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    Design a Cartesian, Decoupled and Isotropic 5-DoF Parallel Manipulator

    , M.Sc. Thesis Sharif University of Technology Davoudi Dehkordi, Matin (Author) ; Zohoor, Hassan (Supervisor)
    Abstract
    Given the optimum design importance of parallel mechanisms, characteristics such as degree of freedom, decoupled and isotropic in structural synthesis of these mechanisms are considered. Also, due to less attention to the development of 5-DoF parallel manipulators, in this research, the improvement of this types of mechanisms is considered. In this research effort to design 5-DoF cartesian, decoupled and isotropic parallel manipulators leads to represent four numbers of this type of mechanisms with 3T2R and 2T3R degrees of freedom. Represented PMs verified with linear transformation theory. Morever by using Jacobian, they more analyzed for their decoupled and isotropic specifications in... 

    Analysis and simulation of ring resonator silicon electro-optic modulators based on PN junction in reverse bias

    , Article Optical Engineering ; Vol. 53, issue. 12 , 2014 ; ISSN: 00913286 Jafari, O ; Akbari, M ; Sharif University of Technology
    Abstract
    The theory of silicon optical modulators of ring resonators based on PN diode in reverse bias is primarily discussed. It secondarily provides a full-featured simulator to investigate the behavior of such modulators. Wave equation for ring structure will be solved by using the conformal transformation method and the matrix method as it was used to analyze bent planar optical waveguides. Power coupling between ring and straight waveguides will be calculated by coupled theory of nonparallel waveguides based on experimental results. The time response demonstrates the capability of this device to operate correctly at up to 10 Gbs-1 bitrate, and the frequency spectrum analysis of device shows a >... 

    An accurate semi-analytical method for an arbitrarily oriented edge or interior crack in an anisotropic homogeneous elastic solid

    , Article European Journal of Mechanics, A/Solids ; Vol. 45 , May , 2014 , pp. 133-142 ; ISSN: 09977538 Kamali, M. T ; Shodja, H. M ; Sharif University of Technology
    Abstract
    In this work, a general semi-analytical method for the determination of the elastic fields within an anisotropic homogeneous elastic solid with an inclined edge or interior crack is developed. In this method, the displacement field is represented as a sum of a function and a finite series of functions with unknown coefficients. The functions are constructed in such a way that all the essential homogeneous and inhomogeneous boundary conditions are satisfied exactly and, moreover, the displacement discontinuity across the crack faces as well as the exact singular behaviour of the stress field at the crack-tip are captured. The unknown coefficients are determined by utilizing the principle of... 

    A new extension of activity networks for modeling and verication of timedsystems

    , Article Turkish Journal of Electrical Engineering and Computer Sciences ; Volume 21, Issue 6 , 2013 , Pages 1751-1779 ; 13000632 (ISSN) Motallebi, H ; Azgomi, M. A ; Mirzaei, M. S ; Movaghar, A ; Sharif University of Technology
    2013
    Abstract
    Stochastic activity networks (SANs) are a well-known petri net-based formalism used for the performance and dependability modeling of a wide range of systems. On the other hand, the growing complexity of timed systems makes it imperative to apply formal analysis techniques in the early stages of the system's development. Finding a suitable framework for the modeling, evaluation, and verication of these systems is still a great challenge. In this paper, we introduce a new formalism named timed activity networks (TANs), which are based on the activity networks that are the nondeterministic settings of the SANs. The advantages of TANs are 2-fold: 1) allowing the construction of more compact... 

    Basis functions for solution of non-homogeneous wave equation

    , Article Proceedings of SPIE - The International Society for Optical Engineering ; Volume 8619 , February , 2013 ; 0277786X (ISSN); 9780819493880 (ISBN) Khorasani, S ; Karimi, F ; Sharif University of Technology
    2013
    Abstract
    In this note we extend the Differential Transfer Matrix Method (DTMM) for a second-order linear ordinary differential equation to the complex plane. This is achieved by separation of real and imaginary parts, and then forming a system of equations having a rank twice the size of the real-valued problem. The method discussed in this paper also successfully removes the problem of dealing with essential singularities, which was present in the earlier formulations. Then we simplify the result for real-valued problems and obtain a new set of basis functions, which may be used instead of the WKB solutions. These basis functions not only satisfy the initial conditions perfectly, but also, may... 

