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Satellite Attitude Control with Consideration of the Fuel Sloshing Dynamics
, M.Sc. Thesis Sharif University of Technology ; Salarieh, Hassan (Supervisor) ; Nejat Pishkenari, Hossein (Supervisor)
Abstract
Modeling and Controlling of a satellites fuel slosh is considered a vital problem in the field of satellite attitude control. In this paper modeling and control of the attitude of a satellite carrying a partially filled spherical fuel tank, which uses the diaphragm as a propellant management device (PMD), has been studied. The fuel slosh dynamics is modeled using a spherical pendulum with two degrees of freedom and a rigid arm, which represents the first mode of sloshing. The effects of the diaphragm that surround the fuel surface, are considered as torsional springs and dampers attached to the satellite body. The combined dynamics equations of the satellite rigid motion and the fuel slosh...
Robust Optimal Control of Drug Delivery in Cancer Chemotherapy based on a New Realistic Dynamic Model of the Process
, M.Sc. Thesis Sharif University of Technology ; Moradi, Hamed (Supervisor)
Abstract
Today, cancer mortality is one of the most important problems, even considering the scientific advances that offer more effective solutions to treat some diseases, providing a way to prevent and treat this disease is one of the most important issues that engineers have considered. This is achieved by designing a controller to minimize the size of the cancer tumor population, increase healthy cells, optimize treatment time, and drug dose.To achieve this goal, pharmacokinetic, pharmacodynamic, tumor growth, and healthy cell growth models, and mathematical models for subsystems that affect tumor growth, such as the angiogenic system, have been studied to develop a single mathematical model. In...
Control of Car-Like Multi Robots for Following and Hunting of Moving Target
, M.Sc. Thesis Sharif University of Technology ; Sayyaadi, Hassan (Supervisor) ; Salarieh, Hassan (Co-Advisor)
Abstract
The main purpose of the present thesis is to establish a decentralized controller for some car–like multi robots to follow and hunt moving targets. Robots are very similar to actual cars considering geometric dimensions, mass and moment of inertia and so on; and outputs of the controller are steering-wheel and driving-wheel torques appropriately. Dynamics of the moving target is so that it escapes from the robots. Robots are equipped with antenna for getting wireless sensory signals, including range and bearing sensors. Kalman filter is used for estimation the target relative position and speed and robots state variables. The controller is designed for doing the above mentioned group...
Agent Base Control of a Robotic Swarm with Sensor Noise Effects
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
The main objective of this project is to investigate modeling for a robotic swarm with suitable sensors and to analyze effect of sensory noise on the control and unity of the swarm. This project is an extension of analytical study done by S. Etemadi, A. Alasty and G. Vossoughi in Sharif University of technology. The flocking frame assumed to have a leader robot that controls over all behavior of the swarm made of agents’ robots with limited equipments and low intelligence that only obey some basic attraction and repulsion laws that will be explained. As an initial step of the analysis, we investigate proper physical model, sensors and navigation systems suitable to the model. Next, the...
Optimal Nonlinear Control of Poly Vinyl Acetate CSTR
, M.Sc. Thesis Sharif University of Technology ; Pishvaie, Mahmoud Reza (Supervisor)
Abstract
Nonlinear nature of polymerization reactors has always attracted great attentions in various scientific areas such as modeling, simulation, dynamical behavior investigation and control engineering as well. Free radical polymerization in continuous reactors, whether in terms of design and startup or in terms of economical concerns, has numerous fans in industrial aspects. In the following thesis, the dynamical behavior of continuous stirred tank reactor of Vinyl Acetate free radical polymerization is examined in an industrial scale. A control system with optimum performance is designed for this CSTR as well. According to the common behavior of this type of reactor, it may demonstrate...
