Sharif Digital Repository

In this project, the final goal is to create a team consisting of a UGV and a quadrotor capable of relative tracking and coordinated landing, with focus on quadrotor control. What we mean by cooperative control in this project is control of quadrotor for the purpose of cooperation with a UGV; This should not be mistaken with another sense of cooperative control in which the control algorithms are developed for both of the robots or are based on the interactive dynamics of the robots.In order to accomplish this goal, an experimental testbed consisting of a quadrotor and a UGV capable of communication and data exchange was developed as a first step. The quadrotor was constructed using... 

Computer Aided Diagnosis (CAD) systems are widely used in different medical tasks. Radiology is a branch of medicine which takes advantage of image processing techniques to help radiologists, analyse complicated radiologic images. Among all kind of medical imagingprocedures, utilization of screening mammographyisgetting very popularin detection of breast abnormalities. A typical CAD system for mammogram analysis uses image enhancement and segmentation as pre-processing phase, and feature extraction and classification for detection phase. In this thesis, we have studied different approaches in each level of image processing required in a mammogram mass classification systems, and introduced a... 

Image registration is defined as matching two or more than two images which are taken from a same scene in different times, from various views and using different sensors. By matching, we mean finding the transformation function between the images. Image registration
has many application in medical domains such as analyzing changes in body limbs, supervision of the tumors growth, and robotic surgery. The challenges of image registration are unavailability of the transformation function, existence of the outliers in the images, changes in the images intensity, changes in the image geometry, noise, etc. Image registration consists of four steps: (i) feature extraction, (ii) choosing a... 

Nowadays, the use of MEMS sensors, due to their small size, lightweight and low cost, has been welcomed in systems such as autonomous vehicles. Although the precision of MEMS gyroscopes has been extremely improved, in some aspects, such as stability of bias, they still suffer from some big error sources, like run-to run bias, which determines the sensor price but is not negligible even inexpensive sensors. In addition to the bias, there are a lot of noises in the gyroscope outputs, where ARW is one of the most important ones, which causes failure in real-signals and produces an error in the position and attitude of mobile systems. Due to the fact that run-to-run bias and ARW are stochastic... 

Image segmentation has a huge amount of applications in machine vision, target detection, medical image processing, etc. In many medical researches such as Organ and Gland Volume Specification, Analysis of Anatomical Structures and Multimodal Image Registration, Organ
Segmentation is the first step of preprocessing.Since detection of diseases out of medical images depends on organ segmentation results,the segmentation process is done by experts which has a lot of disadvantages such as high time computation, high cost, etc. Hence, designing algorithms that can segment images with high accuracy and need minimum user interaction are desirable. So, in this thesis, a new
knowledge based... 

Image registration is one of the fundamental and essential tasks for medical imaging and remote sensing applications. One of the most common challenges in this area is the presence of complex spatially varying intensity distortion in the images. The widely used similarity metrics, such as MI (Mutual Information), CC (Correlation Coefficient), SSD (Sum of Square Difference), SAD (Sum of Absolute Difference) and CR (Correlation Ratio), are not robust against this kind of distortion; because stationarity assumption and the pixel-wise independence cannot be obeyed and captured by these metrics. In this research, we proposed a new intensity-based method for simultaneous image registration and... 

Pose and motion estimation using a set of images is a common application in photogrammetry and one of the most popular methods in doing so is Bundle adjustment. This method later got adapted to the field of computer vision and is mainly used to reconstruct a 3d scene while also estimating pose and motion of the camera. There are a variety of other methods used to estimate pose and motion. Most non-visual methods like using inertial navigation system and GPS suffer from shortcomings like accumulative error, availability problems or low accuracy. While most vision based one are computationally expensive. In this thesis two methods are proposed to increase accuracy and efficiency of one variant... 

Energy constraint is the most critical problem in wireless sensor networks (WSNs). To address this issue, clustering has been introduced as an efficient way for data aggregation and routing. However, there also exist some disadvantages associated with the clustering scheme, such as additional overheads during the cluster-head election and cluster formation process. Most available clustering algorithms do not efficiently take into consideration the geographical information of nodes in the cluster-head election. This leads to uneven distribution of cluster-heads and unbalanced cluster sizes, which brings about uneven energy dissipation in clusters. In this research, an Efficient Distributed... 

Most of current state-of-the-art methods for object tracking use adaptive tracking-by-detection. The performance of state-of-the-art methods is almost real-time with acceptable accuracy. These methods use tracking-by-detection because of its robustness. Tracking-bydetection methods use a detector as a tracker and sweep input for object of interest. They use their predictions to adapt their parameters and therefore be adaptive to appearance change in target. While suitable for cases when the object does not disappear from the scene, these methods tend to fail on occlusions. In this work, we build on a novel approach called Tracking-Learning-Detection (TLD) that overcomes this problem. In... 

One of the important questions in mathematics is generalized. In case of metric spaces, one of the questions is: Can we extend notions of Riemannian geometry to arbitrary metric spaces smoothly? Ricci curvature is one of the most important concepts in differential geometry. Ricci curvature is defined for the Riemannian manifold and has many applications in mathematics and physics like Einstein’s equation in relativity theory. There is a good notion for a metric space having “sectional curvature bounded below by K” or “sectional curvature bounded above by K”, due to Alexandrov. Can we define the concept of Ricci curvature in metric space? A motivation for this question comes from Gromov’s... 

