Sharif Digital Repository

The flight of unmanned aerial vehicles is often associated with model uncertainties, measurement noises, and environmental disturbances such as wind gust. To mitigate these challenges, the accurate estimation of states is vital. Moreover, the wind model and its parameters should also be estimated and compensated during the flight. In this paper, a multiple model filter is implemented for this purpose. To investigate the performance of the multiple model filter, three different models including constant wind, '1-cosine' model and wind shear model are considered. The multiple model filter utilizes three extended Kalman filter to simultaneously estimate the model of wind, the parameters of the... 

In this paper, a new nonlinear robust adaptive impedance controller is addressed for Unmanned Aerial Vehicles (UAVs) equipped with a robot manipulator that physically interacts with environment. A UAV equipped with a robot manipulator is a novel system that can perform different tasks instead of human being in dangerous and/or inaccessible environments. The objective of the proposed robust adaptive controller is control of the UAV and its robotic manipulators end-effector impedance in Cartesian space in order to have a stable physical interaction with environment. The proposed controller is robust against parametric uncertainties in the nonlinear dynamics model of the UAV and the robot... 

In this paper, a nonlinear robust adaptive sliding mode control strategy is presented for the influenza epidemics in the presence of model uncertainties. The nonlinear epidemiological model of influenza with five state variables (the numbers of susceptible, exposed, infected, asymptomatic and recovered individuals) and two control inputs (vaccination and antiviral treatment) is considered. The objective of the proposed controller is decreasing the number of susceptible and infected humans to zero by tracking the desired scenarios. As a result of this decreasing, the number of exposed and asymptomatic individuals is also decreased and converged to the zero. Accordingly, it is shown that the... 

A new composite adaptive control strategy is developed for both of the reduction of cancer tumor volume and the online identification of tumor parameters during the drug delivery process in chemotherapy. This control strategy is developed for three different nonlinear mathematical cell-kill models of the cancer tumor including the log-kill hypothesis, Norton-Simon hypothesis and Emax hypothesis. All of these models are considered to have fully parametric uncertainties. The stability, tracking convergence and parameters identification convergence during the chemotherapy process are proved using the Lyapunov method. For the first time, the parameters identification of the uncertain... 

The accurate control of a gas turbine usually requires precise information of its nonlinear model, as well as all states and the parameters. To access the information of the model, an accurate estimation and compensation of the variables of the gas turbine in the controller architecture are vital. In this study, an adaptive model-based controller using the synergetic approach is utilized to control the generated power and exhaust temperature for a heavy-duty gas turbine power generator unit. For this purpose, first, the problem of the controllability of the nonlinear gas turbine is studied. Then, performance of the proposed controller is compared with a classical PI and well-known nonlinear... 

In this paper, the impact of both time offsets (TOs) and carrier frequency offsets (CFOs) on the average output signal-to-interference-plus-noise ratio (SINR) in a frequency selective channel is investigated with a novel approach. First, TOs are partitioned into five cases based on how they occur. Then the mathematical models for different cases are derived. Considering CFOs and benefiting from the obtained models, closed-form expression for the SINR in each case is derived. It is proved that, SINR is independent of the observed subcarrier for the given TO and CFO. Besides, it is shown that the performance of the affected system deteriorates rapidly as the number of subcarriers increases. It... 

Nowadays networks-on-chip are emerging as a hot topic in IC designs with high integration. Much research has been done in this field of study recently, e.g. in routing algorithms, switching methods, VLSI Layout, and effects of resource allocation on system performance. On the other hand, three-dimensional integrated circuits allow a time-warp for Moore's Law. By vertically stacking two or more silicon wafers, connected with a high-density, high-speed interconnect, it is now possible to combine multiple active device layers within a single IC. In this paper, we examine performance and power consumption in a three dimensional network-on-chip structure under different types of traffic loads,... 

In this paper, a novel algorithm for correcting the error of attitude in inertial navigation systems is introduced. Since the oftenly used differential equations of the navigation errors show the small rotation angles instead of the error of Euler angles, the nonlinear equation between the small rotation angles and the error of Euler angles, are derived. To obtain an approximative solution for the derived equations, third order multiplication of the small rotation angles are ignored and error of Euler angles are expressed explicitly as functions of the Euler angles and the small rotation angles. Based on the obtained solution, a new algorithm for attitude correction in inertial navigation is... 

In this paper, we propose a new 6-round Related-Key Impossible Differential property of AES-256 and two related-key impossible differential attacks on 7 and 9 round AES-256, based on the proposed property. The overall complexity of the proposed 7 round attack is decreased by the factor 217. This is for the first time that a Related-Key Impossible Differential attack on 9-round AES-256 is successful. Also this is the first related-key attack on 9-round AES-256 that needs only 2 keys. Although the data and time complexities of the attack are approximately code book and exhaustive search, but we think the proposed property will be useful in future research like boomerang and rectangle attacks  

A bilateral nonlinear adaptive impedance controller is proposed for the control of multi-degrees-of-freedom (DOF) teleoperation systems. In this controller, instead of conventional position and/or force tracking, the impedance of the nonlinear teleoperation system is controlled. The controller provides asymptotic tracking of two impedance models in Cartesian coordinates for the master and slave robots. The proposed bilateral controller can be used in different medical applications, such as telesurgery and telerehabilitation, where the impedance of the robot in interaction with human subject is of great importance. The parameters of the two impedance models can be adjusted according to the... 

