Sharif Digital Repository

Control of two-arm flexible robot is studied in this research. The goal is to control the robot in order to carry a fluid tank installed in the top of the last arm, while the vibration of fluid must be damped. The equations governing the system are extracted by the energy method while Euler-Bernoulli beam is selected to model the elastic members. In order to develop the equations, all of the potential and kinematic energies due to rigid and elastic motions are calculated, then a proper controller is designed for the system to accomplish the considered missions. Since the system is classified as an under-actuated system, the exact feedback linearization method is not practical to control the... 

The multi-armed bandit problem is a popular model for studying exploration/exploitation trade-off in sequential decision problems. Many algorithms are now available for this well-studied problem. One of the earliest algorithms, given by W. R. Thompson, dates back to 1933. This algorithm,referred to as Thompson Sampling, is a natural Bayesian algorithm. The basic idea is to choose an arm to play according to its probability of being the best arm. Thompson Sampling algorithm has experimentally been shown to be close to optimal. In this dissertation several papers are being reviewed. In these papers it has been shown that Thompson Sampling algorithm achieves logarithmic expected regret for the... 

Considering the limited number of works on investigation of solidification characteristics of Al-Zn-Mg-Cu cast alloys as well as the applications of this alloy system in aerospace industries, the solidification conditions of Al 713 alloy were investigated in this study. In order to achieve this goal, a number of experiments were designed and conducted including quantometry, thermal analysis, metallography and hardness measurements. In this thesis, effects of cooling rate on secondary dendritic arms spacing as well as solidification parameters including nucleation temperature, solidification time and temperature range, dendrite coherency point and formation temperature of intermetallic... 

Dynamic analysis of deploying elastic arms of spacecrafts carrying tip mass has been presented. The research concentrates on the precise analytical simulation to reveal the phenomena which are usually eliminated in estimations. One of the most important factors which affect the dynamic response of such arms is rigid body dynamics of spacecraft. Considering this aspect of the problem the evolutionary analytical simulation has been developed through three steps. The first step focuses on the minute simulation of the arm deployment, in which a new mathematical approach called "elastic profile" has been developed which leads to semi-analytical solutions for the arm carrying tip mass.... 

The recent data explosion phenomena and numerous data consumer services over the world have made recommender systems a crucial component for online platforms.Recommender systems are filtering systems that prune the large volume of information to make the small prefered quota easily and readily accessible to the users. In social networks and news sites, due to the dynamic nature and constantly changing items and user preferences, reinforcement learning in recommender systems has become a hot research topic in the last decade. Our focus of attention,Multi-Armed Bandit, a tool of reinforcement learning, is a sequential decision making problem that illustrates the trade-off between exploring the... 

Here, the properties of separability of linkages are studied. In general, a linkage is a simple polygonal chain embedded in 3-space with disjoint, straight-line edges, which are fixed-length bars. The internal vertices are called joints. If the two end points are connected then the linkage is a closed linkage, otherwise it is an open linkage. By imposing restrictions on the way the bars in joints can move, three kinds of linkages as rigid, revolute and flexible can be introduced. A motion in a linkage is the motion of its vertices that preserves the length of the bars, and adheres the restrictions on joints. A collection of linkages are said to be separatable if for any distance d, there is... 

Advanced RISC Machines (ARM) are an example of a simple processor used to accomplish simple processing tasks in many applications. They can be found in PDA’s, mp3 players, and other portable electronic devices. ARM processors have small instruction sets and basic processor architecture, and they can be modeled in transaction level by SystemC. SystemC is one of many high level programming languages used to write hardware descriptive codes. We have chosen TLM in SystemC so that abstract data types can be used for higher level modeling and faster simulation. System architects and embedded software developers are accepting transaction level modeling into their design flow because it addresses... 

In this research, four N2O2–azacrown macrocyclic ligands with naphthalene pendant arms (L1-L4) were synthesized using direct synthesis. The products were characterized applying 1H and 13C {1H} NMR spectroscopy, IR and Mass spectrometry. Interaction of these ligands with [60]fullerene and Cu(II) were monitored respectively by fluorescent as well as UV-vis spectroscopy and applying Benesi-Hildebrand equation. These intercations were compared with N2O2 macrocyclic ligands in previous experiments in terms of their calculated association constants (Ka). According to our results, the presence of naphthalene pendant arm groups led to increase the interaction with [60]fullerene compared to the... 

Today, application of aluminium alloys in industries is developing. And this is because of some specification of these alloys like high proportion of the Strength per weight. One of the most useful alloys of this alloy group is A356 alloy that contain 7 % Silicon and 0.4 Percent of magnesium, this alloy because of cast ability, heat treat ability specification is use developing in air and automotive industries. But usage of this alloys combined with some difficulties like low fluidity and formation of shrinkage and gas porosities in this alloys. In present work with programmer software Visual Fortran, based on Finite difference method, a simulation model has been developed, can solve heat...