Sharif Digital Repository

Deoxyribonucleic acid (DNA) extraction, as one of the most important steps in modern molecular diagnostics, is the process by which DNA is separated from intracellular materials like proteins, membranes, and other materials contained in the cell. Microfluidic technology enables sophisticated, time-consuming and costly experiments with minimal use of raw materials, time and cost and acceptable accuracy. The predominant advantages of centrifugal microfluidic systems are utilizing centrifugal force to generate propulsion without the need for a pump, and eliminating the need for experts to run the system. Various fluidic operations such as valving, mixing, metering, heating, and sample... 

Reducing the size of transistors has dramatically increased the impacts of NBTI, HCI, and EM phenomena in comparison with decade ago. These phenomena are able to have influence on properties of different parts of a chip to make it changed gradually; including threshold voltage of a transistor and electrical conductivity of interconnections. These changes are known as the aging of a transistors that diminish the performance and reliability of a chip. A common reason that plays a significant role in all these phenomena is temperature. The temperature becomes more important when the power density increases per unit area due to decreased size of transistors, which is a trend in multi-core... 

Modeling and performance evaluation of the real time distributed systems is a significant problem. Stochastic activity network is one of the high level models used for this purpose. This network is an extension of generalized stochastic Petri net which is more powerful and flexible than other Petri net extensions. Checking the satisfiability of properties such as performance, dependability and user's expected properties is considerable in these models. Thus, using the approaches and generating modeling and model checking tools with the mentioned purpose is attractive. A model checker automatically checks the correctness of the system behaviors as properties against the model by getting the... 

This study has focused on the important problem of landing on a planet as an important current and future space mission. In this regard, dynamics modeling and integrated state estimation and control problems have been investigated in different views. To this aim, first a novel concurrent representation for translational and rotational kinematics has been developed based on the extension of modified Rodrigues parameters to dual space. This parameter set, called dual modified Rodrigues parameters (DMRP), is then utilized to establish an integrated roto-translational dynamic. The proposed DMRP-based kinematics and dynamics have been verified via comparison to traditional methods of... 

This thesis addresses the problem of optimal distributed control of unknown interconnected systems. In order to deal with this problem, a data-driven learning framework for finding the optimal centralized and the suboptimal distributed controllers has been developed via convex optimization.First of all, the linear quadratic regulation (LQR) problem is formulated into a nonconvex optimization problem. Using Lagrangian duality theories, a semidefinite program is then developed that requires information about the system dynamics. It is shown that the optimal solution to this problem is independent of the initial conditions and represents the Q-function, an important concept in reinforcement... 

Accurate and fast attitude estimation of a rigid body plays an essential role in the performance of a vehicle’s control system, especially aerospace vehicles. Ample works have been done to increase the accuracy and speed of the attitude estimation process, but all have been developed according to a model-based approach. This approach assumes that the torques acting on the body have a known dynamical model that is used for the attitude estimation. The purpose of the present research is to estimate the attitude via a model-free approach, i. e. dynamics of the torques acting on the body are no longer assumed to be known, and its learning is the next step. Thus, the problem formulation of this... 

This thesis presents a new approach to design structural output feedback controllers with stabilization and pole-placement at desired points on the S plane. It is assumed that the linear time-invariant system has no fixed mode corresponding to the specified control structure, outside the desired region of the closed-loop poles, such that the structural controller design problem is theoretically feasible. To this end, the structural output controller design problem is first transformed into a structurally equivalent problem based on the solution of a set of discrete linear programs. Then, by using the resultant structure, a new method is proposed for designing static and dynamic control loops... 

Prevalent deployment of Distributed Energy Resources(DERs) in the demand side of electrical energy grids has several advantages such as greenhouse gases emission reduction, mitigation of power losses in the distribution grids and abatement of the dependency on the wholesale generation companies. At the same time, it paves the way for the advent of local interactive energy trading frameworks. In the following thesis, a distributed data-driven algorithm is developed for market-clearing in a community-based local energy market. The social welfare maximization is considered as the objective of the energy trading. The production and demand of electricity are the decision variables of sellers and... 

The main topic of this research is the navigation and control of a free-flying satellite with a robot manipulator while transferring and placing cargo on a space station. After connecting the cargo module, astronauts and robots need to deliver the available loads to the desired modules in a space station. Capturing an object or cargo is a critical issue studied extensively so far. However, delivery and placing of the cargo at the target point have not been investigated yet, to the best of the author’s knowledge; hence, this is a primary motivation for conducting the proposed research. After capturing the payload, the position and attitude of the manipulator with respect to the station’s... 

In this thesis, a new method is proposed to find the class of stabilizing control structures for interconnected systems from a graphtheoretic
perspective. The objective is to classify all possible control structures (static or dynamic), capable of stabilizing the closedloop system. The method can be formulated by using the characteristics of fixed modes of the system for arbitrary control structures.To this end, first, a method is proposed based on solving a set of discrete linear programming to determine whether a system is stabilizable via a decentralized controller. Subsequently, by solving a set of discrete linear feasibility problems, all possible stabilizing controller structures... 

We simulated the structure formation in the context of Modified Newtonian Dynamics with the spherical collapse model. We supposed a spherical region with mass of galactic order, positive density contrast and uniform distribution of matter as the initial condition and investigated the evolution of its internal regions, containing different amounts of matter. We began the simulation when the region was in Newtonian regime. The overdense region, which expands with cosmic fluid in Newtonian regime, gradually enters MONDian regime and gets separated from the background due to its stronger central acceleration; then it collapses and virializes after some swings. The density distribution of the... 

This thesis addresses the distributed optimal control problem. In order to solve this problem a suboptimal distributed design approach has been developed using tools from graph theory and optimization theory. The first objective of this thesis is overcoming the non-scalability of distributed control problems for larges -scale systems. The second objective is using minimum information of other subsystems in the design layer. First, the problems of designing a structured controller minimizing the H_2 and H_∞ norms of the closed-loop system have been formulized and stated as semidefinite optimization problems. Then in order to use the fundamental results that links the chordal graphs and... 

This research studied optimal combination therapy of diseases with uncertain evolutionary dynamics. The problem of neutralizing HIV virus in the host’s body was modeled as a convex optimization problem whose objective function is minimizing disturbance effect while the disease dynamics is stable in the presence of polytopic uncertainty.In the first part of this thesis, according to the characteristics of positive systems, the convexity of H2 and H∞ in the presence of polytopic uncertainty was shown. To solve the minimization problem of disturbance effect, an algorithm based on minimizing a cutting plane was used. This algorithm, with solving the minimization problem iteratively in each step... 

The global rise in the elderly population, coupled with shortages in medical equipment and healthcare professionals, along with the profound impact of epidemic outbreaks like COVID-19, has underscored the critical significance of home healthcare on a global scale. Currently in Iran, some hospitals and private companies provide home healthcare services to patients. This research focuses on optimizing the scheduling and routing of nurses providing home care services to patients. In the face of daily planning challenges, which include both anticipated and uncertain emergency demands, we propose a method to efficiently allocate nursing resources. To address the unpredictability of emergency...