Sharif Digital Repository

Cardiovascular diseases are one of the major causes of mortality in humans. One way to diagnose heart diseases and abnormalities is processing of cardiac signals such as electrocardiogram (ECG) signal. In many ECG analysis, location of peak, onset and offset of ECG waves must be extracted as a preprocessing step. These points are called ECG fiducial points (FPs) and convey clinically useful information. In this paper, we compare some FP extraction methods including three methods proposed recently by our research team. These methods are based on extended Kalman filter (EKF), hidden Markov model (HMM) and switching Kalman filter (SKF). Results are given for ECG signals of QT database. For all... 

In this paper, we propose a novel method for extracting fiducial points (FPs) of the beats in electrocardiogram (ECG) signals using switching Kalman filter (SKF). In this method, according to McSharry's model, ECG waveforms (P-wave, QRS complex and T-wave) are modeled with Gaussian functions and ECG baselines are modeled with first order auto regressive models. In the proposed method, a discrete state variable called “switch” is considered that affects only the observation equations. We denote a mode as a specific observation equation and switch changes between 7 modes and corresponds to different segments of an ECG beat. At each time instant, the probability of each mode is calculated and... 

In this paper, a framework for distributed and decentralized state estimation in high-pressure and long-distance gas transmission networks (GTNs) is proposed. The non-isothermal model of the plant including mass, momentum and energy balance equations are used to simulate the dynamic behavior. Due to several disadvantages of implementing a centralized Kalman filter for large-scale systems, the continuous/discrete form of extended Kalman filter for distributed and decentralized estimation (DDE) has been extended for these systems. Accordingly, the global model is decomposed into several subsystems, called local models. Some heuristic rules are suggested for system decomposition in gas pipeline... 

In this paper, a non-isothermal model of natural gas in pipelines including mass, momentum and energy balance equations are used as model equations for modeling and state estimation in gas pipeline systems. It is shown that differential equations describing the dynamic behavior of a high-pressure and long-distance gas transmission network (GTN) can be solved efficiently using the orthogonal collocation method. The issues corresponding to the presence of discontinuities in the dynamic model is substantially discussed and studied. The non-isothermal model of a GTN can experience discontinuities during transient operations, which causes challenges in simulation and state estimation in this... 

To achieve an exact three-dimensional command to line of sight (CLOS) guidance law, a novel control scheme comprising feed-forward terms (to exactly compensate known kinematics) accompanied by an adaptive nested saturated feedback strategy is presented. A square-root cubature Kalman filter is designed as the CLOS non-linear guidance filter. Performance of the proposed guidance law is compared with the augmented proportional navigation (APN), at the absence and presence of target maneuvers, autopilot dynamics and non-ideal tracking filter. Simulation results demonstrate the satisfactory performance of proposed strategy. © 2018 Concern CSRI Elektropribor, JSC  

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... 

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... 

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... 

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... 

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... 

Motion capture is a process that movements of living organisms like human or objects are captured and the results are processed for the desired applications. These applications are in rehabilitation, sports, film industry and etc. There are many techniques and instruments for motion capture that optical camera systems are the most accurate ones. But these cameras are high cost and limited to labs. Some sensors like Inertial Measurement Units (IMU) and recently, Kinect cameras have been considered by many researchers because these are low cost and easy to use. But problems like bias, accumulated error and occlusion make them look for improvements. Fusion algorithms are one of the best methods... 

Motion capture is a process that movements of living organisms like human or objects are captured and the results are processed for the desired applications. These applications are in rehabilitation, sports, film industry and etc. There are many techniques and instruments for motion capture that optical camera systems are the most accurate ones. But these cameras are high cost and limited to labs. Some sensors like Inertial Measurement Units (IMU) and recently, Kinect cameras have been considered by many researchers because these are low cost and easy to use. But problems like bias, accumulated error and occlusion make them look for improvements. Fusion algorithms are one of the best methods... 

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...