Sharif Digital Repository

A modular hierarchical structure is developed to describe human movement planning level. The modular feature of the proposed model enables it to generalize planning a task. The movements are planned based on decomposing a task into its corresponding subtasks (motion phases). There is a module responsible for one condition. The final plan is constructed using soft computing of the plans proposed by different modules. Each module estimates the kinematics of the joints at the end of each subtask; we call them kinematic estimator modules (KEMs). A timing module estimates the duration of motion and a gating module determines the responsibility of each KEM under different conditions. To evaluate... 

Many real-world networks have a modular structure, and their component may undergo random errors and/or intentional attacks. More devastating situations may happen if the network components have a limited load capacity; the errors and attacks may lead to a cascading component removal process, and consequently, the network may lose its desired performance. In this brief, we investigate the tolerance of cascading errors and attacks in modular small-world networks. This brief studies the size of the largest connected component of the networks when cascading errors or attacks occur. The robustness of the network is tested as a function of both the intermodular connection and intramodular... 

During design, microsatellites are subject to different changes like the changes in weight, location and dimension of parts and elements of subsystems and the payload. These changes should be accumulated by the structure subsystem in a way that some key structural parameters like the center of gravity (CG) and inertia moments remain unchanged. This subject is also important regarding the design of a modular structure of a satellite. In the present study it is tried to accommodate any changes in weight and location of any part(s) and element(s) of a microsatellite by optimum (minimum) rearrangement of other parts on their plane of rest in order to keep the CG and inertia moments unchanged.... 

In this study, a real-time exible modular modeling approach to simulating the dynamic behavior of gas turbine engines based on nonlinear thermodynamic and dynamic laws is addressed. The introduced model, which is developed in the Matlab-Simulink environment, is an object-oriented high-speed real-time computer model and is capable of simulating the dynamic behavior of a broad group of gas turbine engines due to its modular structure. Moreover, a Kalman lter-based model tuning procedure is applied to decrease the modeling errors. Modeling errors are de ned as the mismatch between simulation results and available experimental data. This tuning procedure is an underdetermined estimation problem,... 

Human motion planning studies are of considerable importance in producing human-like trajectories for various industrial or clinical applications (e.g. assistive robots). In this case, the capability of Central Nervous System (CNS) in generating a large repertoire of actions can be inspirational to develop more efficient motion planning approaches. Here, inspired by structural and functional modularity in the CNS, a novel modular and hierarchical model is developed to plan the sit-to-stand (STS) transfer under varying environmental conditions. In this model, the planning process is distributed among several functionally simple modules. The cooperation of modules enables the model to plan the... 

This paper proposes a novel error-feedback lattice recursive least-squares (EF-LRLS) filter for online estimation of power system oscillatory modes. The EF-LRLS filter is applied to ambient data provided by phasor measurement units to identify the autoregressive (AR) model parameters. This filter has a modular structure; accordingly, if the length of the filter equals N, it identifies AR(1) to AR(N) models concurrently. In the proposed method, removing very low and high frequencies and re-sampling steps are fulfilled in an online fashion. This adaptive filter has less computational complexity than standard RLS filter, making it an appropriate choice for online system identification. The... 

Many complex networks such as social networks and computer show modular structures, where edges between nodes are much denser within modules than between modules. It is strongly believed that cellular networks are also modular, reflecting the relative independence and coherence of different functional units in a cell. In this paper we used a human curated dataset. In this paper we consider each module in the PPI network as ontology. Using techniques in ontology alignment, we compare each pair of modules in the network. We want to see that is there a correlation between the structure of each module or they have totally different structures. Our results show that there is no correlation...