Sharif Digital Repository

We design and simulate the motion of a swimmer, the Quadroar, with three-dimensional translation and reorientation capabilities in low-Reynolds-number conditions. The Quadroar is composed of an I-shaped frame whose body link is a simple linear actuator and four disks that can rotate about the axes of flange links. The time symmetry is broken by a combination of disk rotations and the one-dimensional expansion or contraction of the body link. The Quadroar propels on forward and transverse straight lines and performs full three-dimensional reorientation maneuvers, which enable it to swim along arbitrary trajectories. We find continuous operation modes that propel the swimmer on planar and... 

Mobile Ad Hoc Networks (MANETs) are networks with selforganizing capabilities and without a fixed infrastructure. Wireless nodes communicate among themselves using multi-hop radio relaying, without requiring the packets to pass through a central access point or a base station. In a highly mobile and infrastructure-less scenario, pre-configuration of addresses is not possible. Therefore node addresses need to be configured dynamically with minimum delay and packet loss. Existing solutions for IP address auto-configuration do not address security issues. In this paper we propose a secure address autoconfiguration for Mobile Ad hoc Networks (MANET) based on Virtual Address Space Mapping [1].... 

Based on series of crude oil rheological properties and asphaltene flocculation confocal microscopy analysis, Najafi et al., (2011) reported the existence of an optimum radiation time at which asphaltenic crude oils reach the minimum kinematic viscosity. Accordingly, they proposed the idea of asphaltene flocculation inhibition due to wave radiation.The present investigation is a continuous effort to provide more information about the process of flocculation inhibition. Confocal microscopy and rheological analyses are performed on different crude oils to prove the repeatability of the observed phenomena. The asphaltene content analysis was done based on IP143 procedure, which provides more... 

Symmetry reduction is a promising technique for combatting state space explosion in model checking. The problem of finding the equivalence classes, i.e., the so-called orbits, of states under symmetry is a difficult problem known to be as hard as graph isomorphism. In this paper, we show how we can automatically find the orbits in an actor-based model, called Rebeca, without enforcing any restriction on the modeler. The proposed algorithm solves the orbit problem for Rebeca models in polynomial time. As a result, the simple actor-based Rebeca language can be utilized efficiently for modeling and verification of systems, without involving the modeler with the details of the verification... 

In this study, the ability of Aspergillus niger and Penicillium simplicissimum to extract heavy metals from a spent refinery catalyst was investigated. For the first step, a spent processing catalyst from one of the oil refineries in Iran was physically and chemically characterized. Aspergillus niger and Penicillium simplicissimum were used to mobilize Al/Co/Mo/Ni from hazardous spent catalysts. The fungi were adapted to the mixture of metals at 100-800 mg L -1 with increments in concentration of 100 mg L -1. Bioleaching experiments were carried out in batch cultures. To investigate the production of organic acids in sucrose medium, analyses of the culture medium by HPLC were performed at... 

A spent processing catalyst from an Iranian oil refinery was initially characterized physically and chemically. Acidithiobacillus ferrooxidans and Acidithiobacillus thiooxidans were used to mobilize Al, Co, Mo and Ni from the spent catalysts under optimized conditions in batch cultures. The characteristics of the bioleach solution (pH, Eh, cell concentration and Fe(II)/Fe(III) concentration) were determined along with the concentration of metal values extracted from the catalyst. The results showed that after bioleaching using A. ferrooxidans in the presence of ferrous sulfate, maximum extractions of 63% Al, 96% Co, 84% Mo and 99% Ni were achieved after 30 days at pH 1.8-2.0. However, the... 

The problem of time delay estimation (TDE) in the presence of zero mean white Gaussian noise is addressed. A novel and efficient algorithm for obtaining Conditional Maximum Likelihood (CML) estimates of delays, attenuation factors and the number of paths from a transmitter to a receiver is introduced. This approach is quite suitable for the cases in which time delay difference is less than the duration of signal autocorrelation  

Multiple target detection in conventional PCL (Passive Coherent Location) radar systems by means of Ambiguity Function Processing and without any powerful algorithm is impossible. Presented Gradual Clean Algorithm (GCA) is a new and simple method, which could provide the perfect detection in noisy environment and heavy clutter condition up to SNR=-15 dB and SCR=-100 dB (clutter is assumed as a distributed target with large RCS). Determining the number of real targets and keeping the false alarm probability approximately constant are the presented algorithm capabilities  

There are inherent errors in target location and velocity measurement caused by bistatic geometry in addition to the errors that are caused in monostotic radars. In this paper, the accuracy of measurement with respect to some parameters like baseline variance and DOA estimation is considered and bistatic parameters sensitivity with respect together is formulated  

To make a balance between time of detection and resolution of detection in radar, it must select an optimized time interval for integrations and signal bandwidth. In this paper, a new algorithm for finding best width of window and bandwidth of the FM signals for FM PCL radar is designed  

The magnetic response of a polyamide nanocomposite membrane under applying a magnetic field has been modeled to evaluate elastic deformation order of magnitude. A PA-Fe3O4 nanocomposite membrane is considered to be modeled under influence of volume plane stress caused by a magnetic field. The modeling of the mechanical behavior of Fe3O4-PA nanocomposite membrane suggests that nanoparticle displacements within the nanocomposite, in the order of 200 nm under applying an external magnetic field, are greater than free volumes or porosities of the polyamide membrane. The membrane can be excited to mechanically vibrate by applying an alternating magnetic field lower than 0.1 T. As the results... 

