Sharif Digital Repository

Hexapod robots gives us the ability to study walking robots without facing problems such as stability in many aspects. It has a great deal of flexibility in movement even if a leg becomes malfunctioned. Radially symmetric (hexagonal) hexapods have more flexibility in movement than rectangular leg alignments. Because of symmetry they can move in any direction and time efficiently. Inverse kinematic problem of this kind of hexapods is solved through a modular mobile view considering six degrees of freedom for the trunk. Then typical tripod and wave gaits are analyzed and simulated through the presented formulation. In Reinforcement Learning algorithm for walking it is important how to make... 

In precipitation hardenable materials, it is desirable to determine the precipitate dissolution temperature for homogenizing the microstructure by controlling the size and distribution of the precipitates. In this research, the influence of various heat treatment and hot deformation conditions on the kinetics of γ ′ dissolution and its morphological evolution in Nimonic 115 was studied. In addition, hot deformation behavior of the material was investigated using hot compression experiments at varying temperature (between 1,050°C and 1,175°C) and strain rates (between 0.01 and 1 s-1) up to a true strain of 0.8. The values obtained for the solvus temperature of γ ′ precipitates by two methods... 

With the increasing number and complexity of network attacks, the demand for automatic vulnerability analysis tools has increased. The prerequisite of making these tools is to have a formal and precise model of network configurations and vulnerabilities. Utilizing this model, network administrators can analyze the effects of vulnerabilities on the network and complex attack scenarios can be detected before happening. In this paper, we present a general logic-based framework for modeling network configurations and topologies. Then, a number of important and wide-spread network vulnerabilities are modeled as general inference rules based on the framework definitions. We implemented the... 

The objective of this paper is to introduce a new direct method for neutronic calculations. This method, called Direct Discrete Method (DDM), is simpler than the Neutron Transport Equation and more compatible with the physical meanings of the problem. The method, based on the physics of the problem, initially-runs through meshing of the desired geometry. Next, the balance equation for each mesh interval is written. Considering the connection between the mesh intervals, the final discrete equation series are directly obtained without the need to first pass through the set-up of the neutron transport differential equation. In this paper, a single and multigroup neutron transport discrete... 

The distributed nature and complexity of computer networks and various services provided via them, makes the networks vulnerable to numerous attacks. The TCP/IP presumptions which are based on using this protocol to provide a simple, open communication infrastructure in an academic and collaborative environment, causes this protocol lack of built-in mechanisms for authentication, integrity and privacy. Even though in the last few years a more systematic approach to TCP/IP network security problem has been followed, a formal approach to this problem is lacking. In this paper, we propose using Description Logics as a formal model which could be used to analyze TCP/IP networks against attacks.... 

Monitoring industrial and service processes with the purpose of improving the product reliability has been largely addressed in the literature. The surveillance procedures have been proposed with the concentration on single-stage processes with independent quality characteristics. However, the cascade property in multistage processes entails specific monitoring methods which take into account the dependency structure among quality variables in successive stages of a process. This is referred to as regression-adjustment that justifies the heterogeneity in the study population and thus leads to optimal monitoring of multistage processes. In general, it is not straightforward to adjust a... 

Multistage process surveillance is considered to effectively improve the product reliability in manufacturing or service operations. To this end, the process output is commonly inspected under specific conditions and the values of the reliability-related quality characteristic are measured. However, in some cases, the observations from the process output are autocorrelated. This brings about the situation where the use of existing monitoring schemes is futile. Therefore, a class of survival analysis regression models called the proportional hazards (PH) model has been modified to justify the effect of cascade property in line with the autocorrelation issue. Subsequently, three monitoring... 

By growing the size of signals in one-dimensional dictionary learning for sparse representation, memory consumption and complex computations restrict the learning procedure. In applications of sparse representation and dictionary learning in two-dimensional signals (e.g. in image processing), if one opts to convert two-dimensional signals to one-dimensional ones, and use the existing one-dimensional dictionary learning and sparse representation techniques, too huge signals and dictionaries will be encountered. Two-dimensional dictionary learning has been proposed to avoid this problem. In this paper, we propose two algorithms for two-dimensional dictionary learning. According to our... 

Although the prevention of Distributed Denial of Service (DDoS) attacks is not possible, detection of such attacks plays main role in preventing their progress. In the flooding attacks, especially new sophisticated DDoS, the attacker floods the network traffic toward the target computer by sending pseudo-normal packets. Therefore, multi-purpose IDSs do not offer a good performance (and accuracy) in detecting such kinds of attacks. In this paper, a novel method for detection of DDoS attacks has been introduced based on a statistical pre-processor and an unsupervised artificial neural net. In addition, SPUNNID system has been designed based on the proposed method. The statistical... 

