Sharif Digital Repository

Polypropylene (PP) is a fast growing polymer, particularly in automotive industry, where PP compounds have replaced many different parts made of conventional materials. In the first step, PP-g-MA, as compatibilizer, was synthesized. Two kinds of polypropylenes including a homo- and a block co-polymer were incorporated for this goal. Characterizations via titration and FTIR tests revealed higher degree of grafting reaction when homo-polymer was used for synthesizing PP-g-MA. In the next step, nanocomposites containing 3 wt% nanoclay with three different PP-g-MA/nanoclay ratios of 1:1, 2:1 and 3:1were made using a co-rotating twin screw extruder. Tensile, impact and XRD tests were performed to... 

In this project an algorithm is designed for automatic landing of unmanned helicopter on a pad moving with six degrees of freedom. The designed controller is based on state dependent riccati equations (SDRE).by developing nonlinear mathematical model of helicopter and then converting this model to state dependent coefficient (SDC) form. A nonlinear compensator is added to controller to compensate effect of some nonlinear terms of model that are not able to translate and then state dependent riccati equations are solved.
The relative pose-estimation of landing pad is based on vision. Corner detection algorithm is used to identify and detect features by processing of image taken from... 

In this study, a forward dynamics model of the human–lower limb exoskeleton system (ExoPed model) incorporating an instrumented cane was developed to enable simulation of user–system biomechanical interactions and comparison with experimentally measured data. First, a cane equipped with a uniaxial load cell was designed and implemented, capable of measuring the axial force in real time and transmitting it wirelessly to a computer. Subsequently, motion data of the user wearing the exoskeleton and using the cane were collected through a precise marker-based protocol using a three-dimensional motion capture system during walking trials. A full-body dynamic model, including the upper body, lower... 

Switched Reluctance Generator (SRG) has some unique features such as low cost, simple and rugged structure and high performance operation in wide range of speed. These features make the SRG one of the best candidates for optimum power generation. SRG has used as starter-alternator in Hybrid Electric Vehicles (HEV) and aircrafts. An SRG drive system operates by exciting the SRG phases with a DC voltage source and then discharging the stored and developed magnetic energy to the connected DC supply. Therefore, output power of a Switched Reluctance Generator directly depends on the excitation angles when operates in the Single Pulse Mode. In this dissertation the goal is to control a SRG in the... 

A Synthetic Aperture Radar (SAR) is a system which collects the received signal from a ground target area along linear motion of a flying vehicle carrying it, in order to provide a very high resolution 2D image of it. In Inverse SAR (ISAR), the radar is fixed on the ground and the data collection is performed along the linear motion of the aerial target. Using a second receiver antenna close to the main transceiver antenna of ISAR, it is possible to make a three-dimensional (3D) image of the target, or equivalently find the 3D coordinates of the target scattering points. Such system is called bistatic, monopulse or interferometric ISAR (InISAR). In the conventional model of ISAR, the flying... 

GPUs are used today to accelerate a wide range of general-purpose applications (e.g., regular stencil applications and irregular graph processing applications). Due to the significant growth of the Thread Level Parallelism (TLP) in GPGPU applications, the need for data sharing between different threads has become more apparent. There are a variety of solutions for reusing data in the GPU (e.g., on-chip caches and shuffle instructions), each with its own drawbacks and reduced comprehensiveness (e.g., limiting shared memory to a thread block and shuffle instructions to a warp). Among the standard general-purpose applications, L1 data cache is a major GPU solution for reusing data among...