The control of a brachiation robot has been the primary objective of this study. A brachiating robot is a type of a mobile arm that is capable of moving from branch to branch similar to a long-armed ape. In this paper, to minimize the actuator work, Pontryagin's minimum principle was used to obtain the optimal trajectories for two different problems. The first problem considers brachiation between fixed branches with different distance and height, whereas the second problem deals with the brachiating and catching of a moving target branch. Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the target dynamics method which was proposed... 

This paper deals with control of the brachiation robot. The brachiation is a type of mobile robot that moves from branch to branch like a long-armed ape. Here, as a new innovation, Pontryagin's minimum principle is used to obtain the optimal trajectories for two different problems. The first problem is "Brachiation between fixed branches with different distance and height" and the second is "Brachiating and catching the moving target branch". Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the "Target Dynamics" method which was proposed in prior articles for this robot. The obtained optimal trajectory also minimizes the brachiation... 

This paper will focus on the design and development of a new gait training robotic device (LOKOIRAN) for patients with balance and locomotion disorders. The process of rehabilitation in this system is based on partial weight bearing system and programmable foot-plate training. The system consisted of several subsystems following: Driving and transmission system, back supporting system, leg exoskeleton, body weight support system and control system. A virtual reality environment was also designed and integrated to the system in order to motivate patients during rehabilitation protocol. The experimental tests on healthy subjects were performed to evaluate the performances of mechanical and... 

Vulnerabilities are now part of all software systems. To handle vulnerabilities, many approaches have been proposed till now. Many of these approaches try to analyze vulnerabilities based on model checking techniques. However, the models used in these approaches handle authorized and unauthorized rules separately. This basically cause in weaker modeling abilities and consequently weaker vulnerability analysis. From authorized and unauthorized rules, we mean those emanated from access control model and those originated from vulnerabilities respectively. Currently, a new general graph-based protection system concentrating on vulnerabilities called VGBPS is proposed to overcome the mentioned... 

In this paper, we present a method to dynamically observe two important variables of a Gas Metal Arc Welding (GMAW) process, i.e. arc voltage and arc length. To do this, we use Kalman filter to estimate these two variables in a high level noisy environment of GMAW process both in open and closed loop modes  

The control of thin film nanocomposite (TFN) membranes cross-linking degree is an important factor to design new membranes and optimizing permeation characteristics. The Fe3O4 nanoparticle's based TFN membranes due to potentially added magnetic responsive properties to the membrane has a great importance in developing membrane architectures. Fe3O4/polyamide (PA) TFN membranes filled with nanoparticles in different sizes and concentrations have been synthesized. Cross-linking degree of PA layer characterized with Fourier transform spectroscopy (FTIR) and x-ray photoelectron spectroscopy (XPS) methods to evaluate size dependency of the cross-linking degree of PA layer network. Obvious... 

The potentiometric response characteristics with respect to salicylate anion of several membrane electrodes based on iron(II) tetraphenylporphyrin chloride (FeTPPCl) and derivatives with electrophilic and nucleophilic substituents, incorporated into plasticized polyvinylchloride (PVC) membranes were investigated. Complexes tetraphenyl porphyrin iron(III) chloride (FeTPPCl; A), tetrakis (4-methoxyphenyl) porphyrin iron(III) chloride (Fe(TOCH 3PP)Cl; B), tetrakis (2,6-dichlorophenyl) porphyrin iron(III) chloride (Fe(TDClPP)Cl; C), tetrakis (4-nitrophenyl) porphyrin iron(III) chloride (Fe(TNO2PP)Cl; D), and tetrakis (pentafluorophenyl) porphyrin iron(III) chloride (Fe(TPFPP)Cl; E) were used as... 

Gas pressure reduction stations are essential in energy distribution networks because even a minor failure of these systems causes disruptive consumer problems. This study aims to introduce and implement a new knowledge-based platform that uses the synthesized expert's opinions to improve gas pressure control facilities. Given the record of failure of gas transmission system components and the data's uncertain nature, a new fuzzy expert system is developed that takes advantage of the object-oriented programming paradigm to analyze failure modes and conditions. The artificial intelligent model is designed in C# programming language, and a user-friendly interface is developed for ease of... 

STUDY DESIGN.: To quantify trunk muscle capability and controllability in different angles and levels of isometric exertion using a torque tracking system. OBJECTIVE.: To investigate the effect of biaxial isometric exertions on the maximum capability of trunk and to examine the effect of angle and level of isometric exertion on trunk controllability during the tracking task in upright posture. SUMMARY OF BACKGROUND DATA.: Combined motions of trunk at varying exertion levels occur in most daily and occupational activities and are important risk factors of low back pain. Few studies have investigated trunk capability and controllability during multidirectional activities with different...