Sharif Digital Repository

A new methodology has been proposed to enhance inverse dynamics applications in the process of trajectory planning and optimization in Terrain Following Flights (TFF). The new approach uses least square scheme to solve a general two-dimensional (2D) Terrain Following Flight in a vertical plane. In the mathematical process, Chebyshev polynomials are used to model the geographical data of the terrain in a given route in a manner suitable for the aircraft at hand. The aircraft then follows the modeled terrain with sufficient clearance. In this approach the TF problem is effectively converted to an optimal tracking problem. Results show that. this method provides a flexible approach to solve the... 

Let S be a set S of n points on a polyhedral terrain T in R3, and let ϵ > 0 be a fixed constant. We prove that S admits a (2 + ϵ)-spanner with O(n log n) edges with respect to the geodesic distance. This is the first spanner with constant spanning ratio and a near-linear number of edges for points on a terrain. On our way to this result, we prove that any set of n weighted points in Rd admits an additively weighted (2 + ϵ)-spanner with O(n) edges; this improves the previously best known bound on the spanning ratio (which was 5 + ϵ), and almost matches the lower bound. Copyright © by SIAM  

Let S be a set of n points on a polyhedral terrain T in ℝ3, and let ϵ > 0 be a fixed constant. We prove that S admits a (2 + ϵ )-spanner with O(n log n) edges with respect to the geodesic distance. This is the first spanner with constant spanning ratio and a near-linear number of edges for points on a terrain. On our way to this result, we prove that any set of n weighted points in Rd admits an additively weighted (2 + ϵ )-spanner with O(n) edges; this improves the previously best known bound on the spanning ratio (which was 5 + ϵ ) and almost matches the lower bound. © 2019 Society for Industrial and Applied Mathematics Publications. All rights reserved  

Let S be a set of n points on a polyhedral terrain T in ℝ3, and let ϵ > 0 be a fixed constant. We prove that S admits a (2 + ϵ )-spanner with O(n log n) edges with respect to the geodesic distance. This is the first spanner with constant spanning ratio and a near-linear number of edges for points on a terrain. On our way to this result, we prove that any set of n weighted points in Rd admits an additively weighted (2 + ϵ )-spanner with O(n) edges; this improves the previously best known bound on the spanning ratio (which was 5 + ϵ ) and almost matches the lower bound. © 2019 Society for Industrial and Applied Mathematics Publications. All rights reserved  

We show that in the continuum limit watersheds dividing drainage basins are Schramm-Loewner evolution (SLE) curves, being described by one single parameter κ. Several numerical evaluations are applied to ascertain this. All calculations are consistent with SLEκ, with κ=1.734±0.005, being the only known physical example of an SLE with κ<2. This lies outside the well-known duality conjecture, bringing up new questions regarding the existence and reversibility of dual models. Furthermore, it constitutes a strong indication for conformal invariance in random landscapes and suggests that watersheds likely correspond to a logarithmic conformal field theory with a central charge c-7/2  

In this work we present a systematic approach to incorporating the dynamic capabilities of an aircraft via suitable cost functions while planning for terrain following-terrain avoidance trajectories. We further show that use of nondimensional parameters related to the dynamics of an aircraft within the cost function provides a better understanding of how they could affect the resulting trajectories. Different case studies for arbitrary three-dimensional flights show that the current approach provides more realistic trajectories and so helps alleviate the design process of relevant controllers as well as tracking systems over the desired terrain. We further introduce two new parameters of... 

Given a terrain and a query point p on or above it, we want to count the number of triangles of terrain that are visible from p. We present an approximation algorithm to solve this problem. We implement the algorithm and then we run it on the real data sets. The experimental results show that our approximation solution is very close to the real solution and compare to the other similar works, the running time of our algorithm is better than their algorithm. The analysis of time complexity of algorithm is also presented. Also, we consider visibility testing problem, where the goal is to test whether p and a given triangle of train are visible or not. We propose an algorithm for this problem... 

Emergence of high pseudo-magnetic field as a result of mechanical deformations is one of the intriguing characteristics of the graphene honeycomb structure. For a time-dependent nonuniform strain and in the context of Berry curvature approach, the topological charge pumping is studied theoretically. Calculations have been performed in time–momentum parametric space. Within the Berry curvature approach, it has been revealed that time-dependent deformations result in nonzero valley-dependent charge pumping in the gapped graphene when there is a population imbalance between the valleys. This indicates that the valley polarization can be measured by the amount of topological charge pumping in... 

We show that the continuum limit of the tilted Dirac cone in materials such as 8-Pmmn borophene and layered organic conductor α-(BEDT-TTF)2I3 corresponds to deformation of the Minkowski space-time of Dirac materials. From its Killing vectors we construct an emergent tilted-Lorentz (t-Lorentz) symmetry group for such systems. As an example of the t-Lorentz transformations we obtain the exact solution of the Landau bands for a crossed configuration of electric and magnetic fields. For any given tilt parameter 0≤ζ<1, if the ratio χ=vFBz/Ey of the crossed magnetic and electric fields satisfies χ≥1+ζ, one can always find appropriate t-boosts in both valleys labeled by τ=±1 in such a way that the... 

