Sharif Digital Repository

The control of a brachiation robot has been the primary objective of this study. A brachiating robot is a type of a mobile arm that is capable of moving from branch to branch similar to a long-armed ape. In this paper, to minimize the actuator work, Pontryagin's minimum principle was used to obtain the optimal trajectories for two different problems. The first problem considers “brachiation between fixed branches with different distance and height,” whereas the second problem deals with the “brachiating and catching of a moving target branch”. Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the “target dynamics” method which was... 

This paper presents two effective methods to reduce power consumption of branch target buffer (BTB): 1) the first method is based on storing distance to next branch address in tag array instead of storing whole branch address, 2) the second method is to use a new field in data array of BTB namely Next Branch Distance (NBD) which holds distance of next branch address from current branch address. When a new hit is performed in BTB, based on NBD field, there would be no access through NBD number of instructions, so BTB can be shutdown not to consume power. The new architecture does not impose extra delay and reduction in prediction accuracy. Both methods were implemented and simulated using... 

A novel magnetic nanocarrier with long spacer length and high colloidal stability has been prepared for effective delivery of doxorubicin (DOX). First, poly(amidoamine) (PAMAM) dendrimer was grown up onto the surface of superparamagnetic iron oxide nanoparticles to increase the loading amount of amine groups. Then, terminal amine groups were functionalized by polyethylene glycol dimethylester to increase the spacer length. Then anticancer drug DOX was covalently attached onto the system by hydrazone bond to forms a pH-sensitive nanocarrier. This system is designed to combine the advantage of magnetic targeting, high drug loading capacity, and controlled release  

Various researchers have contributed to the identification of the mass and stiffness matrices of two dimensional (2-D) shear building structural models for a given set of vibratory frequencies. The suggested methods are based on the specific characteristics of the Jacobi matrices, i.e., symmetric, tri-diagonal and semi-positive definite matrices. However, in case of three dimensional (3-D) structural models, those methods are no longer applicable, since their stiffness matrices are not tri-diagonal. In this paper the inverse problem for a special class of vibratory structural systems, i.e., 3-D shear building models, is investigated. A practical algorithm is proposed for solving the inverse... 

Operation of two different optical fiber sensor designs for distance measurements with a good sensitivity, resolution, and wide dynamic range is reported. Design is based on the intensity modulation due to reflectance measurement from a target surface. Two reported designs are fabricated with a triple-fiber assembly, in which one uses a double-transmitter, while another one uses a double-receiver fiber design. Reflection signals from different targets are tested with these sensors and results for the mirror and A4 paper surfaces are described. The response curve for both experiments starts from a near zero level, shows a maximum at a certain distance and gradually drops to the background... 

The Gaussian mixture probability hypothesis density (GM-PHD) filter is a closed form approximation of the multi-target Bayes filter which can overcome most multitarget tracking problems. Limited field of view, decreasing cost of cameras, and advances of using multi-camera induce us to use large-scale camera networks. In this paper, a multihuman tracking framework using the PHD filter in a distributed camera network is proposed. Each camera tracks objects locally with PHD filter and a track-after-detect scheme and its estimates of targets are sent to neighboring nodes. Then each camera fuses its local estimates with it's neighbors. The proposed method is evaluated on the public PETS2009... 

Crohn's disease and celiac disease belong to a group of autoimmune conditions that affect the digestive system, specifically the small intestine. They both attack the digestive tract and share many symptoms. Thus, the discovery of proper methods would be a major step toward differentiating celiac disease from Crohn's disease. The aim of this study was to search for the metabolic biomarkers to differentiate between these two diseases. Proton nuclear magnetic resonance spectroscopy (1H NMR) was employed as the metabolic profiling method to look for serum metabolites that differentiate between celiac disease and Crohn's disease. Classification of celiac disease and Crohn's disease was done... 

Propagation of a chirped laser pulse with a circular polarization through an uprising plasma density profile is studied by using 1D-3V particle-in-cell simulation. The laser penetration depth is increased in an overdense plasma compared to an unchirped pulse. The induced transparency due to the laser frequency chirp results in an enhanced heating of hot electrons as well as increased maximum longitudinal electrostatic field at the back side of the solid target, which is very essential in target normal sheath acceleration regime of proton acceleration. For an applied chirp parameter between 0.008 and 0.01, the maximum amount of the electrostatic field is improved by a factor of 2.... 

Interaction of a linearly polarized Gaussian laser pulse (at relativistic intensity of 2.0 × 1020 Wcm-2) with a multi-layer foam (as a near critical density target) attached to a solid layer is investigated by using two-dimensional particle-in-cell simulation. It is found that electrons with longitudinal momentum exceeding the free electrons limit of m e ca 0 2/2 so-called super-hot electrons can be produced when the direct laser acceleration regime is fulfilled and benefited from self-focusing inside of the subcritical plasma. These electrons penetrate easily through the target and can enhance greatly the sheath field at the rear, resulting in a significant increase in the maximum energy of... 

Using a second receiver antenna close to the main transceiver antenna of inverse synthetic aperture radar (ISAR), it is possible to find 3-D positions of target scattering points. Such system is called bistatic, monopulse, or interferometric ISAR (InISAR). In the conventional model of ISAR, the unknown flying object should have a linear trajectory, and only small deviations from this trajectory can be compensated. Target motions which are highly nonlinear or curvy cannot be used in the conventional model. In this paper, we propose a new model for InISAR to process all collected data from the target, regardless of the form of the flight path. More accuracy is achieved for 3-D positioning of... 

