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    Calculating the Angle of Camera Using Optimal Filter

    , M.Sc. Thesis Sharif University of Technology Lashkari, Ali (Author) ; Manzuri, Mohammad Taghi (Supervisor) ; Jafari, Mahdi (Co-Advisor)
    Abstract
    Today with increasing advancement of robotic technology, we witness the increment of robots role in humans’ life. One of the issues always present for robots is routing which may require locating their position. Most of these robots make use of sensors like gyroscope, accelerometer and GPS to estimate their position. But each of these sensors has their own short comings such as drift or being unavailable in certain environments. Fusion of inertial and vision sensor’s data can be used to reduce the impact of these errors. Considering the time consumption of image processing and accumulating error of inertial sensor, this combination can be very useful. This approach is also used in... 

    Estimation and Control of Harmonic Disturbances Due to Mass Unbalance and Sensor Runout in Three-Pole Active Magnetic Bearing

    , M.Sc. Thesis Sharif University of Technology Habibollahi, Alireza (Author) ; Behzad, Mehdi (Supervisor) ; Manzuri, Mohammad Taghi (Co-Advisor)
    Abstract
    Disturbances due to sensor runout and mass unbalance are the main sources of harmonic disturbances in active magnetic bearing systems. Existence of this type of the disturbance not only causes harmonic vibrations in the system but also changes the steady-state position of the axis of rotation from the geometric center of the AMB. In this research, an observer-based control method used to estimate and reject this disturbance. Proposed integral observer estimates dc and harmonic content of the sensor runout and also estimates the states of the system at the same time with good precision. Lyapunov method is used to prove asymptotic stability of the proposed observer and demonstrated that sensor... 

    Transfer Alignment Algorithm Development for Aerial Launch Space Launch Vehicle Navigation System Using the Carrying Airplane Navigation System

    , M.Sc. Thesis Sharif University of Technology Shokatian, Mohammad (Author) ; Fathi, Mohsen (Supervisor)
    Abstract
    In this research the problem is the development and simulation of Transfer Alignment algorithm for an aerial launch space launch vehicle. In the references there is no complete study on development of this algorithm for the case space launch vehicle. In order to develop the algorithm, the carrying airplane and the space launch navigation systems are considered as the Master INS and Slave INS respectively. First a 6DOF simulation of the airplane is presented. Then the desired inputs for simulation of Master and Slave INS are generated. Also the differences of the inputs of Slave INS caused by the distance between the Master and Slave INS is considered. Master INS performs as an ideal INS and... 

    Geometric-Based Fault Diagnosis in a Grid-Connected Inverter

    , Ph.D. Dissertation Sharif University of Technology Mashreghi, Ali (Author) ; Namvar, Mehrzad (Supervisor)
    Abstract
    Inverters are the main utility in transmitting power from distributed generation (DG) systems toward grid and their safe and immune performance has become a major concern among the system designers. In addition to poor power transmittance, faults in inverter can harm other equipment such as DG and local load. Consequently different protections has been considered to increase the reliability of these systems. Some of these protections like fuses and varistors are implemented in the hardware while others are considered in the processor. In the later class of protections, fault detection and isolation (FDI) system has been the subject of intense investigation in inverters over the past two...