Sharif Digital Repository

In this thesis, first the fundamental theory of stochastic fractional systems has been introduced and the basic of this theorem in control system consisting the controllability and stability has been introduced. It is shown that these basics are playing enormous role in define and understanding such system. Also, Linear Quadratic Regulators has been introduced and appropriate steps to define such controller in the systems. Simulation results shows the effectiveness of the proposed method. On the other hand, the problem of filtering and estimation has been presented with two different method. The first method is to use the idea of optimality and Kalman filter as optimal filter and the second... 

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... 

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,... 

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... 

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... 

This paper presents a novel method for satellite attitude determination, using Electrostatically Suspended gyroscope (ESG). In this method, two superconducting rings rotated around a spherical rotor, which causes a variable flux in rings. So according to faraday’s law of induction, a voltage will be induced in the rings. Using this voltage and a kalman filter, attitude of satellite will be determined. ESG works precisely, when the rotor is maintain at the center of gyroscope cavity, between three pairs of circular electrode, so a backstepping control algorithm will be designed In order to this purpose. The performance of attitude determination using this ESG and designed control algorithm is... 

In the navigation surgery, the real time tracking of surgeon tools and patient body are done in order to measure the precise information about the relative position of instruments, tissues and organs during surgery. Optical tracking is the most common system in the real time navigation surgery. The most important problem of the optical tracker is shadowing that obstacle between a marker and camera causes the data loose. It is obvious that in precise and sensitive surgery such as brain and neural surgery, losing the data of surgeon tool may cause irrecoverable injury for patient.The main goal of this study is design and implementation of new model for navigation surgery.We hope to... 

Global climate change and anthropogenic impacts lead to alterations in the water cycle, water resource availability and the frequency and intensity of floods and droughts. As a result, developing effective techniques such as hydrological modeling is essential to monitor and predict water storage changes. However, inaccuracies and uncertainties in different aspects of modeling, due to simplification of meteorological physical processes, data limitations and inaccurate climate forcing data limit the reliability of hydrological models. Assimilation of new observations constrains the dynamics of the model based on uncertainties associated with model and data, which can introduce missing water... 

In this study, the cooperative inertial navigation systems are used to prevent the error growth of the inertial navigation system in unmanned aerial vehicles that fly in group. Here, the navigation problem is defined for a group of unmanned vehicles, flying with full six degrees of freedom and the objective is to estimate the navigation information of all cooperators. Due to the nonlinear equations, the decentralized extended Kalman filter is used to estimate the states of the system. This means that there is a Kalman filter in each vehicle. The inputs of this filter are the range and the bearing angles between the vehicle and the cooperators, the estimated position of the cooperators and... 

Autonomous underwater vehicle are among the subsurface vehicles used today in applications such as ocean floor mapping, environmental studies, finding the wreckage of drowned vehicles, and military applications such as finding mines. The need for control over the navigation components and the importance of the precise position of the mission have made AUV navigation an important issue in these vehicles. Due to the attenuation of the GPS signal underwater, it is not possible to use this method for subsurface navigation. Therefore, inertial navigation (dead reckoning navigation) is usually used for this purpose. Due to the unlimited growth of inertial sensor error over time, this error must be... 

Increasing needs for wireless positioning systems, especially in modern wireless networks, have emerged new trends in research on local positioning systems and algorithms. In this dissertation, several geometric arrangement of positioning systems, different types of wireless measurements used for positioning, and estimation of desirable coordinate parameters based on them are investigated. The set of constrained linearized equations, by introducing intermediate variables are developed and compared with Cramer-Rao bounds. Performance bounds of ToA, TDoA and round-trip ToA systems are obtained and their sensitivity to the location changes of the target and reference stations is examined... 

Recognition of hand movements plays a key role in both human computer interaction and rehabilitation activities. This thesis focuses on hand pose estimation and motion tracking through a model-based stereo vision-based system. To allow for a complete 3D motion, initially a simple hand model with 20 landmark points was constructed and used to track its motion through a sequence of stereo images. Furthermore, a skeletal model representing the kinematical features of the hand was utilized to provide a meaningful hand motion and gesticulation. To evaluate and eventually recognize the performed hand motion, Kalman filter and Kalman smoother algorithms were implemented to evaluate the efficacy and... 

