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    System identification and robust attitude control of an unmanned helicopter using novel low-cost flight control system

    , Article Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering ; Volume 234, Issue 5 , 27 August , 2020 , Pages 634-645 Khalesi, M. H ; Salarieh, H ; Saadat Foumani, M ; Sharif University of Technology
    SAGE Publications Ltd  2020
    Abstract
    In recent years, unmanned aerial systems have attracted great attention due to the electronic systems technology advancements. Among these vehicles, unmanned helicopters are more important because of their special abilities and superior performance. The complex nonlinear dynamic system (caused by main rotor flapping dynamics coupled with the rigid body rotational motion) and considerable effects of ambient disturbance make their utilization hard in actual missions. Attitude dynamics have the main role in helicopter stabilization, so implementing proper control system for attitude is an important issue for unmanned helicopter hovering and trajectory tracking performance. Besides this,... 

    Dynamic modeling, control system design and MIL–HIL tests of an unmanned rotorcraft using novel low-cost flight control system

    , Article Iranian Journal of Science and Technology - Transactions of Mechanical Engineering ; Volume 44, Issue 3 , 28 March , 2020 , Pages 707-726 Khalesi, M. H ; Salarieh, H ; Saadat Foumani, M ; Sharif University of Technology
    Springer  2020
    Abstract
    Unmanned helicopters have gained great importance during recent years due to their special abilities such as hover flight, vertical take-off and landing, maneuverability and superior agility. The advances in electronic devices technologies lead to more powerful and lighter processors to be used in avionic systems which have attracted more attention to these UAVs. The first steps of utilizing an unmanned helicopter are dynamic modeling, control system design and performing model-in-the-loop (MIL) and hardware-in-the-loop (HIL) tests which are presented in this paper. In this research, MIL and HIL tests of an unmanned helicopter are done using novel Linux-based flight control system built on... 

    Dynamic modeling, control system design and MIL–HIL tests of an unmanned rotorcraft using novel low-cost flight control system

    , Article Iranian Journal of Science and Technology - Transactions of Mechanical Engineering ; 2019 ; 22286187 (ISSN) Khalesi, M. H ; Salarieh, H ; Foumani, M. S ; Sharif University of Technology
    Springer  2019
    Abstract
    Unmanned helicopters have gained great importance during recent years due to their special abilities such as hover flight, vertical take-off and landing, maneuverability and superior agility. The advances in electronic devices technologies lead to more powerful and lighter processors to be used in avionic systems which have attracted more attention to these UAVs. The first steps of utilizing an unmanned helicopter are dynamic modeling, control system design and performing model-in-the-loop (MIL) and hardware-in-the-loop (HIL) tests which are presented in this paper. In this research, MIL and HIL tests of an unmanned helicopter are done using novel Linux-based flight control system built on... 

    Dynamic modeling, control system design and mil–hil tests of an unmanned rotorcraft using novel low-cost flight control system

    , Article Iranian Journal of Science and Technology - Transactions of Mechanical Engineering ; 2019 ; 22286187 (ISSN) Khalesi, M. H ; Salarieh, H ; Saadat Foumani , M ; Sharif University of Technology
    Springer  2019
    Abstract
    Unmanned helicopters have gained great importance during recent years due to their special abilities such as hover flight, vertical take-off and landing, maneuverability and superior agility. The advances in electronic devices technologies lead to more powerful and lighter processors to be used in avionic systems which have attracted more attention to these UAVs. The first steps of utilizing an unmanned helicopter are dynamic modeling, control system design and performing model-in-the-loop (MIL) and hardware-in-the-loop (HIL) tests which are presented in this paper. In this research, MIL and HIL tests of an unmanned helicopter are done using novel Linux-based flight control system built on... 

    Robust independent and simultaneous position control of multiple magnetic microrobots by sliding mode controller

    , Article Mechatronics ; Volume 84 , 2022 ; 09574158 (ISSN) Khalesi, R ; Yousefi, M ; Nejat Pishkenari, H ; Vossoughi, G ; Sharif University of Technology
    Elsevier Ltd  2022
    Abstract
    Recent development in technology and improvement of manufacturing tools have accelerated the use of microrobots (MRs) in numerous areas such as micro sensing and medical applications. The ability to control multiple MRs simultaneously and independently could lead to higher performance, and even make new applications possible. In this paper, we have proposed a system for simultaneous and independent control of the position of multiple MRs in a plane. The system consists of 2N permanent magnets (PMs) with a circular arrangement in the plane around the workspace and a pair of Helmholtz coil to control N MRs. PMs are rotated by servomotors, and the coil aligns the orientation of the MRs normal... 

