Sharif Digital Repository

Knee arthritis is a painful disease from which millions of people around the world are suffering. One of the main causes of osteoarthritis and joint damage that starts from a young age, is that bones around the knee are not in a straight line. As a result, this situation causes additional pressure to the knee. This should be corrected with surgery. There are two procedures for this operation, a conventional method and a customized method. In conventional method, surgical planning is based on 2d X-ray images and plates are formed and fixed approximately at the desired location. This method is not precise enough and may cause problems for the patient. A new developing method, is that all the... 

Predicting groundwater level fluctuations is essential for effective water resource management and environmental preservation. This study examines and compares two modeling techniques, namely Wavelet Neural Networks (WNN) and Artificial Neural Networks (ANN), for predicting fluctuations in the aquifer levels in the Varamin plain. Traditional hydrological models often struggle to detect nonlinear relationships present in hydrological data, which may lead to inconsistencies in predictions. The research focuses on groundwater level fluctuations in the Varamin plain over a 30-year period, from October 1989 to September 2018. Statistical methods such as mean, median, and variance calculations are... 

This study evaluated the feasibility of upgrading the treated effluent from the Tehran Oil Refinery wastewater treatment plant for reuse as cooling tower makeup water. Due to the high concentrations of dissolved solids, phosphate, silica, and COD, the direct use of this effluent causes scaling, corrosion, and biofouling in cooling systems. To address these issues, a hybrid advanced treatment train comprising pre-oxidation and coagulation using ferrate (Fe(VI)), followed by mixed-bed ion exchange (MB400) and a final remineralization stage, was employed. The goal was to simultaneously reduce organic, colloidal, and ionic loads with minimal energy and chemical consumption and to produce a... 

Chlorophyll-a, as an important component in evaluating water resources, has a significant impact on the status of water resources. This component is dependent on various quality parameters, such as phosphorus concentration, nitrogen concentration, turbidity, suspended solid concentration, temperature, pH, and dissolved oxygen concentration in water. To evaluate the quality status of surface water, it is necessary to estimate the exact concentration of chlorophyll-a in different temporal and spatial ranges. The objective of this study is to simulate and predict the concentration of chlorophyll-a in different temporal and spatial ranges using a combined application of machine learning models,... 

Briefly, the accomplishment of movies is based on their sales at the box office or gaining an achievement at the film festivals. Utilizing AI calculations and machine learning algorithms, various models have been proposed for the prediction of these achievements in the literature such as predicting the success of movies using regression models or the success of movies using discrete decision models is anticipated, and in another study the effect of social media data on sales investigated. The methods which are used to tackle these problems can be referred to as machine learning algorithms including neural networks, regression models, discrete decision-making models, public and experts... 

Control of complex networks is the main topic in this study. In this thesis, we consider the methods to steer the dynamics of a network from an initial state to the desired final state. To achieve this goal, one needs to inject appropriate control signals from some of the network nodes, known as driver nodes. We consider the quadratic sum of control signals as a cost function, to control the dynamics of the network. By minimising the cost function, we obtain the control signals as well as driver nodes for a linear time-invariant system. As an example, we provide the results of an energy minimization strategy to control the second order Kuramoto and Rössler dynamics in Erdos-Renyi and... 

Aerodynamics loads and aeroheating during reentry, are one of the challenging issues in designing One of the main challenges in the design and application of reusable spacecrafts is the aerodynamic and thermal loads acting on their structures during reentry into the atmosphere. For this reason, all the concepts/prototypes presented in the 20th century were either not fully reusable, or were partially canceled, or did not have economic justification. In this report, the aerodynamic loads on the first stage of a launch vehicle during the launch and return phases have been investigated. Due to the fact that the main part of the first stage of the vehicle includes fuel and oxidizer tanks, the... 

The collision of moderately large asteroids and comets also referred to as Near-Earth Objects (NEO's) with earth would have catastrophic consequences. Such events have occurred in the past and may occur again in the future. However, for the first time in known history, humanity may have the technology required to counter this threat. Methods studied for mitigation of this hazard are based on deflecting asteroid's trajectory and are normally divided into two basic categories: high energy impulsive methods, and long-duration low-thrust methods. Two parts of mission to be optimized are the trajectory of spacecraft to reach the target and the deflection strategy which could be analyzed by the... 