In this study, the partitioning of β-amylase in aqueous two-phase systems (ATPS) containing polyethylene glycol (PEG) with a molar mass of 6000 and 10 000 and KH 2PO 4 at T = (301.65 and 304.65) K was experimentally studied. In addition, the partitioning of amyloglucosidase in ATPS containing polyethylene glycol with molar mass of 4000, 6000, and 10 000 in the presence of Na 2SO 4 at T = (301.65 and 305.65) K was investigated. The effects of molar mass of PEG, temperature, mass fractions of salt, and the length of the tie line on partition coefficients of the enzymes were also studied. The experimental results showed that while the partition coefficients of enzymes decrease with increasing... 

Increasing use of networks and their complexity make the task of security analysis more and more complicated. Accordingly, automatic verification approaches have received more attention recently. In this paper, we investigate applying of an actor-based language based on reactive objects for analyzing a network environment communicating via Transport Protocol Layer (TCP). The formal foundation of the language and available tools for model checking provide us with formal verification support. Having the model of a typical network including client and server, we show how an attacker may combine simple attacks to construct a complex multiphase attack. We use Rebeca language to model the network... 

Modeling and analysis of information system vulnerabilities helps us to predict possible attacks to networks using the network configuration and vulnerabilities information. As a fact, exploiting most of vulnerabilities result in access rights alteration. In this paper, we propose a new vulnerability analysis method based on the Take-Grant protection model. We extend the initial Take-Grant model to address the notion of vulnerabilities and introduce the vulnerabilities rewriting rules to specify how the protection state of the system can be changed by exploiting vulnerabilities. Our analysis is based on a bounded polynomial algorithm, which generates the closure of the Take-Grant graph... 

This research focused on the corrosion resistance and microstructure of hybrid additively manufactured (HAM) samples of AISI 420/CX (420/CX SS) stainless steels. Potentiodynamic polarization, electrochemical impedance spectroscopy (EIS), and Mott–Schottky analyses as well as the electrochemical noise (EN) technique were used to evaluate the electrochemical behavior of the as-built and heat-treated HAM parts in NaCl solution. The results showed a more protective passive layer formed on the CX SS side. The distribution of Cr-rich M23C6 carbides in matrix of 420 SS side resulted in a lower corrosion resistance compared to the CX SS side. The noise data analysis confirmed an increase in the... 

In this research, partitioning of β-amylase and amyloglucosidase was investigated in polymer-salt aqueous two-phase systems containing poly(ethylene glycol) (PEG) with different molecular weights such as 4000, 6000 and 10,000 and Na2SO4 or KH2PO4. The experimental partition coefficients were measured at T = (298.5, 301.5, 303.5, 305.5 and 308) K. The results showed that the concentration of salt in feed had more effect on partition coefficients of β-amylase and amyloglucosidase in aqueous two-phase systems than the concentration of polymer in initial feed. Also, the results indicated that temperature had a small effect on partitioning of β-amylase and amyloglucosidase enzymes. The partition... 

Retinal pigment epithelial (RPE) cells are indispensable for eye organogenesis and vision. To realize the therapeutic potential of in vitro-generated RPE cells for cell-replacement therapy of RPE-related retinopathies, molecular mechanisms of RPE specification and maturation need to be investigated. So far, many attempts have been made to decipher the regulatory networks involved in the differentiation of human pluripotent stem cells into RPE cells. Here, we exploited a highly-efficient RPE differentiation protocol to determine global expression patterns of microRNAs (miRNAs) during human embryonic stem cell (hESC) differentiation into RPE using small RNA sequencing. Our results revealed a... 

Simultaneous extraction of zinc and cadmium by a mixture of di-2-ethyl hexyl phosphoric acid (DEHPA) and mono-2-ethyl hexyl phosphoric acid (MEHPA), and the synergistic effect of MEHPA on co-extraction of zinc and cadmium with DEHPA have been investigated. It was shown that the extraction of zinc and cadmium by DEHPA and/or MEHPA can be increased by an increase of pH. The results also illustrate that the pH0.5 of zinc, by increase in MEHPA from 0.1 to 8 vol%, did not vary significantly while that of cadmium varies from 0.63 to 2.4. In other words MEHPA prevents selective extraction of zinc from aqueous media containing both zinc and cadmium. Studies on the selective separation parameter...