    Seepage analysis in multi-domain general anisotropic media by three-dimensional boundary elements

    , Article Engineering Analysis with Boundary Elements ; Volume 37, Issue 3 , 2013 , Pages 527-541 ; 09557997 (ISSN) Rafiezadeh, K ; Ataie Ashtiani, B ; Sharif University of Technology
    2013
    Abstract
    A three-dimensio111nal boundary element solution for the seepage analysis in multi-domain general anisotropic media has been developed based on the transformation approach. Using analytical eigenvalues and eigenvectors of the hydraulic conductivity tensor, a closed-form coordinate transformation matrix has been provided to transform the quadratic form of governing equation of seepage for the general anisotropic media to the Laplace equation. This transformation allows the analysis to be carried out using any standard BEM codes for the potential theory on the transformed space by adding small pre- and post-processing routines. With this transformation, any physical quantity like the total... 

    Effect of carbon content on carbide morphology and mechanical properties of A.R. white cast iron with 10-12% tungsten

    , Article Materials Science and Engineering A ; Volume 542 , April , 2012 , Pages 113-126 ; 09215093 (ISSN) Heydari, D ; Skandani, A. A ; Al Haik, M ; Sharif University of Technology
    2012
    Abstract
    Carbide morphologies of white cast iron containing 22% Cr and 10-12% tungsten with different carbon contents (2.34-3.20. wt.%) were investigated. Results indicated that for the as-cast alloys with no heat treatments, the addition of carbon changes the morphology of carbides during air-cooling in the presence of tungsten. Light microscopy analysis revealed that for an alloy with 2.3. wt% carbon, chromium carbides possess coarse gray appearance (GA). Increasing the carbon content reduced the coarse GA zones volume fraction while a finer GA zones emerged. The coexistence of coarse and fine GA phases came to an end at 2.8. wt% carbon, at which only fine GA zones spread throughout the chromium... 

    On Triangularizability of a Group of Operators

    , Article Results in Mathematics ; Volume 61, Issue 1-2 , 2012 , Pages 57-61 ; 14226383 (ISSN) Fanaï, H. R ; Mahshid, M. K ; Sharif University of Technology
    2012
    Abstract
    Let G be a group of invertible linear transformations on a finite-dimensional vector space over an algebraically closed field. We show that if G = H V K, where H is a normal subgroup consisting of singleton spectrum operators and K is a triangularizable subgroup, then G is triangularizable  

    A concurrent multi-scale technique in modeling heterogeneous FCC nano-crystalline structures

    , Article Mechanics of Materials ; Volume 83 , April , 2015 , Pages 40-65 ; 01676636 (ISSN) Khoei, A. R ; Jahanbakhshi, F ; Aramoon, A ; Sharif University of Technology
    Elsevier  2015
    Abstract
    In this paper, a multi-scale molecular dynamics-finite element coupling is presented to study the mechanical behavior of heterogeneous nano-crystalline structures. The stiffness and mass matrices of the continuum sub-domain are generated by applying a linear transformation on the matrices obtained via the atomic structure underlying the FE mesh. A Lagrange multiplier method is employed to the transition zone imposing velocity resemblance of the coupling regions. The constraint equations of motion are solved by the multi-time-step decomposition thus giving the opportunity to ascribe different time steps to each individual zone. The molecular dynamics is performed by employing the... 

    Conditions on decomposing linear systems with more than one matrix to block triangular or diagonal form

    , Article IEEE Transactions on Automatic Control ; Volume 60, Issue 1 , May , 2015 , Pages 233-239 ; 00189286 (ISSN) Mesbahi, A ; Haeri, M ; Sharif University of Technology
    Institute of Electrical and Electronics Engineers Inc  2015
    Abstract
    This technical note provides necessary and sufficient conditions to determine that a linear system with more than one matrix in its state-space representation can be decomposed into cascade or separate sub-systems. In order to perform such decomposition, one needs to determine a linear transformation matrix. Furthermore, the given conditions are adapted to a simple but effective condition to derive all possible scalar sub-systems for a given linear system. Numerical examples are provided to demonstrate the applicability of the presented results  

    Statistical monitoring of autocorrelated simple linear profiles based on principal components analysis

    , Article Communications in Statistics - Theory and Methods ; Volume 44, Issue 21 , Nov , 2015 , Pages 4454-4475 ; 03610926 (ISSN) Akhavan Niaki, S. T ; Khedmati, M ; Soleymanian, M. E ; Sharif University of Technology
    Taylor and Francis Inc  2015
    Abstract
    In this article, a transformation method using the principal component analysis approach is first applied to remove the existing autocorrelation within each profile in Phase I monitoring of autocorrelated simple linear profiles. This easy-to-use approach is independent of the autocorrelation coefficient. Moreover, since it is a model-free method, it can be used for Phase I monitoring procedures. Then, five control schemes are proposed to monitor the parameters of the profile with uncorrelated error terms. The performances of the proposed control charts are evaluated and are compared through simulation experiments based on different values of autocorrelation coefficient as well as different... 

