Sharif Digital Repository

The research field of localization with high precision (precision of 10 micrometers) has greatly attracted attentions in recent years. Optical flow sensor is one of the inexpensive solutions for the localization of robot, which have been used in computer mice. The most important application of this thesis is to localize walking micro robot. The main challenge of previous research is the fact that sensor's precision is highly dependent on the surface texture. The aim of this research is to implement an appropriate algorithm on optical flow sensor in order to increase the robustness of sensor's precision to surface texture. In this regard, firstly experimental hardware has been designed and... 

Nowadays, the developments in control and robotics provide rehabilitation and power augmentation applications for the exoskeleton robots. In the rehabilitation applications, the goal is to help elderly and persons with paraplegia to do their daily activities and movements. One of this applications is to help these individuals for postural stability and recovering balance after receiving perturbations. In this research, we propose a control strategy for a lower limb exoskeleton to help the wearer to recover balance after a perturbation without using crutches. Here, we concentrate on the stance phase when a push is exerted to the robot and try to make the system quite upright. Therefore, a... 

In earthquake-prone communities, the post-earthquake functionality of hospitals is crucial. Hospitals can dramatically reduce earthquake casualties if they can remain functional and retain service continuity. A variety of earthquake-induced problems such as damage to hospital components, unavailability of medical staff, disruption in medicine supply, and failure of supporting infrastructure systems can negatively affect the functionality of a hospital. Hospital administrators and facility managers require appropriate tools to assess the effect of these problems on hospital functionality. This research presents a probabilistic framework to assess the functionality of hospitals following... 

FIDIC as a proposed model for a contract and including patterns of regular international contract projects. In Iran, many giant construction projects such as petroleum projects, power plants, roads and water networks was signed based on FIDIC contract pattern and These projects have been faced with many challenges .The main challenges for this contract are not ready. Improper translation of the original, traditional look owners to contractors, FIDIC modern approach depends on the project parties (owner - Consulting - contractors), Iran's judicial laws, lack of private land ownership and the absence of allocated budget that indicates the appropriate use of this model contracts in Iran. To... 

Oil and natural gas today are one of the most important sources of human energy supply, so that crude oil Percentage and natural gas provide 25% of the world's energy. Until now, vertical drilling methods have been used to extract oil and gas. In recent years, due to vertical drilling constraints, for extraction and access to places that can not be achieved by vertical drilling, Horizontal drilling has been increased. In horizontal drilling, a variety of vibrations including longitudinal, torsional, and lateral take place. These vibrations, if not controlled, can damage the equipment and the drilling field, as well as reduce the efficiency of the drilling process and increase the process... 

Infrastructure systems play a critical role in the economic and social activities of a community. Effective and continuous performance of these infrastructure systems is essential to the welfare and prosperity of the communities. Infrastructure systems comprise networks of interdependent assets that are built through a long and costly process. These assets are subject to a variety of factors that reduce the performance and reliability over time. These factors also increase the vulnerability of infrastructure assets in face of future probable hazards. In order to ensure the continuous and uninterrupted performance of infrastructure assets in post-hazard situations, asset managers should plan... 

Through the last decades, due to environmental issues and to confine CO2 emission and also dependency to the fossil fuels, renewable energy resources has been developed. It’s been expected up to 2035, the renewable energy resources will be scaled three times and among those resources, the wind energy will stand prominently. Out of this king of renewable resource, the horizontal wind turbine has been subjected in this research. The focus of is to design the controller in third of a 2 MW turbine operation by which stable rotor speed and nominal output power to be attained. Besides, to enhance the accuracy of the wind turbine profiles, the TURBSIM software (At the National Renewable Energy... 

Through the last decades, due to environmental issues and to confine CO2 emission and also dependency to the fossil fuels, renewable energy resources has been developed. It’s been expected up to 2035, the renewable energy resources will be scaled three times and among those resources, the wind energy will stand prominently. Out of this king of renewable resource, the horizontal wind turbine has been subjected in this research.The focus of is to design the controller in third of a 2 MW turbine operation by which stable rotor speed and nominal output power to be attained. Besides, to enhance the accuracy of the windturbine profiles, the TURBSIM software (At the National Renewable Energy... 

The development of the methods to evaluate the seismic resilience of communities, infrastructures, and structures has attracted many researches. To estimate the resilience with accuracy, developing a model that can simulate the events during the recovery time is very important. For the same, modelling the aftershocks with their accumulative effects on the damaged buildings during the recovery time has been the main focus of the current study. The proposed approach to simulate the aftershocks’ effect utilizes the Monte-Carlo sampling, in which each sample includes the two following steps. The first step is the simulation of the cumulative damage caused by the mainshock-aftershocks sequence... 

