Sharif Digital Repository

In this paper, the TCP retransmission timer adjustment mechanism is approached from the system's theoretic point of view. TCP uses a simple recursive system identification algorithm to capture both time variant and time invariant Internet behavior and provides a dynamic Round-Trip Time (RTT) predictor. Based on real Internet data collection, it is observed that when the retransmission timer is adjusted by using the proposed predictor instead of the traditional RTT estimator, its performance increases significantly  

Purpose - This paper aims to develop an adaptive unscented Kalman filter (AUKF) formulation for orientation estimation of aircraft and UAV utilizing low-cost attitude and heading reference systems (AHRS). Design/methodology/approach - A recursive least-square algorithm with exponential age weighting in time is utilized for estimation of the unknown inputs. The proposed AUKF tunes its measurement covariance to yield optimal performance. Owing to nonlinear nature of the dynamic model as well as the measurement equations, an unscented Kalman filter (UKF) is chosen against the extended Kalman filter, due to its better performance characteristics. The unscented transformation of the UKF is shown... 

In this paper, we introduce a new method and new motion variables to study kinematics and dynamics of a 6 d.o.f cable-driven robot. Using these new variables and Lagrange equations, we achieve new equations of motion which are different in appearance and several aspects from conventional equations usually used to study 6 d.o.f cable robots. Then, we introduce a new Jacobian matrix which expresses kinematical relations of the robot via a new approach and is basically different from the conventional Jacobian matrix. One of the important characteristics of the new method is computational efficiency in comparison with the conventional method. It is demonstrated that using the new method instead... 

Transmission Control Protocol (TCP) uses multiple timers to do its work. The most important of these is the retransmission timer. In this paper, the TCP retransmission timer adjustment mechanism is approached from a system point of view and a new mechanism is proposed. A simple recursive system identification algorithm is used to capture both time variant and time invariant Internet behavior. Also a dynamic model-based Round-Trip Time (RTT) predictor was provided. Based on network simulation and real Internet data collection, it was observed that when the retransmission timer is adjusted by the proposed predictor instead of the traditional RTT estimator, performance increased significantly  

Floquet eigenfunctions and Floquet exponents are encountered in stability and noise analysis of circuits operating at large signal periodic regime. It is analytically verified that the spectrum vectors of the left-hand and right-hand Floquet eigenfunctions and the Floquet exponents (Floquet eigenpairs) are members of the harmonic balance eigenvalues and eigenvectors (HB eigenpairs). The relationships between other HB eigenpairs with the Floquet eigenpairs are discussed. This discussion leads to a practical algorithm for computing the Floquet eigenpairs through HB eigenpairs. Furthermore, it is analytically verified that the main arguments of the study are consistent with the... 

A new non-symmetric 5R-SPM is introduced and a geometrical approach is developed to analyze its configurations and singularities. The proposed methodology determines the type of configuration of a 5R-SPM, i.e. regular, singular, or out-of-workspace and also the type of singularity, i.e. instantaneous or finite, only based on geometric parameters and without solving verbose kinematic equations. It also provides insights into the workspace and singularities of 5R-SPMs, in the preliminary stage of design. The mechanism was analyzed by both the new geometrical approach and conventional methods for comparison. The geometrical approach could intuitively detect all the singularities observed by the... 

The N-3 Revolute-Prismatic-Spherical (N-3RPS) manipulator is a kind of serial-parallel manipulator and has higher stiffness and accuracy compared with serial mechanisms, and a larger workspace compared with parallel mechanisms. The locking mechanism in each joint allows the manipulator to be controlled by only three wires. Modeling the dynamics of this manipulator presents an inherent complexity due to its closed-loop structure and kinematic constraints. In the first part of this paper, the inverse kinematics of the manipulator, which consists of position, velocity, and acceleration, is studied. In the second part, the inverse and forward dynamics of the manipulator is formulated based on... 

Various researchers have contributed to the identification of the mass and stiffness matrices of two dimensional (2-D) shear building structural models for a given set of vibratory frequencies. The suggested methods are based on the specific characteristics of the Jacobi matrices, i.e., symmetric, tri-diagonal and semi-positive definite matrices. However, in case of three dimensional (3-D) structural models, those methods are no longer applicable, since their stiffness matrices are not tri-diagonal. In this paper the inverse problem for a special class of vibratory structural systems, i.e., 3-D shear building models, is investigated. A practical algorithm is proposed for solving the inverse... 

In this paper, we propose a new semi-algebraic algorithm to compute the Canonical Polyadic (CP) decomposition of complex-valued multi-way arrays. The proposed algorithm is based on the Simultaneous Schur Decomposition (SSD) of particular matrices derived from the array to process. This CP algorithm solves some convergence problems of classical iterative techniques and its identifiability assumptions are less restrictive than those of other semi-algebraic methods. We also propose a new Jacobi-like algorithm to calculate the SSD of several complex-valued matrices. Finally the usefulness of the proposed method is illustrated in the context of fluorescence spectroscopy and epileptic source... 