    Real and integer Wedderburn rank reduction formulas for matrix decompositions

    , Article Optimization Methods and Software ; Volume 30, Issue 4 , 2015 , Pages 864-879 ; 10556788 (ISSN) Mahdavi Amiri, N ; Golpar Raboky, E ; Sharif University of Technology
    Taylor and Francis Ltd  2015
    Abstract
    The Wedderburn rank reduction formula is a powerful method for developing matrix factorizations and many fundamental numerical linear algebra processes. We present a new interpretation of the Wedderburn rank reduction formula and its associated biconjugation process and see a more extensive result of the formula. In doing this, we propose a new formulation based on the null space transformations on rows and columns of A simultaneously, and show several matrix factorizations that can be derived from the Wedderburn rank reduction formula. We also present a generalization of the biconjugation process and compute banded and Hessenberg factorizations. Using the new formulation, we compute the WZ... 

    Low-rank kernel learning for semi-supervised clustering

    , Article Proceedings of the 9th IEEE International Conference on Cognitive Informatics, ICCI 2010, 7 July 2010 through 9 July 2010, Beijing ; 2010 , Pages 567-572 ; 9781424480401 (ISBN) Soleymani Baghshah, M ; Bagheri Shouraki, S ; Sharif University of Technology
    2010
    Abstract
    In the last decade, there has been a growing interest in distance function learning for semi-supervised clustering settings. In addition to the earlier methods that learn Mahalanobis metrics (or equivalently, linear transformations), some nonlinear metric learning methods have also been recently introduced. However, these methods either allow limited choice of distance metrics yielding limited flexibility or learn nonparametric kernel matrices and scale very poorly (prohibiting applicability to medium and large data sets). In this paper, we propose a novel method that learns low-rank kernel matrices from pairwise constraints and unlabeled data. We formulate the proposed method as a trace... 

    Statistical error analysis for dimensional control in automotive body assembly process

    , Article ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010, 12 July 2010 through 14 July 2010 ; Volume 3 , 2010 , Pages 329-334 ; 9780791849170 (ISBN) Khodaygan, S ; Movahhedy, M. R ; Mirabolghasemi, A ; Zendehbad, M ; Moradi, H ; Sharif University of Technology
    2010
    Abstract
    In mechanical assemblies, the performance, quality, cost and assemblability of the product are significantly affected by the geometric errors of the parts. This paper develops the statistical error analysis approach for dimensional control in automotive body multi-station assembly process. In this method, the homogeneous transformation matrices are used to describe the location and orientation of part and assembly features and the small homogeneous transformation matrices are used to model the errors. In this approach, the effective errors in automotive body assembly process are classified in three categories: manufacturing errors (dimensional and geometric tolerances), locating errors... 

    Tracking the 3D configuration of human joint using an MR image registration technique

    , Article ASME 2010 5th Frontiers in Biomedical Devices Conference and Exhibition, BIOMED 2010, 20 September 2010 through 21 September 2010 ; 2010 , Pages 93-94 ; 9780791849453 (ISBN) Mostafavi Yazdi, S. K ; Farahmand, F ; Jafari, A ; Sharif University of Technology
    Abstract
    Surface registration is a necessary step and widely used in medical image-aided surgery. It's relevance to medical imaging is that there is much useful anatomical information in the form of collected surface points which originate from complimentary modalities. In this study, the kinematic relations between two point clouds with different coordinate definitions have been generated. Using Influence Method of surface modeling for extracting point clouds functions, the transformation matrix would be resulted. The proposed method was applied for an experimental femur data points(651 points) using the MRI images. These data points were transformed in a 30 degrees flexion of knee. This... 

