Sharif Digital Repository

The biped walking robot demonstrates a stable limit cycle on shallow slopes. In previous researches, this passive gait was shown to be sensitive to ground slope and initial conditions. In this paper, we discuss the feedback stabilization of a biped robot by the "energy shaping" technique. Two designs are proposed to reduce the sensitivity of the biped walking robot to slope and initial conditions. In the first design, a moving mass actuator is located on each link of the robot. The actuators are used to shape the potential energy of the biped robot so that it tracks the potential energy of a known passive gait of a similar biped robot on a different slope. Although the method is applied to a... 

This letter investigates the problem of sparse signal recovery in the presence of additive impulsive noise. The heavy-tailed impulsive noise is well modeled with stable distributions. Since there is no explicit formula for the probability density function of SαS distribution, alternative approximations are used, such as, generalized Gaussian distribution, which imposes ℓp-norm fidelity on the residual error. In this letter, we exploit a continuous mixed norm (CMN) for robust sparse recovery instead of ℓp-norm. We show that in blind conditions, i.e., in the case where the parameters of the noise distribution are unknown, incorporating CMN can lead to near-optimal recovery. We apply... 

This work focused on the spray pyrolysis deposition of Cu2SnS3 (CTS) thin films using a stable basic solution. The effect of the most important parameters including the substrate temperature and copper concentration on the structural, optical and electrical properties of as-deposited thin films was investigated. Qualified thin films with suitable microstructure and composition could be deposited at 370℃. XRD and Raman analysis while confirming the pure CTS film formation, show that as the Cu/Sn decreases, the crystal structure layers are changed from the tetragonal phase to the cubic phase mixed with Sn-rich phases. The optical study shows its band gap between 1.08 and 1.2 eV for different... 

We investigate the performance of wavelet shrinkage methods for the denoising of symmetric- α -stable (S αS) self-similar stochastic processes corrupted by additive white Gaussian noise (AWGN), where α is tied to the sparsity of the process. The wavelet transform is assumed to be orthonormal and the shrinkage function minimizes the mean-square approximation error (MMSE estimator). We derive the corresponding formula for the expected value of the averaged estimation error. We show that the predicted MMSE is a monotone function of a simple criterion that depends on the wavelet and the statistical parameters of the process. Using the calculus of variations, we then optimize this criterion to... 

In this study, a stable observer-based feedback controller has been designed for treatment of hepatitis C infectious disease under interferon (IFN) therapy. In order to consider the memory behavior and uncertain nature of this biological system, an unknown dynamics fractional-order (FO) model has been utilized for describing the interactions between the healthy cells, infected cells, and hepatitis C virus (HCV). To cope with unknown dynamics, the fuzzy logic system (FLS) has been utilized. Limitation of the drug efficacy due to its negative side effects has been taken into account as an input saturation. In order to estimate the unknown states which are required for treatment, a full-order... 

The aim of this work is to develop a model to continuously predict inhomogeneous and homogeneous swelling behavior of temperature-sensitive poly-(N-isopropylacrylamide) hydrogels. Employing this model, some benchmark homogeneous problems such as free, unidirectional constrained and biaxial constrained swelling as well as swelling of core-shell structures are investigated. The main advantage of the model is its ability to solve inhomogeneous deformations due to a stable behavior in the vicinity of the phase transition temperature. Therefore, inhomogeneous swelling of a spherical shell on a hard core with application to microfluidics is analytically and numerically investigated for various... 

In this paper, a dynamic-programming approach to the coupled translational and rotational control of thruster-driven spacecraft is studied. To reduce the complexity of the problem, dynamic-programming-based optimal policies are calculated using decoupled position and attitude dynamics with generalized forces and torques as controls. A quadratic-programming-based control allocation is then used to map the controls to actuator commands. To control the spacecraft in the event of thruster failure, both the dynamic programming policies and control allocation are reconfigured to cope with the losses in controls. The control allocation parameters are adjusted dynamically to ensure the satellite... 

The principle, configuration, and the special features of a stable platform digital controller are presented in this paper. The main goal of this paper is replacing an analog controller with its awaiting digital one. This has been done using TMS320LF2402 digital signal processor which offers the enhanced TMS320 DSP architectural design of the C2xx core CPU for low-cost, low-power, and high-performance processing capabilities. The experimental results show that the digital controller is identical to the analog one and can be a suitable replacement for the analog controller. Copyright © 2008 by Department of Electronics, AGH University of Science and Technology