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Cyber-Physical technologies in freight operations and sustainability: A case study of smart GPS technology in trucking
, Article Sustainable Cities and Society ; Volume 55 , 2020 ; Baroud, H ; Abkowitz, M ; Sharif University of Technology
Elsevier Ltd
2020
Abstract
With the growing rate of urbanization, freight transportation systems have become critical in supporting economic and social needs in the United States. In order to achieve efficient and effective operations, freight transportation systems are recognizing the value of using Cyber-Physical (CP) technologies. This research provides a scenario-based assessment of CP technology penetration to improve sustainability in freight transportation systems with a focus on the use of smart GPS technologies by the trucking industry in Tennessee. Based on the case study, CP technologies can result in significant benefits to the economy, environment, and society. A cost-benefit analysis shows that benefits...
Development of Integrated Navigation Algorithm Based on the Integration of INS, GPS, Altimeter Using Particle Filters
, M.Sc. Thesis Sharif University of Technology ; Salarieh, Hassan (Supervisor) ; Alasti, Aria (Supervisor)
Abstract
Over the past years, several approaches have been used for navigation. Along with the advancement of technology, complicated navigation systems such as inertial navigation system and global positioning system have been employed. These navigation systems have their own strengths and weaknesses. To improve overall system performance they are integrated together as one system.
Presented research aims at developing the integrated navigation system through particle filters. In this study, after a brief overview of the data integration techniques, several techniques which are more common and have better performance than others are examined. This contribution concentrates on filtering methods...
Presented research aims at developing the integrated navigation system through particle filters. In this study, after a brief overview of the data integration techniques, several techniques which are more common and have better performance than others are examined. This contribution concentrates on filtering methods...
A Realistic Urban Mobility Model for Mobile Ad Hoc Network
, M.Sc. Thesis Sharif University of Technology ; Manzuri, Mohammad Taghi (Supervisor)
Abstract
A Mobile Ad hoc NETwork (MANET) is a set of wireless mobile nodes that form a self configured network. MANETs do not have infrastructure and are not currently deployed on large scales. So research in this area is simulation based. Mobility model in a mobile ad hoc network explains the movement pattern of mobile users and is designed to describe the change of their location, velocity and acceleration over time. One of the challenges in this field is the definition of a common mobility model that provides an accurate and realistic movement description of mobile nodes. In this thesis we want to study the mobility pattern of vehicles on Kish Island and compare it with different kinds of...
Design of Multi Frequency, Multi Constellation GNSS Receiver
, M.Sc. Thesis Sharif University of Technology ; Behnia, Fereidoon (Supervisor)
Abstract
With the advent of new global navigation satellite systems and the technical progress of GPS, some valuable advantages can be achieved by using a combination of data from different constellations. There are some inter system biases between two separate constellation. One has to consider these biases in order to earn better accuracy in a multi constellation receiver. One of the main sources of the error in the position estimation is the random delay of the signal in the ionosphere layer. Recently GPS has released its dual frequency feature on civilian users. Using this feature, receiver will be able to estimate ionospheric delay due to its frequency dependence. The non-line-of-sight path of...
Design of an Advanced Positioning Radio Receiver
, M.Sc. Thesis Sharif University of Technology ; Fotowwat Ahmady, Ali (Supervisor)
Abstract
Global Positioning System (GPS) is one of the most widely-used systems nowadays. GPS receivers are frequently integrated along with other communication systems in hand-held devices like cellular phones, tablets and etc. Therefore, implementing receivers with low power consumption (for longer battery lives) and high sensitivity (in order to detect the weak GPS signal) has attracted the attention of many researchers. With the purpose of designing such a low-power and sensitive receiver, we have studied the recently proposed low-power schemes. We have proposed a new architecture for the QLMV Cell; the circuit in which main blocks associated with RF front-end are stacked on top of each other in...