Application of Kalman Filters for Dynamic Control of Beams Subjected to Moving Load and Mass
, M.Sc. Thesis Sharif University of Technology ; Mofid, Masood (Supervisor) ; Eftekhar Azam, Saeed (Supervisor)
Abstract
In this study, for the first time, a comprehensive and online framework for active control of beams subjected to the moving mass is presented. In active control problems, comprehensive knowledge of system states is required to determine the control force, but it is not possible to measure all system states in practice with a limited number of sensors. In this regard, Kalman filters are introduced to control systems to help improve the performance of control systems as observers of system states. However, in the case of beams subjected to the moving mass, due to the moving nature of the passing mass, in addition to system states, it is also important to identify the input load. In previous...
Application of Advance Control Algoritms for Solid Oxide Fuel Cell (Sofc) System
, M.Sc. Thesis Sharif University of Technology ; Pishvaie, Mahmoud Reza (Supervisor)
Abstract
this is one of the most widely used is the weighted residual method. The advantages of this method is likely to reach an appropriate solution is (in this project collocation method for solving systems of differential equations is used). After solving steady-state model with the lowest number of variables come to turn the control measures, including non-linear design of a Kalman Filter incentives that could be the orthogonal modulation system (which requires less computational time and good accuracy) as a representative of the system in the state estimation, optimization and control system used. In the end, offering a range of control methods such as multivariate linear and nonlinear...
Structural Health Monitoring using Bayesian Optimization of the finite element model of structures and Kalman filter
, M.Sc. Thesis Sharif University of Technology ; Bakhshi, Ali (Supervisor)
Abstract
With confidence in the recorded observations, the RLS method no longer estimates the recorded measurements by sensors, i.e. the displacement and speed of the floors, and only estimates the parameters. In contrast, in the EKF method, in addition to estimating the structure's parameters, a more precise estimation of the observations recorded by the sensors has been done by accepting the noise in the recorded observations. These methods, which are based on the Bayesian updating, investigate the two primary sources of uncertainty in a problem: a) measurement noise or observation noise, and b) process noise, which includes modeling errors. In these methodologies, the unknown system parameters,...
Online Health Monitoring of Nonlinear Hysteretic Structures Using System Identification Techniques and Signal Processing Tools
, Ph.D. Dissertation Sharif University of Technology ; Bakhshi, Ali (Supervisor)
Abstract
Adverse social and economic effects of earthquakes have necessitated the emergence and development of efficient methods to assess and monitor the health status of structures. Many of the structural health monitoring algorithms are based on linear models that are not able to provide sufficient dynamic information. Nonlinear models require monitoring of a larger number of structural parameters and provide a much closer to reality model of the structure. Therefore, the use of nonlinear models in the identification process provides more useful information about the safety and serviceability of post-earthquake structures. Also, most of the existing methods are not applicable for online health...
Calibration of Rigid Connected Vision and Inertial Sensors
, M.Sc. Thesis Sharif University of Technology ; Manzuri, Mohammad Taghi (Supervisor)
Abstract
One of the major problems encountered in artificial intelligence is environment interaction. A sensible way for around-interaction is to collect information from sensors and make proper reactions. Generally, in the real world, an intelligent agent needs to know its pose. There are several ways to know the pose of an agent. One of them is based on the fusion of the output of an inertial sensor with the information retrieved from a camera. This leads to enhance the estimation of the pose of an agent. In this research different solutions for this problem are compared. Studies are done with the goal of attitude detection for vehicles and mini-robots, moving on planar surface. For this end, we...
Autonomous Guidance and Navigation of UAVs in 3D Confined Corridors by Combined Optical Flow, Inertial and Ultrasonic Sensor
, M.Sc. Thesis Sharif University of Technology ; Saghafi, Fariborz (Supervisor)
Abstract
Inspection of confined corridors is one of the important and necessary topics in various industries, including mines, oil and gas industries. Human inspection is very time-consuming and expensive due to the difficulty of accessing these environment, and in some corridors, it is not possible to inspect at all. In this thesis, UAV guidance and navigation algorithms have been developed by using informations got from optical flow, inertial and ultrasonic sensors, so that the UAV can fly automatically inside the confined corridor without colliding the boundaries. At first, a model of the space around the corridor, UAV and its subsystems has been proposed so that we can use it to create a...
