar panels decrease are contamination of dust particles on them and formation of water droplet on solar panel surface due to humidity of the air. Also, a solar panel can absorb only 25% of incident light and the others are reflected by the cover glass. Therefore, fabrication of a self-cleaning surface that can inhibit the aggregation of dust particles and also transparent that doesn’t reflect the incident light is crucial.In this work, we aim to obtain a transparent,... 

Optical metasurfaces are 2D structures of a repetitive arrangement of a number of nanoparticles that are artificially constructed and do not exist in nature. Important applications of optical metasurfaces are meta lenses, flexible solar cells and extremely small antennas. Fabricating surfaces with nanoparticles of proper geometry under light radiation along with elastic deformation, we can have optical metasurfaces with selective reflection or transparency in the visible spectrum. The aim of this project is modeling of an optical metasurface with elastic deformation leading to change of color and transparency. For this purpose, assuming vertical light radiation and linear polarization, we... 

Humans need the five senses to understand and interact constructively with their surrounding environment; in the world of robots and intelligent systems, this is achieved using sensors. In the modern world, tactile sensors based on triboelectric effect play a prominent role in important application areas such as health monitoring, human-computer interaction, robotics, pressure mapping, and electronic signature. Triboelectric nanogenerators (TENGs) are one type of energy harvesting systems that convert mechanical energy into electrical energy. In these sensors, due to the contact and touch with the triboelectric material, an electric charge is generated and induced into the electrode, then... 

Emergence of crypto-currency and blockchain technology revolutionize supply chain processes. In addition, customer needs for more information on products or services from origin to destination, highlights the necessity of transparency, originality and traceability in supply chains. This research is aimed to develop a blockchain based system ascertaining supply chain transparency and originality. To this aim, a joint pricing and closed-loop supply chain network design problem is selected as a good platform to implement it. Due to increasing concerns on environmental issues and maximizing job opportunities, sustainability is also considered in the proposed problem. To ascertain transparency...