Sharif Digital Repository

One of the recent studies in the field of humanoid robots is to achieve a robot gait close to the human-like gait. Therefore, using the foot equipped with passive or active toe joint is developed in case of robots. The results of several studies show that the segmented foot with a toe joint has several advantages compared to the rigid foot in: walking speed, range of joint angle and ability to kneel and climb higher steps. Both passive and active toe joints of humanoid robots are developed. Advantages of the passive toe joint is obvious; in terms of design, it is more simple and light. Moreover, in normal gait, when the robot is equipped with passive toe joint, body inertial causes an... 

Liquefaction of gases is one of the applications of cryogenic science. Among the gases, Helium has the lowest boiling point, which at a pressure of 1atm is approximately 4.2K. Liquid helium can be used to cool superconductors in transportation equipment, military radars, and medical imaging equipment. For helium liquefaction, various cycles are used; these cycles have different parameters in their structure such as of input mass fraction to expanders, heat exchanger effectiveness, expander arrangement and ... which their analysis for improving the performance of the cycle is important. In this research, the aim is to study 2, 3 and 4 expander cycle with various parameters and structure. For... 

Estimation of demand, for example, for transportation is an important issue for the planning and programming of various systems. Thus, enhancing the predictability power of such models is of high value. Demand stems from choices of individuals, and choice is subject to uncertainty and fuzziness. Uncertainty comes from many factors including incomplete information of decision-maker, and fuzziness comes from many other factors including personal perception regarding the value of the variables affecting choice. This study tries to introduce a new approach in building choice models, in which variables are transformed into another variable by the help of a global wisdom. This wisdom shows the... 

As the crowded cities require public transportation and because of lack of space on the ground, Subway and boring underground tunnels encountered. In this thesis the interaction of boring the line 7 of Tehran metro with the existing station of line 1 of Tehran metro (Molavi station) is studied. By changing the soil specification, The surface settlement is significant so the soil specification is one of the important parameters of the interaction. For comparinf the effect of these parameters, the soil settlement and bending moments is investigated in different parts of station while the lower tunnel is passing beneath it. The 3D Abaqus software is used for modeling this interaction. In... 

In Persian language, there are some special uncertainties and complexities regarding the extraction of phonemes due to its flexible structure. In this work, we try to solve two problems caused by this issue, homographs disambiguation and Ezafe recognition in Persian text to speech systems.
In this work, two methods are presented for solving the two problems. The first one is a pattern recognition method based on Aho-Corasick algorithm that has the best performance according to the execution time. The second method is a hidden Markov model tagger based on Viterbi algorithm that uses bigram and trigram statistics. These methods are run on 10 million word corpus and the results are compared... 

Airplanes usually experience minor position change and height loss during cruise flight, but under normal circumstances the aircraft total energy is adequately acceptable to maintain the trajectory and the desired performance without severe oscillations. On the other hand, if the airplane encounters a wind-shear or microburst during take-off or landing phases, it would be a dangerous situation, as the aircraft kinetic and potential energy levels are not as high.
In this research, a model predictive controller is designed and investigated to allow a transport category aircraft to either escape or penetrate the microburst. In this regard, initially a DMC controller is designed for 6-DoF... 

Recently, Needs for construction of rock structures and underground ones such as tunnels, dam foundations, power plants and caverns built to keep oil, gas and nuclear waste has increased dramatically. In order to design, construct and excavate these underground structures safely and economically, full understanding of rock mass properties, suitable tools and practical techniques of drilling are necessary. Because of existing this discontinuities, including joints and layered rock masses and their effects on mechanical behavior of rock mass, it is necessary for the geomechanical profile, shear strength and failure mechanism of rock mass to be accurately indentified. Shear strength criterions... 

Nanopositioning is the technology to control position of the objects with precision of the scale of nanometers. Nowdays, This technology emerged as one of the components of research and production in the micro and nanometer dimensions, helping researches and producers to carry out many state of the art projects. A nanopositioning device, consists of a support to path guidance, an actuator to apply force and motion, a driving circuit for communication with the actuator, a sensor for measuring displacement, a circuit for reading sensor’s data, a controlling algorithm to reach the desired precision, a controlling hardware to enforce controlling logic, a power supply and a graphical user... 