In this paper, the optimal performance of a planar humanlike musculoskeletal arm is investigated during reaching movements employing an optimal control policy. The initial and final states (position and velocity) are the only known data of the response trajectory. Two biomechanical objective functions are taken into account to be minimized as the central nervous system (CNS) strategy: (1) a quadratic function of muscle stresses (or forces), (2) total time of movement plus a quadratic function of muscle stresses. A two-degress of freedom (DOF) nonlinear musculoskeletal arm model (for planar movements) with six muscle actuators and four state variables is used in order to evaluate the proposed... 

In this paper, the three-dimensional adaptive finite element modeling is presented for cohesive fracture analysis of non-planer crack growth. The technique is performed based on the Zienkiewicz-Zhu error estimator by employing the modified superconvergent patch recovery procedure for the stress recovery. The Espinosa-Zavattieri bilinear constitutive equation is used to describe the cohesive tractions and displacement jumps. The 3D cohesive fracture element is employed to simulate the crack growth in a non-planar curved pattern. The crack growth criterion is proposed in terms of the principal stress and its direction. Finally, several numerical examples are analyzed to demonstrate the... 

Optimal trajectory and muscle forces of a human-like musculoskeletal arm are predicted for planar point-to-point movements using optimal control theory. The central nervous system (CNS) is modeled as an optimal controller that performs a reaching motion to final states via minimization of an objective function. For the CNS strategy, a cubic function of muscles stresses is considered as an appropriate objective function that minimizes muscles fatigue. A two-DOF nonlinear musculoskeletal planar arm model with four states and six muscle actuators is used for the evaluation of the proposed optimal strategy. The nonlinear variational formulation of the corresponding optimal control problem is... 

Separators are one of the most critically important components of lithium-ion batteries to ensure the safe performance of the battery. Commercial polyolefin separators have high thermal shrinkage and low electrolyte uptake, which confines the application of the battery. By using the thermally induced phase separation (TIPS) method, we successfully prepared HDPE/sepiolite nanocomposite separators with high thermal stability and electrolyte wettability. The sepiolite nanofibers are modified with the Vinyltriethoxysilane (VTES) as a coupling agent for better dispersion and interaction in the HDPE matrix. The purpose of fabricating this separator is to decrease the thermal shrinkage and... 

Microbial contamination poses a serious threat to human health. The evaluation of alternative systems and their reliability for the treatment of water is essential. In this work, a new method for the deposit of more silver nanoparticles (AgNPs) on the external surface of Fe3O4 nanoparticles is presented. Fe3O4 nanoparticles were synthesised by chemical co-precipitation and were modified in two stages using 3-mercaptopropyl trimethoxysilane and grafting allyl glycidyl ether and N, N-dimethylacrylamide. Then, AgNPs were loaded onto the modified Fe3O4 to be used for water disinfection. The resulting nanoparticles were characterised by transmission electron microscopy, X-ray powder diffraction,... 

The bus network design problem is an important problem in transportation planning. It is the problem of determining a network of bus lines which best achieves a predetermined objective. This may be done with or without the presence of rapid transit lines. This study is devoted to solving this problem using genetic algorithm. The fitness function is defined as the benefit to the users of the bus network less the cost of the operator of the network, which is to be maximized subject to constraints that properly distribute bus routes over the study area. Objective function calculation depends on the basic data of the city and its bus lines and does not need traffic assignment results. So, it is... 

A new nonlinear adaptive impedance-based trilateral controller is proposed to ensure the absolute stability of multi-degrees-of-freedom (DOFs) dual-user haptic teleoperation systems subjected to communication delays. Using this strategy, reference impedance models are realized for the trilateral teleoperation system represented by a three-port network to facilitate cooperation of two human operators in order to perform a remote physical task. For this purpose, an impedance model defines the desired haptic interaction between the two human operators, while another impedance model specifies the desired behavior of the slave robot in terms of tracking the mater robots' trajectories during... 

In this paper, an approach to physical collaboration between a patient and a therapist is proposed using a bilateral impedance control strategy developed for delayed tele-robotic systems. The patient performs a tele-rehabilitation task in a resistive virtual environment with the help of online assistive forces from the therapist being provided through teleoperation. Using this strategy, the patient's involuntary hand tremors can be filtered out and the effort of severely impaired patients can be amplified in order to facilitate their early engagement in physical tasks. The response of the first desired impedance model is tracked by the master robot (interacting with the patient), and the... 

A nonlinear model reference adaptive bilateral impedance controller is proposed that can accommodate various cooperative tele-rehabilitation modes for patient–therapist interaction using a multi-DOF tele-robotic system. In this controller, two reference impedance models are implemented for the master and slave robots using new model reference adaptive control laws for the nonlinear bilateral teleoperation system. “Hand-over-hand” and “adjustable-flexibility” are two modes of patient–therapist cooperation that are realized using the proposed strategy. The Lyapunov-based stability proof guarantees the patient's and the therapist's safety during the cooperation and interaction with robots, even... 

A non-linear robust adaptive bilateral impedance controller is proposed to provide the absolute stability of multi-DOF teleoperation systems with communication delays, in addition to the force and position tracking performance. The proposed controller realises two desired (or reference) impedance models for the master and slave robots using a new non-linear robust version of the model reference adaptive control scheme. Using the absolute stability criterion, the robustness condition of the teleoperation system against communication delays is obtained, resulting in suitable adjustments of parameter values in the desired impedance models. In addition, using the Lyapunov stability theorem, the...