    Independent control of multiple magnetic microrobots: design, dynamic modelling, and control

    , Article Journal of Micro-Bio Robotics ; Volume 16, Issue 2 , 27 June , 2020 , Pages 215-224 Khalesi, R ; Nejat Pishkenari, H ; Vossoughi, G ; Sharif University of Technology
    Springer Science and Business Media Deutschland GmbH  2020
    Abstract
    Swimming microrobots have a variety of applications including drug delivery, sensing, and artificial fertilization. Their small size makes onboard actuation very hard, and therefore an external source such as the magnetic field is a practical way to steer and move the robot. In this paper, we have designed a novel microrobot steered by magnetic paddles. We have also discussed design parameters where, based on the conducted simulation, the robot speed reaches 520 um/s. It is shown that the microrobot speed depends on the robot paddle dimensions. According to the microrobots motion characteristics and their different reactions to the same input, we have designed a steering strategy for... 

    Simultaneous Attitude and Orbit Determination Using Sensor Fusion Algorithm Based on the Dynamic of Satellite and Star Tracker

    , M.Sc. Thesis Sharif University of Technology Khalesi, Ruhollah (Author) ; Salarieh, Hassan (Supervisor)
    Abstract
    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 satellite equations of motion are derived and a 6-DOF simulation is done for it. In the second section, measurements of star tracker will be simulated using results of the first section. The third section appertains to development of navigation equations, attitude determination using UKF... 

    Challenging the effectiveness of information technology strategies in Iran's public sector: A case study

    , Article 6th European Conference on e-Government, ECEG 2006, Marburg, 27 April 2006 through 28 April 2006 ; 2006 , Pages 243-252 ; 20491034 (ISSN); 1905305184 (ISBN); 9781905305186 (ISBN) Khalesi Zadeh, M ; Feyzi, A ; Feiz, A ; Sharif University of Technology
    2006
    Abstract
    The Iranian government has started and performed several Information Technology (IT) development plans and projects during recent years with the aim of taking advantage of IT in developing governmental services and increasing their efficiency. This case study intends to investigate the overall effectiveness of the implemented plans according to viewpoints of experts. A survey was conducted in The 1st International Conference on Information and Communication Technology Management in which the attendants were experts from academia and public sector. The questions were designed to obtain their views and standpoints about various issues concerning the success of IT plans in different segments... 

    Dynamic Modeling of a RC Helicopter

    , M.Sc. Thesis Sharif University of Technology Khalesi, Mohammad Hossein (Author) ; Saadat Foumani, Mahmoud (Supervisor)
    Abstract
    Unmanned Aerial Vehicles have been used for different applications despite their short life. In last recent years, the developements in technology which leads to producing smaller electronical and electromechanical deveices, attract more attention to the researches in these fields. Among these vehicles, unmanned helicopters are more important because of their special abilities and capabilities. However there are some drawbacks which makes using them more difficult.
    In this project, the first principle modeling of a RC helicopter has been accomplished and a parametric model including different sections effects has been created. This model has been implemented for a Trex600 CF helicopter.... 

    Design of a Setup for Simultaneous Control of Multiple Magnetic Microrobots

    , Ph.D. Dissertation Sharif University of Technology Khalesi, Ruhollah (Author) ; Nejat Pishkenari, Hossein (Supervisor) ; Vossughi, Gholamreza (Co-Supervisor)
    Abstract
    Microrobots (MRs) have attracted a lot of attention during recent years due to their promising biomedical applications. Due to their small size, these robots have limited capability to carry energy sources, sensors, or actuators, so researchers try to transfer energy from outside as much as possible. For this purpose, various actuation methods such as optical, acoustic, electric, and magnetic have been proposed. Magnetic field is the most used energy source. The current study deals with the design and implementation of a system for simultaneous independent control of multiple swimming magnetic MRs. The ability to control multiple MRs simultaneously and independently could lead to higher... 

    Design and Analysis of Algorithms for Distributed Private Function Retrieval

    , M.Sc. Thesis Sharif University of Technology Khalesi, Ali (Author) ; Mirmohseni, Mahtab (Supervisor) ; Maddah Ali, Mohammad Ali (Supervisor)
    Abstract
    In the problem of Distributed Multi¬User Secret Sharing (DMUSS), in which K users are connected through some error¬free links to N distinct storage nodes with the same size M information unit, the users desire to retrieve their corresponding secret message through an arbitrary set of accessible storage nodes. A trusted master node, which knows all of the secret messages transmits correctly and privately, the messages with a means of coding. The capacity of Distributed Multi¬User Secret Sharing is the supremum of all achievable schemes satisfying privacy and correctness conditions. In this thesis we have investigated two notions of privacy namely, individual and joint privacy. Individual... 

