Sharif Digital Repository

Legged walking and climbing robots have recently achieved important results and developments, but they still need further improvements and study. The spider modeled as an eight-legged system. Legged robots have a body and a number of articulated legs which originate from the body and are put on the ground to hold robot’s weight or are swinging in the air to their new position. Each leg as a kinematic chain can be viewed as a manipulator that acts like a limb and contributes to the overall position and equilibrium of the structure. In order to evaluate and create an effective legged robot, the idea is to draw inspiration from nature. Spider robots present very good performances in terms of... 

One of the most interesting and at the same time the newest methods to launch a satellite into space is Air Launch or Launch throw the mother aircraft. The placement of the satellite into space by a rocket in specific altitude and speed is separated from the mother aircraft, takes place. The most problems in multi stage rocket launching is trajectory optimization to reaching the maximum height. The survey was conducted using classical optimization methods, which is derived the equations for the gradient based on the calculus of variations. that can be used or modified for emissions control wings and changing the direction of thrust exhaust. It should be noted that in the model of rigid body... 

Passive source localization accounts for the identification of the position and velocity of an object that emits electromagnetic/sound waves. This concept suggests various civil and military applications such as localization of the cellular phone users for emergency services, navigation, localizing radar and sonar sources. Received Signal Strength (RSS), Time of Arrival (TOA), Time Difference of Arrival (TDOA) and Frequency Difference of Arrival (FDOA) of the emitted signals are commonly used for position finding. Among all these measurement methods, localization using TDOA and FDOA is highly accurate and needless of any time synchronization between the source and the sensors. Common methods... 

In this thesis, coupled trajectory and attitude control of an exoatmospheric interceptor is investigated. The interceptor is considered to track and intercept orbital targets in its terminal phase using an infrared strapdown seeker. Attitude control system uses its thrusters in order to keep permanently the detector toward the target in both elevation and azimuth directions. Detector is attached to the body. Divert thrusters generate acceleration perpendicular to the longitudinal axis of the interceptor to correct the trajectory. It is assumed that the interceptor has mass asymmetries. Transltional and rotational dynamics are coupled. Therefore, in order to improve the performance of... 

An optimal trajectory for flight through Microburst wind shears is designed which minimizes the maximum deviation from desired trajectory With respect to optimal control methods. The suitable performance of airplane retrieval in abort landing and landing phases at microburst encounter is achieved by influence of mentioned design in worse case of wind fluctuation and variation. 3D Vicroy microburst model is selected to investigate its effects on 6 DOF jet engine aircraft EOMs. Above optimal control problem is solved using gradient method of SD . Furthermore, sensitivity of optimal trajectory to lateral and longitudinal location of microburst, microburst parameters, throttle setting and... 

In this project, modeling and control of grasping phase of flight is investigated inspired by birds’ aerial hunting. For this purpose, grasping mechanism and its challenges in flight is studied. In the following, an explanation about gripper, its design and its performance in flight is given. Both 1-DOF and 2-DOF gripper is modeled. Then, the simulation is evaluated during different test cases. After modeling, optimum trajectory for an air-vehicle in grasping phase is studied and analyzed. When using a 2-DOF gripper instead of a 1-DOF gripper, the vehicle is capable of grasping in different positions and attitudes. Therefore, the results of trajectory generation show more chances of grasping... 

Toll Pricing as a means to relieve traffic congestion has received significant attention by transportation planners recently. Inappropriate use of transportation networks is one of the major reasons that cause congestion in networks. Toll Pricing is a method of traffic management which guides the traffic flow to proper time and path in order to reduce the total delay in networks. This thesis investigates a method for solving Minimum Toll Revenue problem in real and large scale transportation networks. The objective of this problem is to find tolls that simultaneously cause users to use the transportation network effectively and minimize the total toll revenues that must be collected.... 