A novel approach in Terrain Following/Terrain Avoidance (TF/TA) flight is proposed that facilitates flying over unknown terrains. Intelligency is implemented using fuzzy decision making tools. This method can be used in offline design in trajectory planning which has wide applications in TF/TA. A relationship b etween slope of terrain and aircraft height with speed of aircraft is constructed by fuzzy approach  

Motion planning is a key factor in enhancing the autonomy level of unmanned flying vehicles. A new dynamic hybrid algorithm is developed to solve the motion planning problem in real-time using a heuristic optimization approach. The proposed algorithm effectively combines desired features such as rapid convergence to an optimal path with reduced computational effort. In addition to the terrain obstacles, the proposed algorithm is able to avoid random threats that may arise sporadically in the terrain. Using the maneuver automaton concept, nonlinear dynamic model and performance constraints are also considered in the process of motion planning to further ensure feasible trajectories.... 

The main attempt of this paper is to present a new methodology to model a generic low-level flight close to terrain, which guarantees terrain collision avoidance. Benefiting the advantages of high-speed computer technology, this method uses satellite elevation maps to generate so-called "quad-tree forms". The latter is then used to find the optimal trajectories for low-level flights. The novelty of this approach, entitled the "cost map," lies in the integration of aircraft dynamics into the segmented map. This procedure results in some near-optimal trajectories with respect to aircraft dynamics that could easily be used for minimization of flight path together with pilot effort. Different... 

A major issue required to enhance the autonomy level of unmanned vehicles is real-time motion planning. In this context, optimal trajectories need to be generated online considering the vehicle's dynamic potentials and constraints. However, autonomous air vehicles often need to plan and execute their missions with varying objectives that may even be dictated in flight. Therefore, the current study introduces and focuses on the new concept of variable-objective motion planning. In this regard, a new dynamic multi-objective heuristic optimization algorithm is developed for path and motion planning of autonomous air vehicles in presence of deterministic terrain obstacles as well as random... 

Karst features have caused serious problems in many engineering projects because of their permeability and high leakage potential; a clear example is Lar Dam, 84 km northeast of Tehran in which normal water level has never been reached since the filling of its reservoir in 1980. Sometimes conventional methods of studying karst features (e.g., borings and sampling) fail to precisely reveal their underground structure and this may result in inaccurate design, extensive leakage and creation of sinkholes. In the present paper, an under-study dam site in Lajamgir, Zanjan province, northern Iran is investigated. Ground observations indicated the possibility of presence of Karst caves while borings... 

Surface urban heat island (SUHI) is defined as the elevated land surface temperature (LST) in urban area in comparison with non-urban areas, and it can influence the energy consumption, comfort and health of urban residents. In this study, the existence of daytime SUHI, in Cairo and its new towns during the summer, is investigated using three different approaches; (1) utilization of pre-urbanization observations as LST references; (2) utilization of rural observations as LST references (urban-rural difference); and (3) utilization of the SIUHI (Surface Intra Urban Heat Island) approach. A time series of Landsat TM & ETM+ data (46 images) from 1984 to 2015 was employed in this study for... 

The fresh groundwater lenses (FGLs) of small islands can be highly vulnerable to climate change impacts, including sea-level rise (SLR). Many real cases of atoll or sandy islands involve two-layer hydrogeological conceptualizations. In this paper, the influential factors that affect FGLs in two-layer small islands subject to SLR are investigated. An analytical solution describing FGLs in circular islands, composed of two geological layers, is developed for the simplified case of steady-state and sharp-interface conditions. An application of the developed model is demonstrated to estimate the FGL thickness of some real-world islands by comparison with existing FGL thickness data. Furthermore,... 

The origins and evolution of the Middle Eastern dust storms which frequently impact the residents of this arid region were studied. A methodology was adapted and developed to identify the desert regions of potential dust sources and determine their contributions to PM10 concentrations in the highly-populated receptor city of Tehran, Iran. Initially, the episodes of regional dust intrusion and the resulting amounts of increase in the particulate concentrations during these episodes were determined using a statistical analyzing methodology. The dust episodes were also inspected with the aerosol index information from the Ozone Monitoring Instrument (OMI). The Hybrid Single-Particle Lagrangian... 

Purpose - The purpose of this paper is to present a novel approach in terrain following (TF) flight using fuzzy logic. The fuzzy controller as presented in this work decides where and how the aircraft needs to change its altitude. The fast decision-making nature of this method promises real-time applications even for tough terrains in terms of shape and peculiarities. The method could always assist to design trajectories in an off-line manner. Design/methodology/approach - To achieve the aforementioned goal, the method effectively incorporates the dynamics of the aircraft. Basically, the mathematical method employs special relationships among existing slope of the terrain and its derivative... 

Clustering-based image segmentation is a well-known multispectral image segmentation method. However, as it inherently does not account for the spatial relation among image pixels, it often results in inhomogeneous segmented regions. The recently proposed membership-connectedness (MC)-based segmentation method considers the local and global spatial relations besides the fuzzy clustering stage to improve segmentation accuracy. However, the inherent spatial and intraclass redundancies in multispectral images might decrease the accuracy and efficiency of the method. This letter addresses these two problems and proposes a segmentation method that is based on the MC method, watershed transform,... 

We study topological phase transitions and topological quantum field effect transistor in monolayer molybdenum disulfide (MoS2) using a two-band Hamiltonian model. Without considering the quadratic (q 2) diagonal term in the Hamiltonian, we show that the phase diagram includes quantum anomalous Hall effect, quantum spin Hall effect, and spin quantum anomalous Hall effect regions such that the topological Kirchhoff law is satisfied in the plane. By considering the q 2 diagonal term and including one valley, it is shown that MoS2 has a non-Trivial topology, and the valley Chern number is non-zero for each spin. We show that the wave function is (is not) localized at the edges when the q 2...