Sharif Digital Repository

Three-axis rotary table is a flight motion simulator (FMS) used in the hardware in the loop (HWIL) simulation. Geometrical Modeling of 3-axis rotary tables is described and then three possible Geometrical layouts are driven. Kinematic and dynamic modelings of a 3-axis rotary table are developed in this paper. Denavit-Hartenberg (D-H) method, Recursive Newton-Euler (RNE) and Lagrange methods are used, respectively, in kinematic and dynamic modeling. A kinematic Error analysis is applied to determine the orientation and position accuracy of the table. Dynamic sensitivity analysis is also performed and the first-order sensitivity functions are derived corresponding several dynamic and control... 

Ordinary frequently occur as mathematical models in many fields of science, engineering, differential equations (ODEs) and economy. It is rarely that ODEs have closed form analytical solutions, so it is common to seek approximate solutions by means of numerical methods. One of the most useful methods for the solution of ODEs is multi-step methods. Although the existing multi-step methods such as Adams—Moulton are accurate and useful, they also have their own limitations such as instability at large step sizes or weak performance in the case of stiff ODEs. Thus, multi-step methods that show better behavior compared to the existing methods are preferred, because they decrease the computational... 

We study the following variant of the well-known line-simpli- ficationproblem: we are getting a possibly infinite sequence of points p 0,p1,p2,... in the plane defining a polygonal path, and as wereceive the points we wish to maintain a simplification of the pathseen so far. We study this problem in a streaming setting, where weonly have a limited amount of storage so that we cannot store all thepoints. We analyze the competitive ratio of our algorithms, allowingresource augmentation: we let our algorithm maintain a simplificationwith 2k (internal) points, and compare the error of oursimplification to the error of the optimal simplification with k points. We obtain the algorithms with O(1)... 

We examine the effect of local thermal non-equilibrium on the evolution of the stagnant temperature field in a semi-infinite porous medium. When local thermal equilibrium pertains, the temperature field which is induced by a step change in the temperature of a plane boundary is given by the classical conduction solution involving the complementary error function. When thermal local equilibrium does not apply, then conduction takes place more rapidly in one phase than in the other, although local thermal equilibrium is always approached as time increases. This note examines the evolution of the temperature field in each phase in detail using numerical methods, and the numerical solutions are... 

In this paper the accuracy of measurement with respect to some parameters like baseline variance and DOA estimation and bistatic RCS is considered. The Radar designer can find the appropriate parameters to having the minimum error in target localization and maximum coverage range. © 2006 IEEE  

A new fast and very accurate algorithm for target detection in PCL (Passive Coherent Location) radars is presented. This algorithm in noisy environment that SNR is low as -45dB operates, with an error less than 20 percent. Presented algorithm is capable for target detection by few samples of signals and obtains real-time processing in passive radars. © 2006 IEEE  

The current methods of predictive controllers are utilized for those processes in which the rate of output variations is not high. For such processes, therefore, stability can be achieved by implementing the constrained predictive controller or applying infinite prediction horizon. When the rate of the output growth is high (e.g. for unstable nonminimum phase process) the stabilization seems to be problematic. In order to avoid this, it is suggested to change the method in the way that: first, the prediction error growth should be decreased at the early stage of the prediction horizon, and second, the rate of the error variation should be penalized. The growth of the error is decreased... 

This paper presents comparison among methods of determination of the characteristic polynomial coefficients. First, the resultant systems from the methods are compared based on frequency criteria such as the closed loop bandwidth, gain and phase margins. Then the step responses of the resultant systems are compared on the basis of the transient behavior criteria including overshoot, rise time, settling time and error (via IAE, ITAE, ISE and ITSE integral indices). Also relative stability of the systems is compared together. Finally the best choices in regards to the above diverse criteria are presented. COPYRIGHT © ENFORMATIKA  

We consider multirate time-hopping ultra-wideband (TH-UWB) communication systems where each user can have several multirate services. We investigate both constant spreading factor scheme, which uses multicode, and variable spreading factor scheme, which uses constant chip time and variable frame number. For multicode structure, we consider two methods. In the first, one kind of signature (PN) code is used to distinguish users and their diverse services alike. Whereas in the second one different users and different services of the same user are distinguished through two kinds of signature codes, namely PN code and Walsh code, respectively. For variable spreading factor scheme, one signature... 

Determining an object location in a specific region is an important task in many machine vision applications. Different parameters affect the accuracy of the localization process. The quantization process in charge-coupled device of a camera is one of the sources of error that causes estimation rather than identifying the exact position of the observed object. A cluster of points, in the field of view of a camera are mapped into a pixel. These points form an uncertainty region. In this paper, we present a geometrical model to analyze the volume of this uncertainty region as a criterion for object localization error. The proposed approach models the field of view of each pixel as an oblique... 