The interaction of the dynamics of doubly fed wind generators with the electromechanical mode of nearby synchronous generators (SGs) can affect the small signal stability of power systems with high penetration levels of wind power. In this study, a novel approach is developed to investigate these interactions and their impact on the damping of power system oscillations. In this approach it is not necessary to model the dynamic behaviour of system SGs and only the frequencies of system oscillations are important. This approach is based on the sensitivity of SGs electromechanical eigenvalue with respect to variations in the Jacobian matrix of power system. By applying this approach to a test... 

This paper presents inverse dynamics equations for a 3-UPS mechanism using virtual work principle. This mechanism has three UPS legs connecting the base to a triangular platform. By changing the orientation of leg's actuators a non-symmetric mechanism with a suitable workspace near the origin without any singularity is obtained. Direct and inverse kinematics Jacobian matrices of the mechanism are obtained by the Newton-Euler approach. Then the inverse dynamics problem is solved using the principle of virtual work, so that the force and torque of active actuators have been obtained by having external forces (force and torque) acted on the platform. Force analysis of the 3-UPS mechanism has... 

The N-3 Revolute-Prismatic-Spherical (N-3RPS) manipulator is a kind of serial-parallel manipulator and has higher stiffness and accuracy compared with serial mechanisms, and a larger workspace compared with parallel mechanisms. The locking mechanism in each joint allows the manipulator to be controlled by only three wires. Modeling the dynamics of this manipulator presents an inherent complexity due to its closed-loop structure and kinematic constraints. In the first part of this paper, the inverse kinematics of the manipulator, which consists of position, velocity, and acceleration, is studied. In the second part, the inverse and forward dynamics of the manipulator is formulated based on... 

The N-3 Revolute-Prismatic-Spherical (N-3RPS) manipulator is a kind of serial-parallel manipulator and has higher stiffness and accuracy compared with serial mechanisms, and a larger workspace compared with parallel mechanisms. The locking mechanism in each joint allows the manipulator to be controlled by only three wires. Modeling the dynamics of this manipulator presents an inherent complexity due to its closed-loop structure and kinematic constraints. In the first part of this paper, the inverse kinematics of the manipulator, which consists of position, velocity, and acceleration, is studied. In the second part, the inverse and forward dynamics of the manipulator is formulated based on... 

Micro motion stages are one of the essential components in field of micro robotics and ultra fine positioning systems. This research presents the optimum design of a 3-DOF micro motion stage and its position control using FEM simulation. This stage to be studied uses a 3 RRR flexure hinge base compliant mechanism driven by three piezoelectric stack actuators to provide micro scale planar motion. First of all parametric modeling of the stage will be fulfilled in ANSYS environment utilizing a commercial piezostack and different types of flexure hinges. Hence the Jacobian matrix will be achieved for each case. The optimum selection of the hinge form will be achieved upon results of the previous... 

In this paper, a computational modeling tool is developed for fully coupled multiphase flow in deformable heterogeneous porous medium that consists of complex and non-uniform micro-structures using the dual continuum scales based on the computational homogenization approach. The first-order homogenization technique is employed to perform the multi-scale analysis. The governing equations of two-phase flow of immiscible fluids, including an equilibrium equation and two mass continuity equations, are considered based on the appropriate main variables. According to the well-known Hill–Mandel principle of macro-homogeneity, the proper energy types are defined instead of conventional stress power... 

For speeding up the complex fractured reservoir simulating, we have given more attention to reducing runtime and improving efficiency of the solver. In this work, we describe an improved and computationally efficient version of Newton's method, which reduces the non-linear iteration count, increases time steps, and furthermore reduces time spent in nonlinear loops of reservoir simulating. Safeguarded variants of Newton's method which have used in current reservoir simulators cannot guarantee convergence of the solution, especially in highly heterogeneous, detailed and fractured reservoirs. In such simulators time step chopping is often observed. From other hand, with growing complexity,... 

Purpose: The paper aims to address the combined attitude control and Sun tracking problem in a flexible spacecraft in the presence of external and internal disturbances. The attitude stabilization of a flexible satellite is generally a challenging control problem, because of the facts that satellite kinematic and dynamic equations are inherently nonlinear, the rigid–flexible coupling dynamical effect, as well as the uncertainty that arises from the effect of actuator anomalies. Design/methodology/approach: To deal with these issues in the combined attitude and Sun tracking system, a novel control scheme is proposed based on the adaptive fuzzy Jacobian approach. The augmented spacecraft model... 

Sliding innovation filter (SIF) has recently been introduced as a robust strategy for estimation of linear systems. The SIF has been extended to nonlinear systems via analytical linearization. However, as the performance of the extended SIF (ESIF) degrades in the presence of severe nonlinearities, this article has initially developed a derivative-free cubature SIF (CSIF) that uses statistical linearization for the error propagation. In addition, the SIF gain has been reformed to incorporate the innovation covariance matrix, thus reducing the estimation error. Furthermore, the adaptive fading factor has been employed to strengthen the robustness and convergence properties of the CSIF against...