Wearable robots, or exoskeletons, are electromechanical devices that aim to assist user by supplying additional mechanical power as needed. The interaction of these robots with humans and the possibility of robots using their various abilities such as intelligence, control power, sensors, etc., make one of the crucial components of these control algorithms, its interaction and integration with the user. In this regard, functional electrical stimulation is one way to use human abilities to control the robot and achieve broader goals. Adding functional electrical stimulation to a wearable robot creates an emerging group of robots called hybrid exoskeletons. Hybrid exoskeletons provide the... 

Oil pollutants are among the important sources of pollution in countries with oil and gas industries such as Iran. Soil pollution by these pollutants is one of the environmental issues and hazards. All kinds of organic and inorganic pollutants in the soil may penetrate the underground water or enter the atmosphere in the form of gas, which respectively enters the food chain through absorption by plants or enter the body of living organisms through breathing. They include humans, which are a threat to the health and life of living beings. For example, many of these pollutions cause diseases such as cancer, suppression of the body's immune system, or even obesity; therefore, it is necessary to... 

The purpose of this study is to present a suitable model for calculating the costs imposed on society due to deaths and injuries due to infrastructure failure due to earthquakes, which is used in the analysis of community resilience. Much research has been done to date to calculate the economic costs of infrastructure failure. However, no suitable analytical framework has been provided to quantify the costs of deaths and injuries to people due to earthquake failure. Previous research has provided methods such as the value of statistical life to quantify the social costs caused by accidents and environmental pollution. However, the literature review results in the field of seismic resilience... 

Indoor positioning plays a pivotal role in a wide range of applications, from smart homes to industrial automation. In this thesis, we propose a comprehensive approach for accurate positioning in indoor environments through the integration of existing Wi-Fi and Bluetooth Low Energy (BLE) devices. The proposed algorithm involves acquiring the received signal strength indicator (RSSI) data from these devices and capturing the complex interactions between RSSI and positions. To enhance the accuracy of the collected data, we first use a Kalman filter for denoising RSSI values, then categorize them into distinct classes using the K-nearest neighbor (KNN) algorithm. Incorporating the filtered... 

The aim of this research is to examine and propose solutions for financing projects aimed at reducing vulnerability in the oil industry's infrastructure against earthquakes and enhancing their seismic resilience. Design and construction issues, as well as the gradual deterioration of oil infrastructure, increase their vulnerability to earthquakes. Earthquakes can disrupt the proper and continuous functioning of these infrastructures by causing damage. Such disruptions or interruptions in the performance of oil industry infrastructure can have significant economic and social consequences. To mitigate these damages, investment in vulnerability reduction measures is essential. Financing... 

As a result of technology advancement in composite materials and the growth of analytical tools, applications of these materials is increasing in various industries, especially in aerospace industry. One of the structures developed using these materials is hybrid structure with composite/elastomer layering. Stress analysis and study of free-edge effect in this type of structures is possible by using three-dimensional elasticity in composite layers as well as nonlinear hyperelasticity in elastomeric layers, and this is the topic that this thesis deals with. The proposed approach to solving the problem is that the composite/elastomer hybrid structure is first analyzed by the finite element... 

Asset management involves making decisions related to selecting the most cost-effective asset improvement strategies. There is an increasing interest of risk-based approaches in the field of asset management. During the asset life various risk factors might influence the asset performance and the maintenance cost, therefore, it is important to incorporate these risk factors, which affect the necessity and timing of various activities. This study develops a systemic risk-based asset management methodology (framework) to manage the maintenance of infrastructure assets. This paper presents an overview of uncertainty problems in cost estimating of bridge in the future and also discusses... 

The construction industry is faced with the problem of growing number of claims. If not settled, claims may lead to dispute among parties. Researchers have investigated claims from various perspectives. Nevertheless, more studies should be conducted in order to enhance the understanding about the root-causes of construction claims. The objective of this study is to utilize a systematic and well-structured methodology based on literature review, survey and interviews with experts in order to identify and classify the root-causes of claims of contractors as well as the situations that give rise to construction claims. Moreover, this study contributes to the claim terminology by distinguishing... 

The aim of this research is presentation of A framework to select the appropriate combination of retrofit and insurance in order to reduce earthquake losses. The vulnerability of buildings to earthquakes can lead to significant damage to owners and residents of these buildings. It is imperative that appropriate measures be taken to reduce these adverse effects before the risk occurs. Some of these measures, such as seismic retrofit of buildings, can reduce the vulnerability of buildings and, consequently, financial and human losses. Some other measures like insurance, in the event of an earthquake, can reduce the financial losses incurred by owners and residents of vulnerable buildings.... 

Sustainable energy is an important and necessary subject. A significant number of studies address the increasing energy production ratio per its cost. To this end, first of all we should increase the energy production. Second, damage and costs of production, set up and maintenance must be reduced. Control is one of the most important and effective tools in the way of achieving these purposes. The problem of controlling a wind turbine is generally divided into two sections of controlling the power chain and yaw control. In this research, both subjects have been investigated.Since there are some problems in measuring the wind speed, controlling the power chain requires prediction of the wind...