Sharif Digital Repository

Concurrent orbit and attitude determination (COAD) plays a key role in reducing the cost of navigation and control subsystem for small satellites. This article is devoted to the problem of the COAD of satellites. A measurement package consisting of three axis magnetometer (TAM) and a sun sensor is shown to be sufficient to estimate the attitude and orbit information. To this end, an autonomous gyro-less COAD algorithm is proposed and implemented through the centralized data fusion of the TAM and the sun sensor. The set of nonlinear-coupled roto-translation dynamics of the satellite is used with a modified unscented Kalman filter (MUKF) to estimate the full satellite states. The MUKF is... 

This paper deals with the problems of attitude determination, parameter identification and reference sensor calibration simultaneously. An LEO satellite's attitude, inertia tensor as well as calibration parameters of Three-Axis-Magnetometer (TAM) including scale factors, misalignments and biases along three body axes are estimated during a maneuver designed to satisfy the condition of persistency of excitation. The advanced nonlinear estimation algorithm of Unscented Kalman Filter (UKF) is a good choice for nonlinear estimation problem of attitude determination, but its computational cost is considerably larger than the widespread low accurate Extended Kalman Filter. Reduced Sigma Point... 

This paper deals with attitude determination, parameter identification and reference sensor calibration simultaneously. A LEO satellite's attitude, inertia tensor as well as calibration of Three-Axis-Magnetometer (TAM) are estimated during a maneuver designed to satisfy persistency of excitation condition. For this purpose, kinematic and kinetic state equations of spacecraft motion are augmented for the determination of inertia tensor and TAM calibration parameters including scale factors, misalignments and biases along three body axes. Attitude determination is a nonlinear estimation problem. Unscented Kalman Filter (UKF) as an advanced nonlinear estimation algorithm with good performance... 

Accurate orbit determination (OD) is vital for every space mission. This paper proposes a novel heuristic filter based on adaptive sample-size Gaussian swarm optimization (AGSF). The proposed estimator considers the OD as a stochastic dynamic optimization problem that utilizes a swarm of particles in order to find the best estimation at every time step. One of the key contributions of this paper is the adaptation of the swarm size using a weighted variance approach. The proposed strategy is simulated for a low Earth orbit (LEO) OD problem utilizing geomagnetic field measurements at 700 km altitude. The performance of the proposed AGSF is verified using Monte Carlo simulation whose results... 

Orbit determination (OD) problem utilizing onboard sensors is a key requirement for many current and future space missions. Though there exists ample research and work on this subject, a novel algorithm is presented in this paper for the nonlinear problem of OD. In this regard, initially a new cubature-quadrature particle filter (CQPF) that uses the square-root cubature-quadrature Kalman filter (SR-CQKF) to generate the importance proposal distribution is developed. The developed CQPF scheme avoids the limitation of the standard particle filter (PF) concerning new measurements. Subsequently, CQPF is enhanced to take advantage of the relative entropy (Kullback-Leibler Distance) criterion to... 

New heuristic filters are proposed for state estimation of nonlinear dynamic systems based on particle swarm optimization (PSO) and differential evolution (DE). The methodology converts state estimation problem into dynamic optimization to find the best estimate recursively. In the proposed strategy the particle number is adaptively set based on the weighted variance of the particles. To have a filter with minimal parameter settings, PSO with exponential distribution (PSO-E) is selected in conjunction with jDE to self-adapt the other control parameters. The performance of the proposed adaptive evolutionary algorithms i.e. adaptive PSO-E, adaptive DE and adaptive jDE is studied through a... 

Prediction of the characteristics of both in-plane and out-of-plane elastic waves within conducting nanoplates in the presence of bidirectionally in-plane magnetic fields is of interest. Using Lorentz's formulas and nonlocal continuum theory of Eringen, the nonlocal elastic version of the equations of motion is obtained. The frequencies as well as the corresponding phase and group velocities pertinent to the in-plane and out-of-plane waves are analytically evaluated. The roles of the strength of in-plane magnetic field, wavenumber, wave direction, nanoplate's thickness, and small-scale parameter on characteristics of waves are discussed. The obtained results show that the in-plane... 

The history of the building structures damaged during previous earthquakes reveal that one of the causes of these damages was the existence of some sort of irregularity in the structure of these buildings. In this work, the effects of irregularities due to the split in the levels of various parts of some 2D steel structures (Split Level) on their seismic behaviour are studied. The studied frames consist of five-, ten- and fifteen-storey frames, each with 0, 30, 60, 90, 120, and 150 cm split between the storey levels of the two parts (sides) of the building. The modal analysis of these frames showed that a high percentage of their base shear is transferred to the foundation through the... 

Abstract Three-axis magnetometers (TAMs) have been widely utilized as the cornerstone of integrated navigation (IN) and attitude determination (AD) in many aerospace systems. However, accurate navigation and AD demands for precise calibration of TAM. For this purpose, a complete TAM calibration process is presented in the current research to compensate all of the key errors. In this regard, a hyper least square (HyperLS) estimator is extended for accurate and consistent ellipsoid fitting problem of TAM calibration. Subsequently, the calibrated TAM is utilized for real time attitude determination via nonlinear colored noise filters of extended Kalman filter, simplex unscented Kalman filter... 

Cellular internalization of inorganic, lipidic and polymeric nanoparticles is of great significance in the quest to develop effective formulations for the treatment of high morbidity rate diseases. Understanding nanoparticle–cell interactions plays a key role in therapeutic interventions, and it continues to be a topic of great interest to both chemists and biologists. The mechanistic evaluation of cellular uptake is quite complex and is continuously being aided by the design of nanocarriers with desired physico-chemical properties. The progress in biomedicine, including enhancing the rate of uptake by the cells, is being made through the development of structure–property relationships in... 

