Sharif Digital Repository

This paper presents an offline path planning method in 3D space for a surveillance aerial vehicle. In this method, the aerial vehicle is supposed to visit particular points on the path, and the collision between the vehicle and the fixed obstacles in the environment must be avoided. In order to accomplish the mission, first, the path is generated using B-splines. Then, the feasibility of tracking the designed path for the vehicle is considered by analyzing the vehicle's dynamic constraints, such as limitations on deflections of control surfaces. The analysis is supported by a simulation. Potential extension of the proposed analysis to multiple aerial vehicles has been also discussed at the... 

In this paper, the transient motion of an intelligent Pipe Inspection Gauge (PIG) while moving across anomalies inside a typical gas/oil pipeline has been investigated. The pipeline fluid has been considered as isothermal and compressible. In addition, the pipeline itself has also been considered to be flexible. The fluid continuity and momentum equations along with the 3D dynamic equations of motion of the pig comprise a system of coupled dynamic differential equations which have been solved numerically. Pig's position, orientation and velocity profiles as well as upstream and downstream fluid's pressure waves are presented as simulation results which provide a better understanding of the... 

In this paper, a fuzzy based controller is developed in order to control the braking action of the rear axle of a series hybrid city bus. The controller's target is to recapture the kinetic energy of the bus as much as possible during braking, while still maintaining its stability. The bus under study Is one of the Iran-Khodro Company's productions called O457 which is currently undergoing a procedure of hybridization. The hybrid type used is a series hybrid configuration in which an internal combustion engine and a battery pack supply Its electric traction motors in order to propel the bus. The implemented fuzzy controller takes the bus speed, batteries SOC level and the brake-pedal... 

Water and energy are the major factors in the new United Nations Sustainable Development Goals. Sustainable conversion and management in the secure supply of increasing demand for water and electricity is a challenging concern. It is recently complicated due to economic development, population growth, resource depletion, and climate change, which requires a simultaneous progressive planning. Since energy and water systems are instinctively interdependent and mutually interacted (known as nexus), this paper employed an integrated solution-based method. A bottom-up optimization model is developed considering Water-Energy-Emission Nexus approach for both power and water sectors. The model... 

Tortuosity and cementation factor are two critical parameters that significantly affect estimates of reservoir properties. Tortuosity factor can be used to estimate permeability using the Carman-Kozeny equation and is an important parameter for formation resistivity factor calculation using a modified version of Archie's formula. It is also used to predict water saturation of reservoir rocks. Tortuosity as an input parameter in Biot's equation can be used to estimate velocity dispersion. In this work, based on the Generalized Archie Equation Curve Fitting (GAECF), tortuosity and cementation factor are determined for selected intervals in a carbonate reservoir. Formation resistivity factor... 

Hybridization of conventional vehicles is considered an important step to achieve high fuel economy and low emissions. In this study, principle considerations involved in a hybridizing process are discussed and consequently, a sequential approach for designing hybrid components for both series and parallel configurations has been introduced. The so called approach has then been applied to one of the productions of Iran-Khodro Company called SAMAND. Having designed the hybrid components, the conventional SAMAND and its series and parallel hybrid configurations were defined and evaluated using the ADvanced VehIcle SimulatOR (ADVISOR) software. It is observed that compared to the conventional... 

Titanium anodes coated with noble metal oxides are widely used in chlorate industry. In fact, these anodes are dimensionally stable. In this article, the electrochemical characteristics of the ternary oxide coating created by sol-gel on titanium, which consisted of Ti, Ru and Ir, were investigated in the number of different layers. The electrochemical properties of anodes, morphology of samples, and phase analysis were investigated respectively by cyclic voltammetry and polarization measurements, Field Emission Scanning Electron Microscope (FESEM) and XRD. The result indicated that the application of the more layer number increases the rate of chlorine evolution. Also, The morphology of the... 

The ODYSSEY methodology takes an unconventional approach to designing at Electronic System Level (ESL): it expands the traditional definition of the processor instruction-set and introduces a new class of processors whose instructions correspond to the methods of an object oriented class library. These new processors, called Object-Oriented Application-Specific Instruction Processor (OO-ASIP), provide a versatile vehicle to explore the synergy between hardware and software not only when implementing an OO application for the first time, but also more significantly, when expanding an existing product for additional functionality or customization. This book provides ESL researchers and... 

In nanometer-scale process technologies, the effects of process variations are observed in Multiprocessor System-on-Chips (MPSoC) in terms of variations in frequencies and leakage powers among the processors on the same chip as well as across different chips of the same design. Traditionally, worst-case values are assumed for these parameters and then a deterministic optimization technique is applied to the MPSoC application under design. We show that such worst-case-based approaches are not optimal with the increasing variation observed at system-level, and instead, statistical approaches should be employed. We consider the problem of simultaneously choosing MPSoC architecture and task... 

Share of leakage in total power consumption of static RAM (SRAM) memories is increasing with technology scaling. Reverse body biasing increases threshold voltage (Vth), which exponentially reduces subthreshold leakage, but it increases SRAM access delay. Traditionally, when all cells of an SRAM block used to have almost the same delay, within-die variations are increasingly widening the delay distribution of cells even within a single SRAM block, and hence, most of these cells are substantially faster than the delay set for the entire block. Consequently, after the reverse body biasing and the resulting delay rise, only a small number of cells violate the original delay of the SRAM block; we... 

Titanium anodes activated by noble metal oxides possess a wide range of advantages and applications. Actually, coating of titanium anodes by highly conductive oxides of noble metals (Ru, Ir) dramatically increases the lifetime of these anodes. In this study, the binary coating consisting of Ti and Ru and the ternary coating consisting of Ti, Ru and Ir were prepared through sol–gel method. After coating of the titanium substrate, the corrosion behavior of coatings was studied by anodic polarization and cyclic voltammetry tests. The lifetime of anodes was determined using accelerated corrosion test. The morphology of coatings was examined by field emission scanning electron microscopy and... 

A model-based algorithm is proposed and tested using the simulator and operation data of a plastic pipeline prototype to locate multiple non-simultaneous leaks in the pipeline. A combination of an extended Kalman filter and obtained relations from the steady state response is used in order to tackle the problem of multi-leak localization. To achieve the mentioned relations, a real pipe with two leaks is equated to a virtual pipe with a single virtual equivalent leak  

We describe implementation of design automation tools that we have developed to automate system-level design using our ODYSSEY methodology, which advocates object-oriented (OO) modeling of the embedded system and ASIP-based implementation of it. Two flows are automated: one synthesizes an ASIP from a given C++ class library, and the other one compiles a given C++ application to run on the ASIP that corresponds to the class library used in the application. This corresponds, respectively, to hardware- and software-generation for the embedded system while hardware-software interface is also automatically synthesized. This implementation also demonstrates three other advantages: firstly, the...