Sharif Digital Repository

This paper presents a high performance real-time simulator for power electronic systems applications and primarily intended for controller hardware-in-the-loop (CHIL) testing. The novelty of the proposed simulator resides in the massively parallel hardware architecture that efficiently exploits fine-grained parallelism without imposing severe communication overhead time that can limit the performance. The simulator enables the use of a nanosecond range simulation timestep to simulate power electronic systems. Through the use of this nanosecond range simulation timestep, the simulator minimizes the error arising from the intersimulation timestep switching phenomenon associated with CHIL. The... 

In this paper, we propose a new method for mobile robot path planning in dynamic environment when the trajectories of obstacles are unknown. Our algorithm first utilizes a global approach called clearance based probabilistic roadmap method to find a suitable path and then locally apply evolutionary algorithm to keep the structure of the path when obstacles collide with the path. As a result, the path will act like an elastic band. To reach real time applicability, a light fitness function is proposed compare to other genetic algorithms to reduce the computation time needed for calculating and repairing path. Simulation results show that our method not only can keep the original structure of... 

Compressed images such as JPEG when transmitted over communication channels are susceptible to channel noise and/or erasure, which causes losses of blocks of pixels or macroblocks. Recovery of a large block in an image is a difficult task. In this paper we propose a novel method that addresses this problem and can exactly recover a lost block. Moreover, the proposed algorithm is fast enough to be implemented in real time. Simulation results show that our method is faster than previous methods proposed in the literature with less distortion  

This paper presents a methodology for implementing of the mathematical model of H-Bridge converter in an FPGA-based Real-Time simulator. Furthermore, it introduces a new method for choosing parameters of the Associate Discrete Circuit (ADC) model of semiconductor switches. The ADC-based model allows obtaining a fixed topology irrespective of switches states for the power electronic converters in the digital simulation. Backward-Euler based discretized state space matrix (SSM) of the circuit used for ADC parameter. Choosing appropriate switch parameter is based on 1) reducing the distance of SSM eigenvalues from origin in z-Plane to reduce settling-Time of system response; and 2) reducing the... 

Network protocol design and evaluation requires either full implementation of the considered protocol and evaluation in a real network, or a simulation based on a model. There is also a middle approach in which both simulation and emulation are used to evaluate a protocol. In this article the Partov engine, which provides both simulation and emulation capabilities simultaneously, is presented. Partov benefits from a layered and platform-independent architecture. As a pure simulator, it provides an extensible plugin-based platform that can be configured to perform both real-time and non-real-time discrete-event simulations. It also acts as an emulator, making interaction with real networks... 

The Monte Carlo simulation is utilized to model the nano-scale grain growth of two nanocrystalline materials, Pd81Zr19 and RuAl. In this regard, the relationship between the real time and the time unit of simulation, i.e. Monte Carlo step (MCS), is determined. The results of modeling show that with increasing time of heating, the grain sizes of both nano-crystalline materials increased as in the case of conventional materials. Moreover, it is found that for both nano-crystalline materials the relationship between the real time and MCS is in power law form, which is linear for the conventional materials. © Indian Academy of Sciences  

This paper proposes a novel FPGA-based matrix-inversion technique that is specifically tailored and optimized for real-time electromagnetic transients simulation of power electronic converters with high switching frequency. This is the first reported solution that is capable of solving the real-time equations related to using ideal switch model and the associated circuitry in very small time-steps (e.g., an average of 36 ns in a three-phase back-to-back converter case study), without requiring large amount of memory, being limited to small number of switches, adding parasitic elements, or depending on a priori knowledge of the circuit operation or switching strategy. The accuracy of the... 

Surgical simulation systems facilitate safe and efficient training processes of surgical trainees by providing a virtual environment in which the surgical procedure can be repeated unlimitedly in a wide variety of situations. The present study attempted to develop a real time simulation system for the grasping procedure of large internal organs during laparoscopic surgery. A mass-spring-damper model was developed to simulate the nonlinear viscoelastic large deformations of the spleen tissue while interacting with a triple-jaw grasper. A novel collision detection algorithm was designed and implemented to determine the contact points between the tissue and the grasper jaws. Force or... 

Wireless Sensor Network (WSN) should be capable of fulfilling its mission, in a timely manner and without loss of important information. In this paper, we propose a new analytical model for calculating RRT (Reliable Real-Time) degree in multihop WSNs, where RRT degree describes the percentage of real-time data that the network can reliably deliver on time from any source to its destination. Also, packet loss probability is modeled as a function of the probability of link failure when the buffer is full and the probability of node failure when node's energy is depleted. Most of the network properties are considered as random variables and a queuing theory based model is derived. In this... 

The method for modeling switching converters plays a key role in real-time simulators. Associate discrete circuit (ADC) modeling technique is a commonly used method for modeling the switching converter. However, the optimal selection of the ADC-based switch model parameters has great importance in the accuracy of the real-time simulator. In this paper, the design of a real-time simulator for a switching power converter has been done, in which a novel method for detecting optimum values of the switch model parameters has been expressed. Particle swarm optimization (PSO) algorithm is used to find these optimum values using state-space analysis of the modeled circuit in the z-domain. The... 

Needle insertion simulation and planning systems (SPSs) will play an important role in diminishing inappropriate insertions into soft tissues and resultant complications. Difficulties in SPS development are due in large part to the computational requirements of the extensive calculations in finite element (FE) models of tissue. For clinical feasibility, the computational speed of SPSs must be improved. At the same time, a realistic model of tissue properties that reflects large and velocity-dependent deformations must be employed. The purpose of this study is to address the aforementioned difficulties by presenting a cost-effective SPS platform for needle insertions into the liver. The study...