Sharif Digital Repository

Quadrotors are vertical take-off and landing (VTOL) aircrafts with high maneuver capabilities thanks to their four blades. They are widely used for various applications more than any other unmanned aircraft. Taking photos in military zones and industrial complexes is one such application. Due to the highly noisy radio and GPS (Global Positioning System) signals that are a characteristic of these environments, the task of controlling the quadrotors using them is impossible. An alternative approach that is employed in our research is the use of the aerial images from the on-board camera for autonomous navigation. To this end, we first obtain a reference image for the operation area. These... 

Polymer/layered silicate nanocomposites are good candidates to improve polymer matrices due to enhanced interfaces between nanoclay reinforcement and matrix. So many attempts has been done to improve fabrication methods of these nanocomposites. Polypropylene is a common used engineering material in many industrial applications (general and special). So there is many researches focused on PP/Clay nanocomposites. In this research we tried to investigate the role of clay loading, compatibilizer loading and processing sequence on clay delamination and layer dispersion. We used a blend of two different PPs with different MFI values as matrice. It seems that the blend achieves acceptable... 

Stress whitening is a type of discoloration that can occur in variety of polymers used in automotive and household industries. The current research tries to investigate the effective microstructural parameters such as strain rate, rubber second phase, and branched polypropylene (PP) on the stress whitening in polypropylene in order to propose toughed PP blends with limited stress whitening. It is shown that increasing the strain rate in tensile test results in formation of more visible whitened area within the plastically deformed zone. This is the consequence of further growth of micro-voids at higher strain rates. The results are in accordance with the Mie scattering concepts. Besides, the... 

A self-driving car is a vehicle that can understand its environment and operate without human intervention. In the past decades, deep learning and artificial intelligence (AI) have significantly influenced the autonomous driving revolution in academia and industry. Also, neural networks have become increasingly crucial for generating control commands for autonomous vehicles. Generating control commands such as steering angle, brake, throttle, and appropriate speed is essential for self-driving cars. This thesis presents an End-to-End approach to generating these control commands. The convolutional neural network receives the raw frames of the road image with the help of a camera placed on... 

Supersonic intakes with mixed compression has an appropriate performance in the critical point, but in the subcritical performance, when inlet mass flow rate is reduced to a certain amount, a self-sustained instability occurs in the flow. In this case, instability appears in the form of shock waves system oscillation which is called Buzz phenomenon. An axisymmetric supersonic air intake with mixed compression which is designed for a Mach number of 2 has been investigated experimentally in order to study buzz frequency. The intake has been experimented in different Mach numbers, angles of attack and mass flow rates. Besides, the intake with wind tunnel wall has been modeled and analyzed in... 

In this research work, to enhance the performance of the conventional spinning disk reactors, a novel type of spinning disk reactor has been proposed and tested successfully through the synthesis of barium sulfate nanoparticles by means of the reactive precipitation. This reactor consists of two coaxial rotating disks placed horizontally in a cylindrical chamber. The experimental results clearly indicate the capability of the proposed reactor in the synthesis of nanoparticles with the smaller mean particle size and the narrower particle size distribution compared to those obtained in various process intensification devices such that barium sulfate nanoparticles with a mean particle size of... 

Heartbeat is the result of contractions of over 10 billion cardiac cells. These cells’ cytoplasms are connected to each other by gap junctions which are arrays of intercellular protein channels. Thus action potential can propagate from one cell to another and cause its contraction. In core-conductor model, one-dimensional microscopic representation of cardiac tissue, cells are attached to each other to form a ladder network. The parallel elements are connected to each other by series resistors which represent gap junctions. These resistors are nearly always considered as static elements. In this thesis I have investigated the effects of incorporating the dynamicity of gap junction resistors... 

In this research we study multi-commodity inventory-location problem under disruption risk that is formulated to a nonlinear integer-programming model. The objective function of this model is minimization of inventory and location costs simultaneously under disruption risk. These disruptions may be caused by natural events such as earthquake, flood, fire and man-made sources like labor strike or terrorist attack. The structural design of a supply chain greatly affects how these kinds of disruption risks influence the network. In this regard, this study proposes a strategy to reduce the impacts of disruption risk by considering substitute commodity in the multi-commodity inventory-location...