Sharif Digital Repository

Conventional multirotor UAVs are inherently underactuated, preventing independent control of all degrees of freedom and thereby limiting their ability to perform complex maneuvers and specialized missions. This thesis introduces and implements the Sharif AgRoCopter, a fully-actuated quadrotor equipped with additional actuators to tilt the rotor axes, enabling full independent control across all degrees of freedom. A comprehensive comparative analysis of various omniorientational configurations is presented, offering a roadmap for configuration selection and controller design aligned with different design objectives. A novel control strategy based on virtual control signal generation and both... 

The aim of this project is to inventigate and synthesize CaO-based nanocatalysts with metal promoters of magnesium and lithium by wet impregnation and coprecipitation methods, which are used in the transesterification reaction of canola oil and methanol. Sections of thesis include review of before researches , synthesis of nanocatalysts, catalyst characterization tests,and investigation of reaction under optimal conditions. In wet impregnation method, nanocatalysts were made with 5% by weight of lithium-magnesium on the basis of CaO and with different weight percentages of these two elements. In the co-precipitation method , catalysts with a combined base of calcium oxide/magnesium oxide ... 

In this study, a catalyst-free Mannich reaction is applied for synthesis of 1,3-oxazines as an important class of biologically active compounds. In order to consider environmental application a mixture of water and ethanol is selected as a solvent for the reaction of 2,7-dihydroxynaphthalene with formaldehyde and an amine. Primary consideration of substitution effect on the reaction revealed that aniline and its derivatives with electron-donating substituent and halogens, cause higher yield. Aliphatic amines are not good substrate for this reaction with the exception of benzyl amine  

3D bioprinting is an additive manufacturing method that facilitates the deposition of the desired cells and biomaterials at any pre-defined location. This technique also enables control over the internal structure and external dimensions of printed constructs. Among various biomaterials used as bioinks, the bioinks derived from decellularized extracellular matrixes (dECMs) have attracted significant attention due to their bioactivity and being a rich source of biochemical cues. Here in this study, the decellularized amnion membrane (dAM) has been selected as the main component of the bioink formulation because of its biocompatibility, low immunogenicity, antibacterial property, abundance,... 

The main goal of this thesis is the design and development of a rehabilitation device for helping patients “to improve blood circulation” & retain and recover their abilities if possible that were lost during the stroke or a accident like that (my research in karaj/iran shows that it is possible by just movement of the specific body part). The focus is on hand in this thesis because Injuries to the hand are common and can be very debilitating since our hands are our primary means for interacting with our world. For rehabilitation in case of human hand there are several practices that should be done for patients either in home or in a rehabilitation center, time and money that is supposed to... 

In the past few decades, shaking tables are widely used to evaluate system response of structures under seismic excitations. These devices are used without any fundamental research performed on a shaking table system as an entity model. In most of these studies for simplicity, it is assumed that there exist no considerable vibration and displacement around the shaking tables, and no attention is paid to the peripheral substances such as soil settled under the foundation.
In this thesis, result of ambient vibration test on shaking table system (solid deck, concrete foundation and soil layer) has been presented. Precise sensors known as low frequency and high accuracy accelerometers have... 

Out of several ground improvement techniques available, stone columns have been widely used. This technique has been successfully applied to increase the bearing capacity and to reduce the settlement for foundation of structures like liquid storage tanks, earthen embankments, raft foundations, etc., where a relatively large settlement is permissible. This technique has, generally, been proven successful in increasing the stiffness of weak soils, upgrading their safe bearing capacity, and reducing their total and differential settlements, as well as speeding up their consolidation process. The beneficial effects of stone column installation in weak deposits is manifested in the form of... 

Laminar forced convection flow through a channel partially filled with a porous material was numerically studied in this thesis. The Navier-Stokes and Brinkman-Forchheimer equations were used to model the fluid flow in the free and porous regions, respectively. Coupling of the pressure and velocity fields was resolved using the SIMPLEC algorithm. The local thermal equilibrium was adopted in the energy equation. The effects of the thermal conductivity ratio, Darcy number, porosity, Reynolds number and height of the porous insert on velocity and temperature field were investigated. The results show that the flow behavior and its associated heat transfer are susceptible to the variation of the...