The design and implementation of the hybrid control method for a three-pole active magnetic bearing (AMB) is proposed in this paper. The system is inherently nonlinear and conventional nonlinear controllers are a little complicated while the proposed hybrid controller has a piecewise linear form, i.e., linear in each sub-region. A state-feedback hybrid controller is designed in this study and the unmeasurable states are estimated by an observer. The gains of the hybrid controller are obtained by the LQR method in each sub-region. To evaluate the performance, the designed controller is implemented on an experimental setup. The experimental results show that the proposed method can efficiently... 

In spinal cord injuries, axonal regeneration decreases with the activation of astrocytes followed by glial scar formation. Targeting reactive astrocytes has been recently performed by unsafe viral vectors to inhibit gliosis. In the current study, biocompatible polymeric nanoparticles were selected as an alternative for viruses to target reactive astrocytes for further drug/gene delivery applications. Lipopolysaccharide-bonded chitosan-quantum dots/poly acrylic acid nanoparticles were prepared by ionic gelation method to target reactive astrocytes both in vitro and in spinal cord-injured rats. Owing to their biocompatibility and pH-responsive behavior, chitosan and poly acrylic acid were the... 

Single-walled carbon nanotubes (SWCNTs) can be promising delivery nanodevices for a diverse range of applications, however, little is known about their dynamical interactions with moving nanoscale particles. In this paper, dynamic response of a SWCNT subjected to a moving nanoparticle is examined in the framework of the nonlocal continuum theory of Eringen. The inertial effects of the moving nanoparticle and the existing friction between the nanoparticle surface and the inner surface of the SWCNT are incorporated in the formulation of the problem. The equivalent continuum structure associated with the SWCNT is considered and modeled using nonlocal Rayleigh beam theory under simply supported... 

The free longitudinal vibration of tapered nanowires is investigated in the context of nonlocal continuum theory. The problem is studied for the nanowires with linearly varied radii under fixedfixed and fixedfree boundary conditions. In order to assess the problem in a more general form, a perturbation technique is proposed based on the Fredholm alternative theorem. The natural frequencies, corresponding mode shapes, and phase velocities of the tapered nanowires are derived analytically up to the second-order perturbation for different boundary conditions. The predicted results by the perturbation technique are successfully verified with those of the exact solution. The obtained results... 

A single-walled nanotube structure embedded in an elastic matrix is simulated by the nonlocal EulerBernoulli, Timoshenko, and higher order beams. The beams are assumed to be elastically supported and attached to continuous lateral and rotational springs to take into account the effects of the surrounding matrix. The discrete equations of motion associated with free transverse vibration of each model are established in the context of the nonlocal continuum mechanics of Eringen using Hamilton's principle and an efficient meshless method. The effects of slenderness ratio of the nanotube, small scale effect parameter, initial axial force and the stiffness of the surrounding matrix on the natural... 

Geophysical information such as the Earth geomagnetic field and gravity gradient (GG) data can provide a basis for autonomous concurrent orbit and attitude estimation (COAE) of satellites in low earth orbits (LEO), as magnetometers and gravity gradiometer measurements are in general functions of time, position as well as the vehicle's orientation. While gradiometer has recently been investigated just for orbit estimation (OE), the current study is focused on COAE via only utility of the GG data. To this aim, observability conditions are analyzed, where the sensitivity of the proposed COAE approach with respect to various system and roto-translational elements is also examined. Considering... 

In this paper, an intelligent UV disinfection robot based on Internet of Things (IoT) technology is proposed. The proposed method is used to reduce human operator roles and risks with the help of IoT based monitoring of the robot. The intelligent disinfection robot consists of two important parts. The first one is the mobile robot which is controlled remotely and wirelessly based on Raspberry Pi 3 Model B+ as a wireless microcontroller. Furthermore, Passive Infrared (PIR) and Ultrasonic sensors are installed on the mobile robot to detect human presence and obstacles, respectively. The second one is a tower unit that contains four ultraviolet-type C (UVC) lamps and a Raspberry Pi camera. The... 

Let R be a finite commutative ring with nonzero identity. The unit graph of R is the graph obtained by setting all the elements of R to be the vertices and defining distinct vertices x and y to be adjacent if and only if x + y is a unit ele¬ment of R. In this paper, a classification of finite commutative rings with nonzero identity in which their unit graphs have domination number less than four is given  

It is known that the thermomechanical processing is one of the most important techniques for improving quality and mechanical properties of microalloyed steels. In this paper, the main parameters of hot forging (preheat temperature, strain and post-forging cooling rate) on the primary austenite grain size of vanadium microalloyed steel (30MSV6) were studied. From this investigation, it was found that increasing preheat temperature from 1150 °C to 1300 °C will result in a decrease in grain size number. Furthermore, it has shown that as the strain increases, the austenite grain size number increases, as is evident for the two cooling rates of 2.5 °C/s and 1.5 °C/s for primary austenite.... 

Background: Numerous studies have described the neuroprotective effect of lithium in spinal cord injury in addition to its ameliorative impact on pain sensation. In the present study, we aim to examine the efficacy of 85 mg/kg as well as 50 mg/kg dosage of the lithium chloride (LiCl) through oral consumption in spinal cord injured rats and their effect on gene expression of three candidate genes, corresponding to the hyper-sensitization. Methods: Adult Wistar (male) rats were divided into four experimental groups: control; oral administration of LiCl with 85 mg/kg and 50 mg/kg dosage; and 10 % sucrose receiver as the vehicle. BBB and heat plantar tests were performed weekly throughout four...