Estimation of Origin-Destination Trip Matrix Using Spatio-Temporal Data of Cell Phone Networks Collected based on the PLU method
, M.Sc. Thesis Sharif University of Technology ; Shafahi, Yousef (Supervisor)
Abstract
Origin-destination (OD) matrix is one of the most important sources of information used in planning and management of transportation networks. Estimation of a precise OD matrix is a fundamental component for enabling the administrative authorities to optimize the use of their transportation network. Traditionally, urban planners use direct approaches including household questionnaires to estimate OD matrices. These methods are time-consuming and costly. Strategies that are more recent like Bluetooth, Wi-Fi, and RFID scanners and detectors include deficient precision and the additional cost of accessories. Exploiting GPS technology in spite of its high locating accuracy, due to user...
Accuracy improvement of GPS/INS navigation system using extended kalman filter
, Article 6th International Conference on Control, Instrumentation and Automation, ICCIA 2019, 30 October 2019 through 31 October 2019 ; 2019 ; 9781728158150 (ISBN) ; Haeri, M ; Iranian Society of Instrumentation and Control Engineers; Smart/Micro Grids Research Center; University of Kurdistan ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2019
Abstract
Inertial navigation is a method for determining position and orientation of a vehicle, which operates according to Newton's laws of motion. Due to continual increase of output error because of measurement noise, bias, misalignment and so on, one may need one or more additional navigation systems to improve accuracy in long-Term navigation. In this paper, the error compensation based on GPS/INS data fusion algorithm is studied. Then, by designing a DSP processor-based hardware, GPS and INS data are recorded and GPS/INS data fusion algorithm is implemented. Results indicate that the accuracy of the positioning is improved and position, velocity, and orientation errors are confined to a limited...
Heading angle Observability Enhancement in Visual Inertial Navigation via addition of Magnetometer for GPS Denied Environment
, M.Sc. Thesis Sharif University of Technology ; Pourtakdoust, Hossein (Supervisor)
Abstract
In this thesis, a method is presented for improving the observability of the heading angle in a UAV when using the Visual-Inertial navigation algorithm MSCKF by adding a magnetometer sensor. The proposed algorithm serves as a complementary extension to the primary algorithm, and efforts have been made to seamlessly integrate the magnetometer sensor into the primary algorithm to allow for easy modifications to the sensor's characteristics and to observe the resulting output in system simulations. Improving the observability of the heading angle will lead to an enhancement in the overall system state estimation. To achieve this, a new update stage is added to the existing algorithm....
Identification of the equivalent linear dynamics and controller design for an unmanned underwater vehicle
, Article Ocean Engineering ; Volume 139 , 2017 , Pages 152-168 ; 00298018 (ISSN) ; Seif, M. S ; Khodaei, M. J ; Rezaie, M ; Sharif University of Technology
Elsevier Ltd
2017
Abstract
This paper investigates the applicability of frequency-domain system identification technique to achieve the equivalent linear dynamics of an autonomous underwater vehicle for control design purposes. Frequency response analysis is performed on the nonlinear and coupled dynamics of the vehicle, utilizing the CIFER® software to extract a reduced-order model in the form of equivalent transfer functions. Advanced features such as chirp-z transform, composite window optimization, and conditioning are employed to achieve high quality and accurate frequency responses. A particular frequency-sweep input is implemented to the nonlinear simulation model to achieve pole-zero transfer functions for yaw...
Comparison of nonlinear filtering techniques for inertial sensors error identification in INS/GPS integration
, Article Scientia Iranica ; Volume 25, Issue 3B , 2018 , Pages 1281-1295 ; 10263098 (ISSN) ; Salarieh, H ; Alasty, A ; Abediny, M ; Sharif University of Technology
Sharif University of Technology
2018
Abstract
Nonlinear filtering techniques are used to fuse the Global Positioning System (GPS) with Inertial Navigation System (INS) to provide a robust and reliable navigation system with a performance superior to that of either INS or GPS alone. Prominent nonlinear estimators in this field are Kalman Filters (KF) and Particle Filters (PF). The main objective of this research is the comparative study of the well-established filtering methods of EKF, UKF, and PF based on EKF and UKF in an INS-GPS integrated navigation system. Different features of INS-GPS integrated navigation methods in the state estimation, bias estimation, and bias/scale factor estimation are investigated using these four filtering...