    Design and Implementation of an Automatic Flight Control System for an Unmanned Helicopter for Hover Flight and Trajectory Tracking

    , Ph.D. Dissertation Sharif University of Technology Khalesi, Mohammad Hossein (Author) ; Salarieh, Hassan (Supervisor) ; Saadat Foumani, Mahmoud (Supervisor)
    Abstract
    Unmanned Aerial Vehicles (UAVs) have attracted huge attention in recent years due to the technology improvements. Among them, Unmanned Helicopters (UHs) have great importance because of their special abilities. In this research, the problem of design and implementation of an actual flight control system for an unmanned helicopter is investigated. For this purpose, first a multi-level flight simulation environment is developed in Simulink software environment to model the helicopter flight dynamics. The system identification, control system design and implementation are successfully performed in this flight simulator. Next, the actual helicopter flight control system is designed and produced... 

    Developing an Applied Model for Energy Management in Dairy Production Industry

    , M.Sc. Thesis Sharif University of Technology Bahmanpour khalesi, Ahmad Reza (Author) ; Mokhtar, Ali Reza (Supervisor) ; Miremadi, Ali Reza (Supervisor)
    Abstract
    Reviewing trends of energy consumption in the world reveals that sooner or later energy resources will be depleted. This concerning rate of consumption has brought about more greenhouse gases (GHG) emission influencing deleteriously on environment and climate. Human has continued energy consumption to maintain and improve the quality of his life through industrial production. Industry as a significant energy user owns considerable contribution to this consumption. Several attempts have been carried out to develop energy management systems in order to improve the energy efficiency of industrial sectors. Whilst they are comprehensive and could be applied to any sector, there is lack of... 

    Optimal MIMO waveform design with controlled characteristics

    , Article Proceedings International Radar Symposium, 24 June 2015 through 26 June 2015 ; Volume 2015-August , 2015 , Pages 1141-1146 ; 21555753 (ISSN) ; 9783954048533 (ISBN); 9783954048533 (ISBN); 9783954048533 (ISBN) Karbasi, S. M ; Radmard, M ; Nayebi, M. M ; Bastani, M. H ; Rohling, H ; Rohling, H ; Rohling, H ; Sharif University of Technology
    IEEE Computer Society  2015
    Abstract
    In a MIMO (Multiple Input Multiple Output) radar system, proper design of transmit signal and receive filter is an advantageous tool to improve the detection performance. Thus, in this paper, we consider the problem of transmit code and receive filter design, in order to maximize the Signal to Noise Ratio (SNR) at the receiver while enforcing a similarity constraint between the transmit space-time code (STC) and a reference STC which has a desirable ambiguity function. We will show that by solving such constrained optimization problem through successive iterations, our proposed method leads to satisfactory results  

    A fast and novel method of pattern synthesis for non-uniform phased array antennas

    , Article Proceedings International Radar Symposium, 24 June 2015 through 26 June 2015 ; Volume 2015-August , 2015 , Pages 924-929 ; 21555753 (ISSN) ; 9783954048533 (ISBN); 9783954048533 (ISBN); 9783954048533 (ISBN) Tohidi, E ; Sebt, M. A ; Nayebi, M. M ; Behroozi, H ; Rohling, H ; Rohling, H ; Rohling, H ; Sharif University of Technology
    IEEE Computer Society  2015
    Abstract
    Weighting elements to achieve radiation patterns with desired characteristics is a classical work in phased array antennas. These characteristics can be low sidelobe level, narrow beamwidth, high directivity, pattern nulling in special angle and etc. For each of these characteristics, different methods have been introduced. Most of methods have been presented for uniform arrays, however there are lots of methods to obtain a desired pattern for antennas with non-uniform element distances. The problem with these methods is complexity or not very good results. In this paper, fast and easy methods based on Least Square Error that leads to good results are presented. In addition, weighting of... 