The water crisis in Iran is not only caused by climatic changes, in other words, human factors have also influenced the increase in water consumption. The intertwining of various economic, political, and social factors has caused a direct and dynamic impact on water resources. Undoubtedly, one of the most important processes in policy-making and in the continuation of planning the country's water resources is the approval of useful laws from the point of view of implementation, monitoring and finally having a positive impact on the subject under discussion. From this point of view, the main research question is the role of laws on the current state of water resources management. The first... 

The main purpose of the present thesis is to establish a decentralized controller for some car–like multi robots to follow and hunt moving targets. Robots are very similar to actual cars considering geometric dimensions, mass and moment of inertia and so on; and outputs of the controller are steering-wheel and driving-wheel torques appropriately. Dynamics of the moving target is so that it escapes from the robots. Robots are equipped with antenna for getting wireless sensory signals, including range and bearing sensors. Kalman filter is used for estimation the target relative position and speed and robots state variables. The controller is designed for doing the above mentioned group... 

Dead Reckoning navigation, as an infrastructure-independent approach, plays a key role in scenarios where access to the Global Navigation Satellite System (GNSS) is unavailable; however, its performance is consistently affected by the accumulation of errors in inertial measurement unit (IMU) sensors. In this research, a novel approach is proposed to enhance the accuracy of this method. In the first stage, sensor noise modeling is performed using three innovative approaches. The first approach involves a static tuning based on an adaptive Extended Kalman Filter (AEKF). In this method, the discrete process noise covariance matrix is adaptively estimated, and the continuous-time process noise... 

This research proposes a novel hybrid method for stock price index forecasting relying on technical analysis, the fundamental analysis of capital market, neural networks technology, and fuzzy logic. The new method shows a good performance comparing complicated and time-consuming forecasting methods. Several factors influence stock price; for example, an important one is the previous trend of stock price. Fortunately, by developing technical analysis and introducing the various indices of this method the maximum use of historical data is made in order to forecast future prices. Another kind of factors is macro-economic variables that their influence on the long-term trends of the stock... 

In this thesis control of wheeled mobile manipulators for cooperative object transportation is investigated. Full dynamic model of a mobile manipulator with a three wheeled mobile base and a three DOF manipulator is derived using Gibbs-Appell method. Input-output linearization technique is used to control individual robots. Transporting the object is divided into two steps, first robots use a decentralized behavior-based method to approach and surround the object. Then virtual structure method is used to control the robots to transport the object cooperatively. Simulation results with three robots handling an object are presented to show the effectiveness of proposed method  

In this work dynamic behavior of a two body TSS with main satellite as rigid body is studied and effects of tether elasticity and tension on the satellite dynamic are indicated in station keeping phase and circular orbit. Also a simplified modeling is introduced which could be used in nonlinear controller design. Lagrange and extended Lagrange method is used to derive equations of motion. It is shown that longitudinal vibration of tether has small effect on satellite attitude and angular velocity and because of high frequency it can be decoupled from satellite dynamic. In the simplified model, orbital motion is decoupled from equations of TSS and main satellite dynamic. Effect of decoupling... 

Separate analysis of modern systems by continuous or discrete theories is not possible, because they cannot solely express the detailed descriptions of a system. As a result of this, researchers are motivated to study hybrid systems. Specific class of hybrid systems which consists of several continuous subsystems and a rule that specifies how to switch between them, is called a switched system. Recently, many studies have been done on the stability and control of switched systems. In this regard, the goal of present study is presenting applications of switched systems using two control methods. The first application is control of a chemical reactor system with multiple modes. We presented... 

The application of manipulators is becoming more and more popular in objects handling especially when it is desired to have access to remote areas in destructive or hazardous taskspaces. For this purpose, a hand-like mechanism must be designed to be used as an end-effector, which can grasp objects. In this paper a cable driven grasping mechanism has been presented. In the proposed mechanism each finger consists of three phalanxes which are actuated by a single motor. Also, locking and unlocking constraints are used in the mechanism in order to generate an anthropomorphic motion, in which, the order of reaching phalanxes to the object is sequential, in such a way that each phalanx starts... 

Sensor Observation Service (SOS) which is defined by Open Geospatial Consortium (OGC) Sensor Web Enablement group is a Web service specification in order to standardize the way sensors and sensor data are discovered and accessed on the Sensor Web. Multiple instances of this service can be implemented around the world, providing huge amount of data every moment. Each of these services operates in specific domain of knowledge (thematic), spatial and temporal dimensions. One way to reveal the underlying data over all of them is to provide an architecture for data integration to allow the user to query sensor data without the knowledge of the infrastructure components. In this research, a novel...