    Non-linear metric learning using pairwise similarity and dissimilarity constraints and the geometrical structure of data

    , Article Pattern Recognition ; Volume 43, Issue 8 , August , 2010 , Pages 2982-2992 ; 00313203 (ISSN) Soleymani Baghshah, M ; Bagheri Shouraki, S ; Sharif University of Technology
    2010
    Abstract
    The problem of clustering with side information has received much recent attention and metric learning has been considered as a powerful approach to this problem. Until now, various metric learning methods have been proposed for semi-supervised clustering. Although some of the existing methods can use both positive (must-link) and negative (cannot-link) constraints, they are usually limited to learning a linear transformation (i.e., finding a global Mahalanobis metric). In this paper, we propose a framework for learning linear and non-linear transformations efficiently. We use both positive and negative constraints and also the intrinsic topological structure of data. We formulate our metric... 

    Nonlinear transient transfinite element thermal analysis of thick-walled FGM cylinders with temperature-dependent material properties

    , Article Meccanica ; Volume 45, Issue 3 , June , 2010 , Pages 305-318 ; 00256455 (ISSN) Azadi, M ; Shariyat, M ; Sharif University of Technology
    2010
    Abstract
    An algorithm for investigation of nonlinear systems by the transfinite element method is presented. Basically, the transformation techniques have been developed for linear systems. Nonlinear transient heat transfer of a thick FGM cylinder with temperature-dependent material properties is investigated in the present paper to clarify the proposed algorithm. Two main novelties of the present research are: (1) incorporating the temperature-dependency of the material properties in the thermal analysis which lead to highly non-linear governing equations and (2) proposing an updating numerical transfinite element procedure to solve the resulted highly nonlinear governing equations. To reduce the... 

    Structural synthesis of 5 DoFs 3T2R parallel manipulators with prismatic actuators on the base

    , Article Robotics and Autonomous Systems ; Volume 58, Issue 3 , 2010 , Pages 307-321 ; 09218890 (ISSN) Motevalli, B ; Zohoor, H ; Sohrabpour, S ; Sharif University of Technology
    2010
    Abstract
    A method is presented to synthesize 5 degrees of freedom (DoFs) of 3 translational and 2 rotational (3T2R) parallel kinematic structures. This method is based on the theory of linear transformation and geometrical analysis. Central to this method is a set of novel 5 DoFs 3T2R parallel mechanisms (PMs). Based on the legs configuration, the generated mechanisms are classified. Moreover, the promising mechanisms of each class are introduced with respect to some criteria, i.e.: (a) degree of coupling between the actuators and degrees of freedom; (b) easy kinematics and control command; (c) easy construction (or low cost construction); and, (d) manufacturability. With reference to these criteria,... 

    Kernel-based metric learning for semi-supervised clustering

    , Article Neurocomputing ; Volume 73, Issue 7-9 , 2010 , Pages 1352-1361 ; 09252312 (ISSN) Soleymani Baghshah, M ; Bagheri Shouraki, S ; Sharif University of Technology
    2010
    Abstract
    Distance metric plays an important role in many machine learning algorithms. Recently, there has been growing interest in distance metric learning for semi-supervised setting. In the last few years, many methods have been proposed for metric learning when pairwise similarity (must-link) and/or dissimilarity (cannot-link) constraints are available along with unlabeled data. Most of these methods learn a global Mahalanobis metric (or equivalently, a linear transformation). Although some recently introduced methods have devised nonlinear extensions of linear metric learning methods, they usually allow only limited forms of distance metrics and also can use only similarity constraints. In this... 

    Nonlinear blind source separation for sparse sources

    , Article European Signal Processing Conference, 28 August 2016 through 2 September 2016 ; Volume 2016-November , 2016 , Pages 1583-1587 ; 22195491 (ISSN) ; 9780992862657 (ISBN) Ehsandoust, B ; Rivet, B ; Jutten, C ; Babaie Zadeh, M ; Sharif University of Technology
    European Signal Processing Conference, EUSIPCO  2016
    Abstract
    Blind Source Separation (BSS) is the problem of separating signals which are mixed through an unknown function from a number of observations, without any information about the mixing model. Although it has been mathematically proven that the separation can be done when the mixture is linear, there is not any proof for the separability of nonlinearly mixed signals. Our contribution in this paper is performing nonlinear BSS for sparse sources. It is shown in this case, sources are separable even if the problem is under-determined (the number of observations is less than the number of source signals). However in the most general case (when the nonlinear mixing model can be of any kind and there...