    Sustainable solutions for advanced energy management system of campus microgrids: model opportunities and future challenges

    , Article Sensors ; Volume 22, Issue 6 , 2022 ; 14248220 (ISSN) Muqeet, H. A ; Javed, H ; Akhter, M. N ; Shahzad, M ; Munir, H. M ; Nadeem, M. U ; Bukhari, S. S. H ; Huba, M ; Sharif University of Technology
    MDPI  2022
    Abstract
    Distributed generation connected with AC, DC, or hybrid loads and energy storage systems is known as a microgrid. Campus microgrids are an important load type. A university campus microgrids, usually, contains distributed generation resources, energy storage, and electric vehicles. The main aim of the microgrid is to provide sustainable, economical energy, and a reliable system. The advanced energy management system (AEMS) provides a smooth energy flow to the microgrid. Over the last few years, many studies were carried out to review various aspects such as energy sustainability, demand response strategies, control systems, energy management systems with different types of optimization... 

    Atomistic insight into salinity dependent preferential binding of polar aromatics to calcite/brine interface: implications to low salinity waterflooding

    , Article Scientific Reports ; Volume 11, Issue 1 , 2021 ; 20452322 (ISSN) Koleini, M. M ; Badizad, M. H ; Mahani, H ; Dastjerdi, A. M ; Ayatollahi, S ; Ghazanfari, M. H ; Sharif University of Technology
    Nature Research  2021
    Abstract
    This paper resolve the salinity-dependent interactions of polar components of crude oil at calcite-brine interface in atomic resolution. Molecular dynamics simulations carried out on the present study showed that ordered water monolayers develop immediate to a calcite substrate in contact with a saline solution. Carboxylic compounds, herein represented by benzoic acid (BA), penetrate into those hydration layers and directly linking to the calcite surface. Through a mechanism termed screening effect, development of hydrogen bonding between –COOH functional groups of BA and carbonate groups is inhibited by formation of a positively-charged Na+ layer over CaCO3 surface. Contrary to the common... 

    MIMO ambiguity function optimization through waveform design

    , Article Proceedings International Radar Symposium, 24 June 2015 through 26 June 2015 ; Volume 2015-August , 2015 , Pages 333-338 ; 21555753 (ISSN) ; 9783954048533 (ISBN); 9783954048533 (ISBN); 9783954048533 (ISBN) Radmard, M ; Majd, M. N ; Chitgarha, M. M ; Karbasi, S. M ; Nayebi, M. M ; Rohling, H ; Rohling, H ; Rohling, H ; Sharif University of Technology
    IEEE Computer Society  2015
    Abstract
    An important tool for assessing a radar's performance is the ambiguity function. On the other hand, many different schemes have been designed for the transmit waveforms of a MIMO radar. For each one, a criterion has been chosen to improve the performace, e.g. achieving better missed detection. In this paper, considering the ambiguity function as the benchmark, we propose a waveform design scheme, which optimizes the ambiguity function of the MIMO radar system  

    Laminar falling film flow of aqueous Li Br solution on a horizontal elliptical tube

    , Article International Journal of Fluid Mechanics Research ; Volume 40, Issue 4 , 2013 , Pages 324-343 ; 10642277 (ISSN) Abyaneh, M. H. J ; Saidi, M. H ; Sharif University of Technology
    2013
    Abstract
    Flow hydrodynamics of laminar falling film of aqueous Li Br solution (Li Br - H2O) on a horizontal elliptical tube has been investigated in this research. The film velocity distribution and film thickness, namely, the flow characteristics are determined by solving analytically simultaneous simplified Navier - Stokes equations and continuity equation in polar and Cartesian coordinates. The analysis is based on steady state laminar flow of falling liquid film of Li Br - H2O on a horizontal elliptical tube in polar model and Cartesian model (CM), for cases in which traction on the film surface is considered negligible. Models are compared with each other in three cases of aspect ratios (Ar),... 

    Velocity distributions in (r,θ) directions for laminar flow of a film around horizontal circular tube

    , Article 2006 ASME Joint U.S.- European Fluids Engineering Division Summer Meeting, FEDSM2006, Miami, FL, 17 July 2006 through 20 July 2006 ; Volume 1 SYMPOSIA , 2006 , Pages 11-19 ; 0791847500 (ISBN); 9780791847503 (ISBN) Abyaneh, M. H. J ; Saidi, M. H ; Sharif University of Technology
    American Society of Mechanical Engineers  2006
    Abstract
    Velocity distributions in (r,θ) directions are evaluated by solving simultaneous simplified Navier-Stokes equations (NSE) and continuity equation (CE) in polar coordinate. The analysis is based on steady state laminar flow of thin falling liquid film on a horizontal circular tube, for cases in which traction on the film surface is considered negligible. It is a common geometry for part of engineering problems such as evaporator, condenser, absorber, generator of absorption chillers and other similar units in mechanical and chemical engineering. Knowledge of the velocity profiles is usually needed for: 1 - solving governing energy and species equations 2- estimating the average and film...