Seismic design codes reduce loads by using response modification factor. Because of the reserved strength in structural elements and capacity of structure to dissipate energy, structures can be designed for lower seismic loads. This factor has modified over time. In this thesis, the effect of the reduction in behavior factor on the response of two kinds of reinforced concrete systems were evaluated. Moment resisting frames and dual systems with different heights and regularity in plan, heve been design according to the behavior factor which is recommended in the 3rd edition of the Iranian codes of practice for seismic resistance design of buildings (Standard No. 2800). Drift and... 

Generally, nowadays, machine learning methods are used in many different areas for their superiority over other methods of prediction. Although being a tough task, stock market prediction with machine learning approaches is being spread due to satisfying results published ever yday. Machine learning methods usually use varied kinds of data ,including structured data such as market data, technical indicators and some fundamental data as well as unstructured one entailing text and graph data in order to enhance their predictability capacity. In this thesis we aimed to find out more about the importance and the contribution of structured data in prediction and we tried to attain a framework... 

This thesis presents an inventory control system which is based on Meta-heuristic Algorithms.In this thesis we will optimize the input values of our tree-echelon inventory model (keeping costs,stock worth,reorder costs,...) with these Algorithms. The presented method is able to determine the optimal stock level, costs of system and number of shipments in the system. The method is basically a decision support system (DES) and it is able to provide the order scheduling parameters of goods at operational level. The aim of the current research is to demonstrate that a Meta-heuristic algorithmis capable of solving complex inventory problems and with future improvements it is able to achieve... 

Poincare conjecture is one of the rst eorts for classifying 3-manifolds that was stated in the begining of 20th century. Eorts for proving this conjecture continued for about 100 years and nally Perelman has solved it in 2003. He has used Ricci ow which has been invented by Richard Hamilton in the early 80's. In this thesis rst we will introduce Ricci ow and will state the results before Perelman such as short time and long time existence of solution. Then we will mention some applications of Ricci ow and will state an explanation of the proof of uniformization and Calabi conjecture by Ricci ow. After that we start the main part of the thesis. In this part we will montion one of the... 

Nowadays best using of fossil fuels sources of the country (and) importance of comparison against lack of capacity in petrol production make determined the programmers and the directors to foresee and design expanded programs of the goals, to use natural gas for car fuels. To reach fulfillment of these programs, the confirmed needs of the natural gas cylinders are improved and make it essential to invest on producing compressive natural gas cylinders. In this way economical and technical change researches has been done in order to construct on department to produce 200,000 compressive natural gas cylinders in a year during two sets.(shifts) According to the results of technical researches... 

Different molybdenum oxide nano/micro structure thin films were synthesized by thermal evaporation method under various growth conditions such as deposition time, temperature and evaporation source-substrate distance. Molybdenum oxide nanostructures grown on Si(100) such as nanowalls, nanostars and nanowires were characterized with scanning electron microscopy (SEM), x-ray photoelectron spectroscopy (XPS), x-ray diffraction (XRD), atomic force microscopy (AFM) and high resolution transmission electron microscopy (HRTEM). Shape and type of nanostructures were determined with SEM, AFM and HRTEM analysis. XPS analysis showed that the synthesized nanostructures contained Mo6+, Mo5+, Mo4+ and... 

One of the most important parts of a cement factory is the cement rotary kiln which plays a key role in quality and quantity of produced cement. In this part, the physical exertion and bilateral movement of air and materials, together with chemical reactions take place. Thus, this system has immensely complex and nonlinear dynamic equations. These equations have not worked out yet. Only in exceptional case; however, a large number of the involved parameters were crossed out and an approximation model was presented instead. This issue caused many problems for designing a cement rotary kiln controller. In this thesis, we employed a nonlinear system identification method for identification,... 

Optomechanical systems have attracted considerable attention in the last decade. Such a raising prominence is mainly due to its capability in providing new insight into the quantum behavior of macroscopic objects and exploring the interface between quantum and classical mechanics. Alongside this fundamental quest, cavity optomechanics has many other benefits, ranging from very precise measurements on forces and positions to quantum information processing. In this thesis, we investigate quantum properties of such systems. Particularly, we study cooling of the mechanical resonator toward its ground state and the entanglement between this mechanical resonator and the cavity field. Cooling the... 

Performance of reinforced concrete frames is highly dependent on detailing of the joint connections between its members, such as beams and columns. To have a good structural behavior, joints must show ductile behavior and designed based on the philosophy of strong column-weak beam. In the case of sever lacking ductility, strength or even rigidity of the connections, or having a weak column-strong beam, in the existing structures, there is a need for seismic upgrading of the connection. There are several ways for seismic upgrading of this type of connections.In the last decade Fiber Reinforced Polymer (FRP) widely has been used to strengthening the reinforced concrete (RC) members. Most of... 

Hodge theory is a beautiful synthesis of geometry, topology, and anal- ysis, which has been developed in the setting of Riemannian manifolds. On the other hand, spaces of images, which are important in the math- ematical foundations of vision and pattern recognition, do not fit this framework. This motivates us to develop a version of Hodge theory on metric spaces with a probability measure. We believe that this constitutes a step towards understanding the geometry of vision. We extend the theory of the Laplacian on domains of Euclidean space or on a manifold and next to metric space. Finally we give a beautiful application in web researcher engin.