Sharif Digital Repository

In the present work, trajectory optimization of the Dual-Arm Cam-Lock robot considering kinematic and dynamic redundancy is performed. First, the optimal control problem is solved only considering kinematic redundancy and then is solved considering dynamic redundancy. General form of the dynamic model for the system is developed using Lagrangian relations. Global optimization method is used for redundancy resolution problem. A performance index is defined based on the consumed kinetic energy and is minimized through a desired trajectory using the global optimization method. Formulations of optimal control problem are derived and initial boundary problem is changed to two point boundary value... 

The Atomic Energy Organization of Iran (AEOI) has launched a program of low level waste management. This program also includes waste produced at Uranium Conversion Facility (UCF) of Esfahan. The liquid waste, which was generated during the operation of plant and concentrated in lagoon, was characterized for the development of the treatment process. The aim of this study was to recovery of uranium content of liquid waste in the lagoon. The recovery of uranium has the advantage of saving this valuable metal and the avoidance of unacceptable discarding solution to the environment. Uranium may be recovered from an aqueous solution by precipitation, solvent extraction and ion exchange.... 

The spatial diffusion of house prices has been the subject of research for many years. Most of these studies have found a strong relationship between neighboring regions and a weaker relation between nonneighbors. This study uses changes in real house prices within Tehran at the level of municipality zones to illustrate the ripple effect by using quarterly house price data of Tehran’s twenty municipality zones since 1371 to 1391. It also aims to illustrate the heterogeneity in spatial spillovers of house prices development across space and time. We found that a positive shock in house prices diffuse more rapidly that a negative shock; the time shock will diffuse also have a heavier level... 

Real-time asynchronous data fusion for high-speed phenomena is an important and challenging task in the sensor networks. Examples of data fusion applications in sensor networks are: managing the traffic of maneuvering airplanes and ground vehicles in airside areas of an airport, traffic management in streets and roads, Driver Assistance Systems, guidance of antiaircraft and antimissile missiles. In all the data fusion applications the estimation of the required variables is necessary.
In this research two methods are introduced for real-time asynchronous data fusion, especially for track-to-track fusion of high-speed phenomena in sensor networks. The effectiveness and usability of these... 

Underground reservoirs are highly complicated due to the presence of spatial heterogeneities at length scales that span from micrometer in pore structure of the rocks to kilometer in the reservoir models. While large-scale flow units need to be characterized using seismic and well data, detailed displacements of fluids in pore space need to be modeled using thin section analysis and pore network modeling. It is therefore necessary to adopt a multi-scale approach to reservoir description to make best use of all the available data that vary over several orders of magnitude, from micro-scale in pore structure to field scale in reservoir flow models. In this thesis, an integrated framework for... 

Electron states of diamond vacancy under stress were studied theoretically. The generalized Hubbard model is used to calculate the electrons energy levels. The results shows that the degeneracy of some levels (T, with triple space degeneracy) reduced to levels with lower degeneracy (E, with double space degeneracy and A, without degeneracy). Besides this spiting of degeneracy the energy of all states changed and therefore the transition energy between these states changed too. Jahn-Teller effect was observed  

Due to vast use of Ametryn herbicide in agricultural and even non-agricultural activities and the possibility of contamination of carp and natural water sources by this herbicide, determination of this herbicide in surface and ground water sources is very important. Therefor introducing simple and sensitive method for determination of Ametryn is critical.
This study demonstrate a simple and sensitive colorimetric method for the detection and determination of Ametryn based on aggregation of citrate capped AuNPs. Studied method relies upon shape and distance dependent AuNPs surface plasmon resonance. By replacing the sulfide containing Ametryn herbicide with citrate molecules on AuNPs...