Sharif Digital Repository

Robotic blimps have a wide range of applications, such as monitoring activities in their surroundings, advertising, and performing on stages. They also have remarkable capacities to be used as a social robot. In this research, a manually operated social robotic blimp has been developed intending to interact with children as a social agent and attract adults’ attention as an entertainer in indoor public environments. Since the appearance of a social robot has a significant impact on its acceptance, first, we acquired opinions of several participants on the shape of a desired floating robot. The results revealed that a simple spherical structure adequately draws people’s attention. After... 

New concepts and strategies are continually being investigated to meet fuel efficiency targets for new generations of internal combustion engines. Thermal management methods can reduce fuel consumption by up to 4%. One approach for thermal management is a map-controlled thermostat. In the current work, this concept is investigated through a benchmarking approach and a methodology for deriving the response time curve for this type of thermostat. To better explore the benchmarking idea, characteristics of map-controlled thermostats for two different engines are identified, analyzed, and compared. Finally, the effects of two separate map-controlled thermostats on the average fuel consumption of... 

Surface integrity is one of the important parameters affecting the quality and functionality of mechanical components. This paper presents an investigation on effect of drilling parameter on the surface integrity of Inconel 718 through a combination of experimental and simulation works. The machining responses that are determined through the experimental work include microhardness, microstructure changes, and surface roughness. The average grain size of the microstructure of the workpiece is estimated by using a simulation model. The experimental and simulation results show that higher spindle speed facilitates the formation of white layer near the machined surface and decreases the average... 

Accurate estimation of scour depth is needed for economic and safe determination of bridge pier foundation depth. Most design criteria are based on maximum scour depth due to the steady design discharge without flow time limit. In this paper, the results are presented of an experimental investigation on local scouring around a single bridge pier under steady and unsteady flow regimes. For unsteady flow, triangular shape hydrographs with repeatable peaks have been chosen. Results show that both sharp and flat increases to the peak of hydrographs have a negligible effect on scour depth for the same base time. An equation is obtained to compute the scour depth due to a specific triangular... 

A major problem in real-time packet-based communication systems, is misrouted or delayed packets which results in degraded perceived voice quality. If packets are not available on time, the packets are considered as lost. The easiest solution in a network terminal receiver is to replace silence for the duration of lost speech segments. In a high quality communication system, to avoid degradation in speech quality due to packet loss, a suitable method or algorithm is needed to replace the missing segments of speech. In this paper, we introduce an adaptive filter for replacement of lost speech segment. In this method Kalman filter as a state-space based method will be used to predict the clean... 

The morphological, physical and mechanical properties of polypropylene/clay nanocomposites (PPCNs) were prepared by in situ polymerization are investigated. Non-modified scmectite type clay (e.g. bentonite) was used to prepare bi-supported Ziegler-Natta catalyst of TiCl4/Mg(OEt)2/clay. Exfoliated PPCNs were obtained by in situ intercalative polymerization of propylene using produced bi-supported catalyst. X-ray diffraction (XRD) patterns and transmission electron microscopy (TEM) micrograph were used to assess the clay morphology and dispersion of clay. The crystalline structures of PPCNs were characterized by differential scanning calorimetry (DSC). The mechanical properties of PPCNs were... 

To overcome recent energy and environment challenges, developing efficient and low cost photocatalysts are unavoidable. In this context, design of semiconductor nanostructures modified with earth abundant co-catalysts for water splitting reactions requires well engineered and controlled process to optimize surface interface and maximize nanocomposite system efficiency. Here, TiO2 nanotube were synthesized electrochemically and decorated with cobalt based nanostructure co-catalyst for water oxidation reaction using low cost and scalable electro-deposition approach. By changing deposition parameters and complete studying on samples surface morphology and related statistical analysis data,... 

We report a simple and inexpensive synthesis route of TiO2 nanoparticles using electrical arc discharge between titanium electrodes in oxygen bubbled deionized (DI) water followed by heat treatment. The resulting nanoparticles were characterized using X-ray diffraction (XRD), X-ray photoelectron spectroscopy (XPS), dynamic light scattering (DLS), scanning electron microscopy (SEM) and transmission electron microscopy (TEM). XRD patterns demonstrate formation of TiO2 phase in oxygen bubbled water after heat treatment and dominance of rutile to anatase phase. The size and morphology of TiO2 nanoparticles were studied using different arc currents as a crucial parameter in properties of final... 

Voltage source converter based multi - terminal DC grids (VSC - MTDC) are widely used for integration of renewable resources. Control of these grids requires vector control method, which includes inner and outer current controllers, tuning of these controllers is very important. Conventionally used tuning methods consider approximated linear model to tune the proportional - integral (PI) parameters of voltage source converter (VSC) which fails to produce optimum disturbance rejection results. In this research an Ant Colony Optimization (ACO) technique is used to get the optimum parameters of inner and outer power control layers for multi - terminal DC system. ACO is applied simultaneously on... 

Voltage source converter based multi - terminal DC grids (VSC - MTDC) are widely used for integration of renewable resources. Control of these grids requires vector control method, which includes inner and outer current controllers, tuning of these controllers is very important. Conventionally used tuning methods consider approximated linear model to tune the proportional - integral (PI) parameters of voltage source converter (VSC) which fails to produce optimum disturbance rejection results. In this research an Ant Colony Optimization (ACO) technique is used to get the optimum parameters of inner and outer power control layers for multi - terminal DC system. ACO is applied simultaneously on... 