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... 

The current study introduces algorithms for inertial motion capture which use data from 9-DOF inertial-magnetic sensor modules to estimate the position and attitude of body links. First, an algorithm is proposed which is capable of IMU calibration without the use of external equipment with less than 0.5% error. Next, extended and unscented Kalman filter-based (EKF and UKF) inertial motion capturing algorithms are introduced that utilize biomechanical constraints in addition to kinematics. In addition to real-time sensor calibration, the algorithms are capable of real-time link geometry estimation, which allows for the imposition of biomechanical constraints without a priori knowledge... 

There are several methods for EEG state detection, and there are still many challenges. Switching Kalman Filter (SKF) is a suitable approach for state detection, which has been used in various applications such as QRS detection in ECG signal, apnea detection using ECG signal, and also hand path detection using EEG signal. Our goal here is to use Switching Kalman Filter (SKF) in order to detect changes in EEG signal, and in particular in sleep. In other words, we want to detect Sleep Stages. Here, detecting Sleep Stages will help doctors diagnose and treat diseases. There is a Kalman Model for each Stages of Sleep in SKF, that I model it with a AR model. In addition, SKF switch is a state... 

This dissertation presents a comprehensive probabilistic framework based on system identification for rapid seismic damage assessment of buildings at regional scale. Given the large number of buildings within a region and the need for rapid damage detection, this research uses simplified models with low computational cost to model each building. For this purpose, stochastic filters are employed as system identification tools. In the first step, a continuous linear model consisting of a Timoshenko beam in combination with the extended Kalman filter is utilized. This model is subjected to joint state-parameter identification under both fixed- and flexible-base conditions. Additionally, the... 

Speech enhancement in noisy environments improves the quality and intelligibility of speech and reduces communication fatigue. High performance speech enhancement models are based on Bayesian estimation models, requiring estimations of the parameters of the functions that describe the likelihood and the prior distributions of the signal and noise processes. Two Bayesian speech enhancement models which are used in this thesis are Bayesian-Kalman filter and Bayesian MAP estimation.In real time applications including VoIP, in addition to additive noise, packet loss or packet delays might also occur. In real time communications the receiver terminal replaces silence for the duration of lost... 

In this research, INS error will be corrected with the help of the unscented kalman filter, by combining the IMU sensors and flight consecutive images information. Measurement equation of the Kalman filter is the epipolar Constraint of geometry of two consecutive images of the camera. In epipolar Constraint, the common points of two consecutive images of the camera field of view have an important role. This points will be extracted by SIFT and SURF algorithms. These algorithms have many mistakes in the process of images matching, but in this research, a solution based on the error covariance of the position of the ground point corresponding to the two common points of two images is presented... 

In this paper, an approach is proposed to estimate the location of the leaks in oil pipelines. The pipeline possesses a system of Partial Differential Equations (PDE). First, a closed-form solution is applied to the pipeline equations and the leakage location is found solving the steady-state equations. To tackle the case where the pressure and flowrate do not reach constant values, the initial estimations are provided by the closed-form solution. Then, the pressures, flow rates, and leakage coefficient are estimated by solving the system of differential equations. This system is then discretized with respect to the location variable to yield the system state equations which, in turn, are... 

One of the main challenges in managing flow batteries usage is estimating their state of charge. Since The concentration of ions in the battery indicates the battery's charge and, on the other hand, the sensors for measuring the concentration are expensive, observers should be used to estimate the concentrations of the ions in the battery. This work is done by measuring the cell voltage, and finally, using the mathematical model of the battery, the amount of concentrations and state of charge is calculated. In this work, a vanadium flow battery was initially modeled accurately and mechanistically using COMSOL software to replace an actual flow battery in subsequent studies. Also, two...