Mobile Robot Navigation and Localization in the Presence of Hurdles in Cluttered Environment Using Fuzzy Control and Kalman Filter
, M.Sc. Thesis Sharif University of Technology ; Khayyat, Ali Akbar (Supervisor)
Abstract
In this thesis, in order to improve the performance of the mobile robot navigation, a Fuzzy approach is used for making a safe path in the cluttered environment with hurdles in the work space of the robot. To this end, based on data collected from instantaneous location of the robot and location of the robot, heuristic rules are extracted. Also, in order to obtain optimal data fusion of the sensors, Kalman filter is used to localize the robot. In this regards, by using the kinematics of the robot and supposing the white noise in the process and measurements, the position and orientation of the mobile robot are estimated in a real-time and adaptive manner
Simultaneous Navigation and Attitude Determination of a Reentry Head Using Magnetometer, Sun Sensor, Star Tracker, INS and Unscented Kalman Filter
, M.Sc. Thesis Sharif University of Technology ; Salarieh, Hassan (Supervisor)
Abstract
Control and guidance of a vehicle is vital for it to do its mission correctly. Guidance system and decisional algorithms used in it need exact information of instantaneous position, velocity, and attitude of the guided vehicle to determine and issue proper guiding commands.
Estimation algorithms and navigation sensors are two necessary tools for navigation. In the first section of present study, the reentry head equations of motion are derived and a 6-DOF simulation is done for it. In the second section, measurements of sensors will be simulated using results of the first section and existing reference models for sun position vector and earth magnetic field. The third section appertains...
Estimation algorithms and navigation sensors are two necessary tools for navigation. In the first section of present study, the reentry head equations of motion are derived and a 6-DOF simulation is done for it. In the second section, measurements of sensors will be simulated using results of the first section and existing reference models for sun position vector and earth magnetic field. The third section appertains...
High Precision Localization by Optical Flow and INS Sensor data Fusion
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Robot navigation and guidance is an important issue in robotic. Navigation by itself includes localization, path planning and guidance. For having a successful navigation it is necessary to succeed in all of those parts. The localization precision as basic part of localization is important and having more accurate information of robot position is important. Recently, sensors which use optical flow technic and are widely used in optical mouses are so common and they are able to measure displacement with resolution of 3 to 63 micron. In this research, a localization method for micro robot localization based on optical flow and INS sensor data fusion is presented.
Two data fusion method...
Two data fusion method...
Localization and Control of a Magnetic Device in the Presence of an External Field with Application in Stomach Capsule Endoscopy
, M.Sc. Thesis Sharif University of Technology ; Vosoughi, Gholamreza (Supervisor) ; Moradi, Hamed (Supervisor) ; Nejat Pishkenari, Hossein (Co-Supervisor)
Abstract
Capsule endoscopy is a minimally invasive diagnostic technology for gastrointestinal diseases providing images from the human’s digestion system. Developing a robust and real-time localization algorithm to determine the orientation and position of the endoscopic capsule is a crucial step toward medical diagnostics. In this thesis, we propose a novel model-aided real-time localization approach to estimate the position and orientation of a magnetic endoscopic capsule swimming inside the stomach. In the proposed method, the governing equations of the motion of an ellipsoidal capsule inside the fluid, considering different hydrodynamics interactions, are derived. Then, based on the dynamic...
Simultaneous Attitude and Orbit Determination Using Sensor Fusion Algorithm Based on the Dynamic of Satellite and Star Tracker
, M.Sc. Thesis Sharif University of Technology ; Salarieh, Hassan (Supervisor)
Abstract
Control and guidance of a vehicle is vital for it to do its mission correctly. Guidance system and decisional algorithms used in it need exact information of instantaneous position, velocity, and attitude of the guided vehicle to determine and issue proper guiding commands.