According to the impossible trinity, countries can only enjoy from two of the following choices simultaneously: fixed exchange rate, free capital flow and independent monetary policy. A part of the economics literature has tried to verify the theory empirically. Some of the researches like Klein and Shambugh(2015) has concluded that the trilemma is valid on the occasion of transferring the effect of base countries interest rate changes to other countries. On the other side, a few papers like Ray(2013) has shown that an independent monetary policy can just be obtained by a closed capital flow and a float exchange rate system can not necessarily give central banks the autonomy of monetary... 

In this research, it has been tried to answer jobless growth in Iran’s economy between 2005 to 2011. At first, the added value and employment of various major sectors will be investigated. It will be observed that two major sectors, agriculture and industry, have been experienced jobless growth. After having been investigated more, it will be shown that the major part loss of the job in the agriculture is relating to unwaged family workers. In the industry about all the loss of the job has been happened in the textile sub-sector. In these two sectors, the most of the separated people has been inactive. Getting inactive and not being allocated of the separated people have been led to... 

In this thesis, the collisions of two fluorine-C60 nanoparticles have been studied using molecular dynamics simulation. The main purpose of this thesis is to present a completely new method based on the definition of the vertical and tangential coefficient of restitution, although by using the combination of the simulation and theory results, we can obtain the approximate parameters of physical properties of nanoparticles, such as hardness coefficient, surface tension, friction coefficient, etc.At first, two fluorine C60 under different conditions, including collision velocity, collision angle, initial temperature, initial rotational angle of the molecule, and various potential applications... 

Peer-to-Peer networks are invented to enable participants (peers) to share their resources and find and use the shared resources of the others. So the main issue is the mechanism of finding granted resources of the other peers. In Peer-to-Peer networks, there is no central server to index shared resources of the peers. So peers should collaborate to provide a fully distributed mechanism for searching resources. Considering the huge size of peer-to-peer systems, it is apparent that efficiency of the search mechanism is very critical. In this thesis, to have efficient seach in Peer-to-Peer networks, we propose two approaches. Then based on these approaches, we propose the third approach to... 

In this thesis the effects of impurities and different defects on electrical and magnetic properties of monolayer and bilayer graphene is investigated. Calculations are performed using density function theory. Alloying monolayer graphene with boron and nitrogen the energy gaps of 0.7 and 0.6 eV are obtained, respectively. Moreover, we show that BN is a good candidate for opening the band gap in graphene. Alloying monolayer graphene with BN the energy gap of 1.2 eV is obtained. Another way of opening band gap is to somehow break the symmetry between layers of the bilayer graphene. By alloying one layers of bilayer graphene with B, N or B-N, although the symmetry of layers is broken, each... 

As steel shear walls are usually applied in the central cores of buildings (around the elevators and stairs), the use of opening as door is inevitable in steel shear wall spans. On the other hand, because of weakening the performance of steel shear walls due to the presence of these openings, it is necessary to apply stiffeners around it. The use of stiffeners around all sides of opening continued to beams and columns, is very expensive. Therefore, the necessity of studying on the effect of different arrangements of stiffeners on the behavior of steel shear walls is felt. In this research, a number of steel shear walls with different characteristics in terms of plate aspect ratio, location... 

Population growth require increasing demand of Energy. The fossil fuels are the main source of energy. However, they are main source of carbon dioxide emissions. Considerable amount of fossil fuels is used in the power plants. Increasing trend of electricity consumption as well as the lack of alternative fuels such as renewables in the short time will increase the consumption of fossil fuels and emissions. The most important greenhouse gas emitted from the power plants is carbon dioxide. That's why the separation of carbon dioxide from the gas stream of power plants is necessary.Separation of the carbon dioxide by adsorption is considered in this project both experimentally and...