Sharif Digital Repository

The battery management system (BMS) in electric vehicles monitors the state of charge (SOC) and state of health (SOH) of lithium-ion battery by controlling transient parameters such as voltage, current, and temperature prevents the battery from operating outside the optimal operating range. The main feature of the battery management system is the correct estimation of the SOC in the broad range of vehicle navigation. In this paper, to estimate real-time of SOC in lithium-ion batteries and overcome faults of Extended Kalman Filter (EKF), the Square-Root Sigma Point Kalman Filter is applied on the basis of numerical approximations rather than analytical methods of EKF. For this purpose, the... 

Road roughness-induced vibrations are the main source of fatigue damage accumulation in vehicles. Hence, road surface profile modeling and simulation are of high importance when it comes to vehicle fatigue damage assessment. This research focuses on uncovering the statistical distributions that describe the characteristics of road loads that affect fatigue damage accumulation. Particle filtering is deployed to estimate the log-volatility of the road surface profile by assuming a random walk behavior for the hidden log-volatility. The skew-normal distribution with three parameters is fitted to the estimated log-volatility. The inferred parameters are used for synthesizing artificial road... 

The development of inexpensive, equipment-free, portable, and user/environmentally-friendly analytical devices that can be efficiently utilized for on-site detection of PA is still a great challenge. To address these unmet demands, we have developed a smartphone-based disposable sensing bioplatform through immobilization of chlorophyll in a cotton thread for fluorescent monitoring of picric acid (PA). The fluorescence quenching of chlorophyll upon increasing the PA concentration based on the inner filter effect was considered as the sensing strategy in the developed sensor. The fabricated thread-based microfluidic sensing bioplatform was further coupled with a compact, low cost, portable,... 

Visual object tracking remains an active research field in computer vision due to persisting challenges with various problem-specific factors in real-world scenes. Many existing tracking methods based on discriminative correlation filters (DCFs) employ feature extraction networks (FENs) to model the target appearance during the learning process. However, using deep feature maps extracted from FENs based on different residual neural networks (ResNets) has not previously been investigated. This paper aims to evaluate the performance of 12 state-of-the-art ResNet-based FENs in a DCF-based framework to determine the best for visual tracking purposes. First, it ranks their best feature maps and... 

A switched capacitor circuit frequently appears in literature in form of sample and hold or master-slave sampling filter. We call this block Sample and Hold Master-Slave Sampling Filter (SH-MSSF). Considering the time varying nature of this circuit it is difficult to predict its behavior, though it looks like a very simple circuit. So there exists no formula describing its function in all of its applications. In this brief, we present a closed-form transfer function, explaining the operation of SH-MSSF, based on state-space analysis. Then by interpolating an infinite number of such transfer functions a continuous-time formula is derived that can exactly model the behavior of this (Linear... 

Fundamental constraints imposing power-frequency trade-offs in conventional electronics have stimulated research on alternative technologies for millimeter-wave and sub-millimeter-wave applications. In this work, we use the picosecond threshold firing of nanoplasma switches to demonstrate on-chip millimeter-wave modulators that rely only on a single metal layer. We show amplitude shift keying (ASK) modulation with self-synthesized carrier frequencies up to 66 GHz (limited by the bandwidth of our experimental setup), with output powers up to 30 dBm. These all-metal nanoplasma modulators are low cost, and generally compatible with different platforms, from CMOS and III-V compounds to flexible... 

In this article, time-varying formation tracking problem for multi-agent systems is investigated. It is assumed the number of agents is changing and obstacles should be avoided along the trajectory. In addition, the tracking formation should be reached while the leader trajectory is unknown and communication data are noisy. To reach the desired formation tracking, first, a virtual leader is constructed using the local neighbouring data. Second, the reference signal is created based on the virtual leader and the leader data (which is available for some agents). The data fusion at this stage is done based on Kalman filtering to reduce the effect of communication noise. Third, an integral state... 

Sliding innovation filter (SIF) has recently been introduced as a robust strategy for estimation of linear systems. The SIF has been extended to nonlinear systems via analytical linearization. However, as the performance of the extended SIF (ESIF) degrades in the presence of severe nonlinearities, this article has initially developed a derivative-free cubature SIF (CSIF) that uses statistical linearization for the error propagation. In addition, the SIF gain has been reformed to incorporate the innovation covariance matrix, thus reducing the estimation error. Furthermore, the adaptive fading factor has been employed to strengthen the robustness and convergence properties of the CSIF against... 

In this paper, the conventional 2D H-filter is modified to 3D multi-layer structures fabricated by low-cost xurography. The extraction efficiency was studied experimentally for different 3D structures and then compared with conventional 2D H-filter. Numerical simulations were performed to model the diffusion flow in the proposed H-filters, showing a good agreement with the experimental observations. Results show that 3D H-filters have higher extraction efficiency at the same Reynolds number. Moreover, these structures could benefit low-cost and commercial applications due to their higher efficiency at smaller sizes. © 2022, The Author(s), under exclusive licence to Springer-Verlag GmbH... 

Registration is the most consequential topic to be dealt with in a multi-sensor tracking system. On the other hand, providing satisfactory target acceleration estimation would enhance the performance of a ground-based air defense system encountering a maneuvering target. The main novelty of the present work is addressing a new scheme to solve the registration problem in a distributed network along with estimating accurate target acceleration, simultaneously. The details of coping with three common kinds of measurement, attitude, and location biases are explored concentrating on the effects of attitude bias as the main error source from the practical viewpoint. A modified iterated extended... 