The reliability Studies are done in order to determine the probability of functioning or availability of different engineering systems. These studies can also provide a basis for comparing different structures of a system and can be used as a tool to improve the system design. Also, reliability is an important consideration in the planning, design and operation of transit system. Since the issue of the reliability of electric vehicles has not been sufficiently and seriously evaluated yet, so in this paper, the reliability of the various types of these kinds of vehicles will be discussed and then the reliability indices of them will be compared with each other and with the conventional cars  

Single cell gel electrophoresis was used to observe the effect of bifenthrin and chlorpyrifos on Labeo rohita. The present work was planned to study the genotoxic effect of pesticide mixture on the major indian carp, L. rohita at sub-lethal concentration 33% LC50. First of all, 96-hr LC50 was determined for L. rohita, then fish was given sub-lethal environment for 70 days. Erythrocytes from blood were taken after each fortnight for the assessment of time dependent DNA damage (% damage), aggregate tail length of comets and genomic destruction. There was increase in damage up to 56 days and after that a slight decrease was observed in next fourteen days. After statistical analysis, it was... 

A new bi-supported Ziegler–Natta catalyst was prepared successfully by supporting TiCl4 on the carbon black (CB) and magnesium dichloride. Then, this catalyst was used to prepare ultrahigh molecular weight polyethylene (UHMWPE) nanocomposites via in situ polymerization. The effects of difference molar ratios of triisobutylaluminum as activator to TiCl4, polymerization temperature, pressure of monomer and polymerization time on productivity of the catalyst were studied. The maximum activity was obtained at [Al]/[Ti] = 121:1. Increasing monomer pressure raised catalyst activity. Increasing temperature to 60 °C increased the polymerization yield; however, the higher temperature decreased the... 

Several semi-analytical models are considered for a double-gyre problem in a turbulent flow regime for which a reference fully numerical eddy-resolving solution is obtained. The semi-analytical models correspond to solving the depth-averaged Navier–Stokes equations using the spectral Galerkin approach. The robustness of the linear and Smagorinsky eddy-viscosity models for turbulent diffusion approximation is investigated. To capture essential properties of the double-gyre configuration, such as the integral kinetic energy, the integral angular momentum, and the jet mean-flow distribution, an improved semi-analytical model is suggested that is inspired by the idea of scale decomposition... 

As the result of safety factors considered in load and resistant values for the design of new offshore platforms, a higher resistance compared to the 100 year return period environmental loading, is achieved in the structure. This type of design is usually performed using linear methods of structural analysis. In this case the structure practically has a high reserve capacity which is disregarded in the design phase but may be considered in special cases. One of these important cases is when an existing structure is assessed and evaluated after elapse of its structural life. In this case using the platforms reserve capacity, through a non-linear analysis such as push-over, would be logical... 

The economic production quantity (EPQ) is one of the most commonly used models for production planning and inventory control problems. In this paper, a multi-product single- machine EPQ inventory model with imperfect production is extended under production capacity. In this system, produced items do not have perfect quality; they either are reworked or are scrapped. Moreover, the limited warehouse space for each item and the limited total available capital lead to constraints for storage and budget, respectively. Besides, the setup cost/time for each product depends on the quantity produced. The objective function of the developed EPQ inventory model is shown to be a convex non-linear... 

In this study, four types of mixed matrix membranes were fabricated using polysulfone (as the base polymer) and different contents of graphene oxide (GO) nanosheets (as modifier) through wet phase inversion method. Based on the amounts of GO (0, 0.5, 1, and 2 wt%), the synthesized membranes named as M1, M2, M3, and M4, respectively. The membranes characteristics were evaluated using FE-SEM, FT-IR, and water contact angle measurements. In addition, the performance of the prepared membranes was investigated in terms of basic parameters: filtrate water flux, nitrate removal efficiency, and antifouling properties. Results showed significant improvements of the characteristics of modified... 

In this study, four types of mixed matrix membranes were fabricated using polysulfone (as the base polymer) and different contents of graphene oxide (GO) nanosheets (as modifier) through wet phase inversion method. Based on the amounts of GO (0, 0.5, 1, and 2 wt%), the synthesized membranes named as M1, M2, M3, and M4, respectively. The membranes characteristics were evaluated using FE-SEM, FT-IR, and water contact angle measurements. In addition, the performance of the prepared membranes was investigated in terms of basic parameters: filtrate water flux, nitrate removal efficiency, and antifouling properties. Results showed significant improvements of the characteristics of modified... 

Short-term hydrothermal scheduling (STHTS) is a highly non-linear, multi-model, non-convex, and multi-dimensional optimization problem that has been worked upon for about 5 decades. Many research articles have been published in solving different test cases of STHTS problem, while establishing the superiority of one type of optimization algorithm over the type, in finding the near global best solution of these complex problems. This paper presents the implementation of an improved version of a variant of the Particle Swarm Optimization algorithm (PSO), known as Accelerated Particle Swarm Optimization (APSO) on three benchmark test cases of STHTS problems. The adaptive and variable nature of...