Estimation algorithms and navigation sensors are two necessary tools for navigation. In the first section of present study, the satellite equations of motion are derived and a 6-DOF simulation is done for it. In the second section, measurements of star tracker will be simulated using results of the first section. The third section appertains to development of navigation equations, attitude determination using UKF...
Estimation algorithms and navigation sensors are two necessary tools for navigation. In the first section of present study, the satellite equations of motion are derived and a 6-DOF simulation is done for it. In the second section, measurements of star tracker will be simulated using results of the first section. The third section appertains to development of navigation equations, attitude determination using UKF...
Localization of Magnetic Catheter Tip Using an Array of Magnetic Sensors
, M.Sc. Thesis Sharif University of Technology ; Nejat Pishkenari, Hossein (Supervisor)
Abstract
Minimally invasive surgery is highly valued mainly due to the reduction of the patient’s recovery period. Catheters are among the most important tools in minimally invasive surgeries. Catheter is a flexible tool that has the ability to pass through difficult paths. In common localization methods, fluoroscopy is used to determine the position of the catheter’s tip. One main disadvantage of this method is that it is very dangerous for therapists who are exposed to X-ray radiation for long periods of time. A magnetic catheter is created by adding a magnet to the end of the catheter. The possibility of guiding magnetic catheter by an external magnetic field, controlling the applied force and...
Comparison Of Various Models Proposed for Blood Glucose Level Prediction in Patients with Type 1 Diabetes to Obtain Optimal Insulin Injection Scenario
, M.Sc. Thesis Sharif University of Technology ; B. Boozarjomehry, Ramein (Supervisor)
Abstract
Diabetes is one of the most epidemic metabolic disease which needs to be controlled through medications. The main objective of this study is to model and control diabetes type1 with exercise. It is important to choose an appropriate yet simple model based on which the design of the controller is accomplished (Bergman model is the one which is appropriate for this purpose). On the other hand, a comprehensive model which is used as the virtual patient has been chosen to assess the performance of the controller designed based on simple mode. The chosen comprehensive model is Cinar’s model. A good control of diabetes was achieved when the glucose blood (GB) of the two models almost had the same...
Comparative Studies on Performance of Two Variants of Nonlinear Kalman Filters for Controlling a Sofc Unit
, M.Sc. Thesis Sharif University of Technology ; Pishvaie, Mahmoud Reza (Supervisor)
Abstract
In thisstudy, a three-dimensional modelbased onpartial differential equations (PDEs) was used foraplanarsolid oxidefuel cellunit. These PDEs were evaluatedregardingthe equations ofconservation involvingelectric, ionic charge, mass,energy andmomentum equilibriums.To investigate the behavior and strength of the presented model, thestatic and dynamic analyses were considered. The trend of the system against thechanges incurrent density, flow rateand fuelflow ratewere investigated.The PDE of the real model evaluated using the finite element method inCOMSOLsoftware and The PDE of the EstimatorisimplementedinMATLABenvironment by orthogonalcollocation method.Kalman Nonlinearobserverto estimate...
Reservoir Characterization and Parameter Estimation Using Ensemble Kalman Filter
, M.Sc. Thesis Sharif University of Technology ; Pishvaei, Mahmood Reza (Supervisor) ; Bozorgmehri Boozarjmehri, Ramin (Supervisor)
Abstract
Management decisions, enhanced oil recovery, and reservoir development plans in petroleum industries are based on predictions by reservoir simulation. Due to uncertainties in model parameters or engineering assumptions, the simulation results are not accurate, while they are correct. For more accurate estimation of unknown production quantities, it is required to characterize the unknown parameters and its uncertainty. By using static data alone the result of characterization is unreliable and unsure, therefore dynamic data use practically. In reservoir engineering literature, this is called “History Matching”.The ensemble Kalman filter is an optimal recursive data processing algorithm based...