Battery energy systems are playing significant roles in smart homes, e.g., absorbing the uncertainty of solar energy from root-top photovoltaic, supplying energy during a power outage, and responding to dynamic electricity prices. For the safe and economic operation of batteries, an optimal battery-management system (BMS) is required. One of the most important features of a BMS is state-of-charge (SoC) estimation. This article presents a robust central-difference Kalman filter (CDKF) method for the SoC estimation of on-site lithium-ion batteries in smart homes. The state-space equations of the battery are derived based on the equivalent circuit model. The battery model includes two RC... 

In this paper, a novel scheme of command to line-of-sight guidance law regarding the outstanding practical limitations is proposed. With the aid of formulating problem in pursuer's line of sight frame, the exact feed-forward acceleration commands are derived for a general target motion in three-dimensional engagement geometry. Then, a nonlinear control scheme constructed from feed-forward terms along with a nested saturated feedback strategy is suggested. Two momentous practical limitations are considered. The first is related to existence of pursuer's acceleration saturation which is ignored in all existing solutions. The required conditions to insure the global stability are derived... 

Visual target tracking is one of the most sought-after yet challenging research topics in computer vision. Given the ill-posed nature of the problem and its popularity in a broad range of real-world scenarios, a number of large-scale benchmark datasets have been established, on which considerable methods have been developed and demonstrated with significant progress in recent years - predominantly by recent deep learning (DL)-based methods. This survey aims to systematically investigate the current DL-based visual tracking methods, benchmark datasets, and evaluation metrics. It also extensively evaluates and analyzes the leading visual tracking methods. First, the fundamental... 

Nowadays, Autonomous Underwater Vehicles (AUV) are used in environmental studies, ocean floor mapping, and measuring water properties. Navigation of these vehicles is one of the most challenging issues due to the unavailability of global positioning system (GPS) signal underwater. Inertial navigation is a method commonly used for underwater navigation. If a low-cost Inertial Measurement Unit (IMU) is used, navigation quality will decline rapidly due to sensor inherent error. Although using a Doppler Velocity Log (DVL) speedometer sensor helps limit this error to some extent, it does not yield acceptable accuracy in low-cost IMUs. Filtering the gyro based on the AUV rotational dynamics model... 

Spreading Covid19 has significantly impacted humans' affairs worldwide, either economically or in a sanitary manner. Besides social distance and hospitalization, making and introducing different vaccines help us ameliorate infection and mortality rates. In this research, we use a nonlinear dynamic model for Covid19, with eight states named susceptible, exposed, infected, quarantined, hospitalized, recovered, deceased, and insusceptible populations. Also, we use social distancing, hospitalization, and vaccination rate as three control inputs. This research aims to stop the Covid-19 from spreading worldwide and minimize exposed, infected and deceased populations using model predictive control.... 

It is known that discrete-time controllers, whose state matrices have no non-integer element, are beneficial in homomorphic based encrypted control systems. Nevertheless, it has been recently shown that possessing state matrices with integer elements usually yields unstable discrete-time controllers. In this note, we investigate the problem from a non-minimality perspective. It is shown that non-minimal realizations, in comparison to minimal ones, can theoretically provide a wider framework to obtain controllers having state matrices with integer elements. However, in the case of dealing with BIBO stable controllers, this framework cannot preserve internal stability. But, benefiting from the... 

Driving behavior monitoring by smartphone sensors is one of the most investigated approaches to ameliorate road safety. Various methods are adopted in the literature; however, to the best of our knowledge, their robustness to the prediction of new unseen data from different drivers and road conditions is not explored. In this paper, a two-phase Machine Learning (ML) method with taking advantage of high-pass, low-pass, and wavelet filters is developed to detect driving brakes and turns. In the first phase, accelerometer and gyroscope filtered time series are fed into Random Forest and Artificial Neural Network classifiers, and the suspicious intervals are extracted by a high recall. Following... 

The navigation algorithms which use inertial measurement units (IMUs), such as inertial navigation systems (INSs), always suffer from intrinsic accumulated errors. Bias in gyros induces a significant drift in navigation output especially when micro-electro-mechanical sensor (MEMS) type is used. This error has high-and low-frequency components. De-noising of the long-term error (LTE) (the low-frequency component) is more challenging due to undeterministic behavior and overlapping with carrier motion in the low-frequency band. In this article, a method for de-noising of long-term MEMS-based gyro is presented. In this approach, an auto-regressive (AR) model for the LTE is developed which is... 

This paper offers a new EF-class converter for dynamic wireless power transfer application. The proposed high-frequency converter employs a floating-frequency switching algorithm to control the converter in a continuous frequency range, eliminate the requirement to any additional operational data from the secondary (receiver) side, accelerate the load impedance match while moving, maximize the transferred power rate, reduce charging interval and compensate power transfer tolerances. Moreover, an optimized super elliptical shape coil is designed to cope with lateral misalignment, enhance coil coupling, and increase efficiency. In the proposed converter, (i) soft switching is implemented to... 

Solar panel flexibility plays an important role in the attitude control of satellites. Therefore, traditionally the deformations of flexible solar panels are measured with a series of sensors along the panels itself. This paper presents a novel maiden attempt to simultaneously estimate the attitude and deformation of a flexible satellite using only 2 low-cost attitude sensors namely the sun sensor and magnetometer measurements. The flexible satellite is considered as a central rigid body with two attached flexible panels in order to derive the governing dynamic equations based on the Lagrange's equation. Both Extended Kalman filter (EKF) and Unscented Kalman Filter (UKF) are employed for the...