Cesium-137 is one of the more important radionuclides in the environment because it is relatively abundant, it has a moderately long half-life (~30 y), its decay produces highly penetrating gamma radiation in addition to beta particles, and its biogeochemical properties allow it to move readily through food chains. It is a radioactive isotope of cesium which is formed as one of the more common fission product by the nuclear fission of uranium-235 and other fissionable isotopes in nuclear reactors and nuclear weapons.
In this reseach a model is introduced that could simulate a nuclear accident, its distribution into air, deposition into soil and absorption by plant. Nuclear accident and... 

Low Back Pain (LBP) is one of the most common diseases in the world that according to the statistics 80% of people experience it at least once in their lifetime and a lot of money is spent for its therapy. Finding some methods for prediction and diagnosis of people with LBP from people without LBP helps to reduce these expenses. One of the most effective methods for diagnosing this problem, is the modeling and simulation of its skelomuscular system. However, because of the complications in modeling, simulation and neural control of human spine, it’s not been studied comprehensively. On the other hand, most of the numerical methods are based on optimization and approximation of muscle... 

The purpose of this project is investigating the effect of cross flow and electric field on a liquid simple-jet experimentally. In this research the effect of parameters such as liquid to air momentum ratio, electric field on jet trajectory, penetration and the lenght of breakup point with respect to the jet outlet were studied. The air was produced by a blower in a duct with square test section of 8 cm sides. The air velocity varied from 1 m/s to 11 m/s. Liquid ethanol was injected into the duct with a needle with outer diameter of 0/62 mm and inner diameter of 0.4 mm and 28 mm length. The velocity of jet was 0/62 m/s while the change of liquid to air momentum ratio was from 3 to 260 The... 

In this thesis, black-box identification, designing and implementing an iterative learning controller for the quadcopter was performed. Initially, the open-loop quadcopter system is unstable, so for black-box identification, a controller must first be implemented to stabilize it, but since no model is available from the system, the controlling parameters of the stabilizer through a proportional-integral and a proportional controller are executed as trial and error. To identify the roll and pitch models, the quadcopter is carried out using a radio controller and the measurements are saved during flight. Different models and methods are used to black-box identification, and finally the best... 

The only problem in aviation and airport development is the noise print on population groups surrounding airports due to its high frequency it is so annoying for human ear. In order to overcome this problem technology has reached its edge and the only alternative is to deviate terminal flight path.In this thesis I tried find a pattern for optimizing terminal flight path considering a Boeing 737-800 taking off from Mehrabad airport’s runway 29. To do this we were in need of a huge database of airplane low speed model, geographic information and population knowledge.The common approaches used by FAA and other international organizations for modeling low speed flight were used. The influence of... 

In the present work, trajectory optimization of the Dual-Arm Cam-Lock robot considering kinematic and dynamic redundancy is performed. First, the optimal control problem is solved only considering kinematic redundancy and then is solved considering dynamic redundancy. General form of the dynamic model for the system is developed using Lagrangian relations. Global optimization method is used for redundancy resolution problem. A performance index is defined based on the consumed kinetic energy and is minimized through a desired trajectory using the global optimization method. Formulations of optimal control problem are derived and initial boundary problem is changed to two point boundary value... 

The problem of launching a satellite to low earth orbit has been considered. Preliminary concepts such as satellite orbits, launcher missiles and their equations of motion, and traditional methods for guidance of launchers are reviewed first. Then a new method for optimizing the launch trajectory under non-ideal conditions is introduced in which the solution of a known ideal trajectory optimization problem is used as an initial guess for the actual optimization problem. Several methods for guiding a launcher to place a satellite in Earth orbit are presented next; they have been titled as (1) launch path re-computation outside the atmosphere, (2) prediction error minimization, and (3) output... 

New electric Unmanned Aerial Vehicles (UAV) has unconventional methods for design and performance analyzing. Using the electric power sources and reduce power with time, cause to confusion about operating this type of planes, so new optimization methods are generated. This methods, can used for some part of flight and special problems and involve some assumptions. One of these new methods is using Singular Perturbation theory for prediction optimal path trajectory of Aerial Vehicles. In this research, we solve the optimal climb trajectory for an electric UAV in rested (no wind) atmosphere. Solution of this problem, involve some parameters such as velocity, altitude and flight path angle with...