Sharif Digital Repository

In the field of mobile robotics, legged locomotion plays an essential role in transporting robots over various terrain types. A significant portion of research on legged robots has been focused on one-legged robots. In contrast with different types of locomotion of multi-legged robots, one-legged robots have only one type of motion, called hopping. Hopping motion, as a type of hybrid behavior, is generally comprised of flight and stance phases. Dynamic stabilizing of hopping motion provides a challenging control problem because of its nonlinear and hybrid behavior. The majority of one-legged hopping robots investigated so far are only capable of hopping with one side of their leg. In this... 

An important application of 3-D integration technology is stacked processor-DRAM systems. One of the major design issues in 3-D processor-DRAM stacks is power delivery. Presence of hot spots, high density power regions, in processor die poses serious challenges to the design of power distribution network (PDN). In this paper, we investigate solutions to ensure power integrity in the hot spot regions  

Low cost dispersed supported cobalt oxide nanocatalysts on activated carbon (AC) were prepared by two different methods: (1) combined impregnation and deposition–precipitation (IMP-DP) and (2) heterogeneous deposition–precipitation (HDP). XRD, TEM, FESEM, BET and Boehm techniques were used for the characterization of the support and the catalysts. Characterization analyses indicated the negative effect of the wet impregnation method on the IMP-DP technique for the preparation of catalysts for the total oxidation of cyclohexane in air. The catalysts prepared by HDP and IMP-DP methods were found to have significant differences in oxidation activity, morphology, particle size, and shape of... 

Copper and cobalt oxides supported on almond shell derived activated carbon (AC) with different loadings were synthesized by sequential and co-deposition-precipitation methods leading to Cu(shell)/Co(core)/AC, Co(shell)/Cu(core)/AC and Cu-Co(mixed)/AC catalysts that were subsequently used for catalytic oxidation of gaseous mixtures of toluene and cyclohexane in air in a tubular flow reactor. The catalysts and the support were characterized by Boehm test, Brunauer-Emmett-Teller (BET) surface area, X-ray diffraction (XRD), field-emission scanning electron microscopy (FESEM), X-ray photoelectron spectroscopy (XPS), transmission electron microscopy (TEM), energy-dispersive X-ray spectroscopy... 

In this work the effect of a conjugated macromolecule on the conformation of CNT was studied. Typically polyglycerol (PG) was covalently grafted onto the surface of multi-wall carbon nanotubes (MWCNTs) and MWCNT-graft-PG (MWCNT- g-PG) hybrid materials were obtained. Dynamic light scattering (DLS) experiments showed an average diameter around 100nm for MWCNT- g-PG hybrid materials in water. The difference between this size and the expected size for MWCNT- g-PG hybrid materials (the length of pristine MWCNTs was several micrometers) was assigned to the effect of the grafted PG on the conformation of MWCNT in the solution state. Transmission electron microscopy (TEM) evaluations showed a change... 

FPGA-based multiprocessors, referred as softmultiprocessors, have an increasing use in embedded systems due to appealing SRAM features. More than 95% of such FPGAs are occupied by SRAM cells constructing the configuration bits. These SRAM cells are highly vulnerable to soft errors threatening the reliability of the system. This paper proposes a fault-tolerant method to detect and correct errors in the configuration bits. The main of this method is to analyze the scheduled task graph and select a subset of tasks to be replicated in multiple processors based on the utilization of the processors in different execution phases. To this end, 1) errors are detected by re-executing a subset of tasks... 

In this paper, a new algorithm for solving the shortest loop design problem is presented. The shortest loop design problem is to find the shortest loop for an automated guided vehicle covering at least one edge of each department of a block layout. In this paper, first it is shown that this problem can be represented as a graph model. The properties of the presented model enable us to design a meta-heuristic based on ant colony system algorithm for solving the shortest loop design problem. Computational results show the efficiency of our algorithm in compare to the other techniques  

In the present investigation, different agricultural solid wastes namely: eggplant hull (EH), almond green hull (AGH), and walnut shell (WS), that are introduced as low cost adsorbents, were used for the removal of heavy metals (cobalt, strontium and mercury ions) from aqueous solutions. Activation process and/or chemical treatments using H 2O 2 and NH 3 were performed on these raw materials to increase their adsorption performances. The effectiveness of these adsorbents was studied in batch adsorption mode under a variety of experimental conditions such as: different chemical treatments, various amounts of adsorbents, initial metal-ion concentrations, pH of solutions, contact times, and... 

Adsorption ability of prepared magnetic nanoparticles supported on activated carbon (AC-MNPs) was evaluated to synthesize an efficient and a low cost adsorbent for removal of Pb(II) and Cr(VI) ions from single and binary component aqueous solutions in the presence of salinity. Magnetic adsorbent was prepared by co-precipitation over activated carbon derived from almond shell by physical activation method. AC-MNPs was modified by oxygen containing functional groups to enhance the adsorption capacity of adsorbent. XRD, XPS, BET, Boehm, TEM, FT-IR, DLS and XRF were used to characterize the AC@Fe3O4@SiO2-NH2-COOH. Characterization analyses indicated the high dispersion of Fe3O4 crystallites on...