To make a decision on the nature of a flaw within a pipeline, it is necessary to detect suspicious regions in ultrasonic inspection images reliably and to, derive geometrical parameters such as shape, position and orientation from each measured signal and finally to collate these parameters intelligently by associating each measured signal with a possible flaw type. These two papers present an innovative method of configurable flaw classification and volume estimation in oil pipelines. This method includes: (1) An adaptive thresholding selection for estimation of the area and volume of the flaws, (2) Dynamic detection of interesting points as feature points at different levels of images by... 

In this paper, a 3D Superconvergent Patch Recovery (SPR) method is developed for data transferring in elasto-plasticity. The transfer operators are presented for mapping of the state and internal variables between different meshes. In order to transfer the history-dependent variables from old mesh to new one, the internal variables are firstly mapped from the Gauss points to nodal points of old mesh, the variables are then transferred from nodal points of old mesh to nodal points of new mesh, and the values are finally transferred from the nodal points to Gauss points of new mesh. As the solution procedure cannot be re-computed from the initial state, it is continued from the previously... 

Rcent measurements suggest the possibility of sharing spectrum among different parties subject to interference-protection constraints. In order to enable access to an unused licensed spectrum, a secondary user has to monitor licensed bands and opportunistically transmit whenever no primary signal is detected. In this paper, we study spectrum-sharing between a primary licensee and a group of secondary users. The structure of an asymptotically optimum detector based on the measurements of all secondary users is derived and the effect of the quantization error in such a system is evaluated. The results show the superiority of the proposed detector to other schemes. © 2007 IEEE  

Feed-forward is one of the main methods for linearising microwave power amplifiers. The level of inter-modulation rejection (IMR) values can be predicted by appropriate modelling of the feed-forward microwave amplifier. Here, we have presented closed form expressions, which can be used for predicting the IMR for the first and second adjacent channels. Fifth- and third-order nonlinear models have been used for the main and error amplifiers, respectively. The predicted values have been verified using ADS simulator and a MATLAB program. © The Institution of Engineering and Technology 2007  

In this paper, we propose an algorithm to determine the active sliding mode controller parameters in synchronizing different chaotic systems. The resulted control parameters not only secure stability of the error systems, they can also be adjusted to obtain the desired rate of error convergence. Numerical simulations are presented to evaluate effectiveness of the proposed algorithm where the Lü system is implemented as the response (slave) system. © 2005 Elsevier Ltd. All rights reserved  

An active sliding mode controller is designed to synchronize three pairs of different chaotic systems (Lorenz-Chen, Chen-Lü, and Lü-Lorenz) in drive-response structure. It is assumed that the system parameters are known. The closed loop error dynamics depend on the linear part of the response systems and parameters of the controller. Therefore, the synchronization rate can be adjusted through these parameters. Analysis of the stability for the proposed method is derived based on the Lyapunov stability theorem. Finally, numerical results are presented to show the effectiveness of the proposed control technique. © 2005 Elsevier Ltd. All rights reserved  

This paper presents a recursive approach for solving kinematic and dynamic problems in snake-like robots using Kane's equations. An n-link model with n-nonholonomic constraints is used as the snake robot model in our analysis. The proposed algorithm which is used to derive kinematic and dynamic equations recursively, enhances the computational efficiency of our analysis. Using this method we can determine the number of additions and multiplications as a function of n. The proposed method is compared with the Lagrange and Newton-Euler's method in three different aspects: Number of operations, CPU time and error in the computational procedures. © 2006 Cambridge University Press  

Global climate change and anthropogenic impacts lead to alterations in the water cycle, water resource availability and the frequency and intensity of floods and droughts. As a result, developing effective techniques such as hydrological modeling is essential to monitor and predict water storage changes. However, inaccuracies and uncertainties in different aspects of modeling, due to simplification of meteorological physical processes, data limitations and inaccurate climate forcing data limit the reliability of hydrological models. Satellite remote sensing datasets, especially Terrestrial Water Storage (TWS) data which can be obtained from Gravity Recovery and Climate Experiment (GRACE),... 

Estimating the position of a mobile set is of great importance in new mobile services. However, in most cases, the accuracy should be less than 100 meters. This accuracy is hard to reach especially in urban areas. The main problem is that there are a lot of obstacles like buildings between the BTS and the mobile set. Thus the time measured between BTS and the mobile set is somehow greater than the time it takes the wave to travel directly between two points. This paper introduces an optimized solution for TDOA as one of the most efficient ways for finding the location of a mobile phone. Considering the standards and limitations of both GSM and UMTS, the Authors present a solution for... 

Based on the analogy between the B-spline curve modeling and the force-deflection behavior of a beam subjected to lateral point loads, an extension to the B-spline surface modeling method was introduced. The proposed method has strong extrapolating capability and can develop accurate surface models over an incomplete net of data points without affecting the original data. Extrapolation of the incomplete part of the data net Is conducted simultaneously with interpolation of the existing part, with no need to recalculation. Approximation or data smoothing is a natural extension of the method, however, the smoothing intensity can be controlled continuously without reducing the number of spline...