Purpose: The accuracy of pedicle screw placement during image-guided spine surgery (IGSS) can be characterized by estimating the target registration error (TRE). The major factors that influence TRE were identified, minimized, and verified with in vitro experiments. Materials and methods: Computed-tomography- compatible markers are placed over anatomical landmarks of lumbar vertebral segments in locations that are feasible and routinely used in surgical procedures. TRE was determined directly for markers placed on the pedicles of vertebra segments. First, optimum selections of landmarks are proposed for different landmarks according to the minimum achievable TRE values in different... 

High resolution range profile (HRRP) is being known as one of the most powerful tools for radar target recognition. The main problem with range profile for radar target recognition is its sensitivity to aspect angle. To overcome this problem, consecutive samples of HRRP were assumed to be identically independently distributed (IID) in small frames of aspect angles in most of the related works. Here, considering the physical circumstances of maneuver of an aerial target, we have proposed dynamic system which models the short dependency between consecutive samples of HRRP in segments of the whole HRRP sequence. Dynamic system (DS) is used to model the sequence of PCA (principal component... 

Surface-modified magnetite (Fe3O4) nanoparticles with an average size of 22 nm were prepared. The nanoparticles had a saturation magnetization of 50.7 emu g-1. Then magnetite and drug-loaded microspheres of poly (lactic acid)/poly (ethylene glycol) were prepared at various compositions. The microspheres were spherical in shape and had smooth surface. The diameter size of the microspheres ranged between about 0.2 and 4 μm. Doxorubicin hydrochloride for cancer treatment was the drug that loaded into the microspheres. The prepared microspheres were characterized by FTIR, XRD, VSM, SEM and drug-release measurements. It was found that the drug cumulative release percentage was proportional to... 

We consider the problem of walking in an unknown street, starting from a point s, to reach a target t by a robot which has a minimal sensing capability. The goal is to decrease the traversed path as short as possible. The robot cannot infer any geometric properties of the environment such as coordinates, angles or distances. The robot is equipped with a sensor that can only detect the discontinuities in the depth information (gaps) and can locate the target point as soon as it enters in its visibility region. In addition, a pebble as an identifiable point is available to the robot to mark some position of the street. We offer a data structure similar to Gap Navigation Tree to maintain the... 

In the Touring Polygons Problem (TPP) there is a start point s, a sequence of simple polygons P = (P1,...,Pk) and a target point t in the plane. The goal is to obtain a path of minimum possible length that starts from s, visits in order each of the polygons in P and ends at t. This problem has a polynomial time algorithm when the polygons in P are convex and is NP-hard in general case. But, it has been open whether the problem is NP-hard when the polygons are pairwise disjoint. In this paper, we prove that TPP is also NP-hard when the polygons are pairwise disjoint in any Lp norm even if each polygon consists of at most two line segments. This result solves an open problem from STOC '03 and... 

A multiple input multiple output (MIMO) radar system, unlike a conventional phased array radar, can choose freely the signals which transmitted via its antennas to maximize the power around the locations of the specific targets, or more generally to approximate a given transmit beampattern, and also to minimize the cross-correlation of the signals reflected back to the radar by the targets of interest. In this paper we use of phase-coded signals and show how the above desirable features of MIMO radars with some operational consideration can help us to have a desire beampattern. We suppose that for a collection of phase-coded signals, the elements of transmitted signals cross-correlation... 

The probability hypothesis density (PHD) filter has been recently introduced by Mahler as a relief for the intractable computation of the optimal Bayesian multi-target filtering. It propagates the posterior intensity of the random finite set (RFS) of targets in time. Despite serving as a powerful decluttering algorithm, PHD filter still has the problem of large variance of the estimated expected number of targets. The cardinalized PHD (CPHD) filter overcomes this problem through jointly propagating the posterior intensity and the posterior cardinality distribution. Unfortunately, the particle filter implementation of the CPHD filter suffers from lack of an efficient method for boosting its... 

Recently, Random finite set theory has attracted researchers' interest in the field of multitarget tracking time varying number of targets. Its main drawback is it is not essentially formulated for nonthresholded measurements. This paper examines the problem of multitarget tracking with time varying number of targets dealing with raw and nonthresholded measurements. Recursive equations for updating the joint multi target state posterior density are approximated by a new enhanced particle filter that includes effective strategies to tackle the challenges of effective track initialization and deletion with limited resources, as well as doing the data association step implicitly. Simulations... 

The main focus of this paper is on the estimation of target motion parameters using bearing measurements. Here, based on a linearization of measurements, a recursive least squares (RLS) solution is developed. The performance of the proposed method is compared to PLE which uses the same approach in measurement linearization. Simulation results show the excellence of the proposed method over the PLE, and RLS results are in vicinity of the CRLB  

The control of a brachiation robot has been the primary objective of this study. A brachiating robot is a type of a mobile arm that is capable of moving from branch to branch similar to a long-armed ape. In this paper, to minimize the actuator work, Pontryagin's minimum principle was used to obtain the optimal trajectories for two different problems. The first problem considers brachiation between fixed branches with different distance and height, whereas the second problem deals with the brachiating and catching of a moving target branch. Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the target dynamics method which was proposed...