A model aided inertial navigation system for automatic landing of unmanned aerial vehicles

, Article Navigation, Journal of the Institute of Navigation ; Volume 65, Issue 2 , June , 2018 , Pages 183-204 ; 00281522 (ISSN) Mohammadkarimi, H ; Nobahari, H ; Sharif University of Technology

Wiley-Blackwell 2018

Abstract

The use of Model Aided Inertial Navigation (MAIN) during the landing of an Unmanned Aerial Vehicle (UAV) is investigated. A new MAIN algorithm is proposed, which is fast and accurate enough to be used in automatic landing. In this algorithm, the six Degree of Freedom (6DoF) model of the UAV is tightly coupled with the inertial navigation system; thus, the 6DoF model acts as an aiding system for the INS and vice versa. In the last parts of the landing phase in proximity of Earth, the proposed algorithm also estimates and removes the Ground Effect (GE) uncertainties and provides the height controller with a realistic model. An adaptive controller based on a parametric state-space model is used...

Design of an Intelligent Aerodynamic Control System for Spinning Flight Vehicles

, M.Sc. Thesis Sharif University of Technology Mohammadkarimi, Hamed (Author) ; Nobahari, Hadi (Supervisor)

Abstract

Spinning vehicles are a large category of aerospace vehicles including shoulder launched missiles, intelligent anti-armor projectiles, guided rockets and some of re-entry vehicles, anti tank missiles and satellites. This thesis presents the problems of guidance and control in a spinning vehicle with a single plane of On-Off control surface. The missile uses this single surface to control both yaw and pitch channels. The actuator used in this missile is a discrete On-Off type which makes the missile behavior nonlinear. Using describing function technique, a linear model of the spinning missile dynamics in the presence of an On-Off actuator is derived and a classic controller is designed...

Swarm intelligence techniques applied to nonlinear systems state estimation

, Article Advances in Heuristic Signal Processing and Applications ; 2013 , Pages 219-241 ; 9783642378805 (ISBN);364237879X (ISBN); 9783642378799 (ISBN) Nobahari, H ; Sharifi, A ; Mohammadkarimi, H ; Sharif University of Technology

Springer-Verlag Berlin Heidelberg 2013

Abstract

In this chapter, a new class of filters based on swarm intelligence is introduced for nonlinear systems state estimation. As a subset of heuristic filters, swarm filters formulate a nonlinear system state estimation problem as a stochastic dynamic optimization problem and utilize swarm intelligence techniques such as particle swarm optimization and ant colony optimization to find and track the best estimate. As a subset of nonlinear filters, swarm filters can successfully compete with well-known nonlinear filters such as unscented Kalman filter, etc

A new approximative method for attitude correction in inertial navigation systems

, Article Proceedings of 2016 7th International Conference on Mechanical and Aerospace Engineering, ICMAE 2016, 18 July 2016 through 20 July 2016 ; 2016 , Pages 394-399 ; 9781467388290 (ISBN) Mohammadkarimi, H ; Nobahari, H ; Sharifi, A ; Sharif University of Technology

Institute of Electrical and Electronics Engineers Inc 2016

Abstract

In this paper, a novel algorithm for correcting the error of attitude in inertial navigation systems is introduced. Since the oftenly used differential equations of the navigation errors show the small rotation angles instead of the error of Euler angles, the nonlinear equation between the small rotation angles and the error of Euler angles, are derived. To obtain an approximative solution for the derived equations, third order multiplication of the small rotation angles are ignored and error of Euler angles are expressed explicitly as functions of the Euler angles and the small rotation angles. Based on the obtained solution, a new algorithm for attitude correction in inertial navigation is...

Simplex filter: A novel heuristic filter for nonlinear systems state estimation

, Article Applied Soft Computing Journal ; Volume 49 , 2016 , Pages 474-484 ; 15684946 (ISSN) Nobahari, H ; Zandavi, S. M ; Mohammadkarimi, H ; Sharif University of Technology

Elsevier Ltd 2016

Abstract

This paper introduces a new filter for nonlinear systems state estimation. The new filter formulates the state estimation problem as a stochastic dynamic optimization problem and utilizes a new stochastic method based on simplex technique to find and track the best estimation. The vertices of the simplex search the state space dynamically in a similar scheme to the optimization algorithm, known as Nelder-Mead simplex. The parameters of the proposed filter are tuned, using an information visualization technique to identify the optimal region of the parameters space. The visualization is performed using the concept of parallel coordinates. The proposed filter is applied to estimate the state...

An efficient tabu search algorithm for the single row facility location problem [electronic resource]

, Article European Journal Of Operational Research ; Vol. 205, No. 1, pp. 98-105 Samarghandi, H. (Hamed) ; Eshghi, Kourosh ; Sharif University of Technology

Abstract

The general goal of the facility layout problem is to arrange a given number of facilities to minimize the total cost associated with the known or projected interactions between them. One of the special classes of the facility layout problem is the Single Row Facility Layout Problem (SRFLP), which consists of finding an optimal linear placement of rectangular facilities with varying dimensions on a straight line. This paper first presents and proves a theorem to find the optimal solution of a special case of SRFLP. The results obtained by this theorem prove to be very useful in reducing the computational efforts when a new algorithm based on tabu search for the SRFLP is proposed in this...

Sensitivity analysis of matching pennies game [electronic resource]

, Article Mathematical and Computer Modelling ; Volume 51, Issues 5–6, March 2010, Pages 722–735 Yarmand, H. (Hamed) ; Eshghi, Kourosh ; Sharif University of Technology

Abstract

In this paper, we have discussed the results of sensitivity analysis in a payoff matrix of the Matching Pennies game. After representing the game as a LP model, the sensitivity analysis of the elements of the payoff matrix is presented. The game value and the optimal strategies for different values of parameters are determined and compared

Parametric study and computation of seismic performance factors of braced shear panels

, Article Scientia Iranica ; Volume 23, Issue 2 , 2016 , Pages 460-474 ; 10263098 (ISSN) Hamed, A ; Mofid, M ; Sharif University of Technology

Sharif University of Technology 2016

Abstract

By locating a steel shear panel on the intersection point of the X-braces, concentrically or eccentrically braced shear panel (CBFSP or EBFSP) is formed. In this paper, to perform parametric study, 1-story CBFSP and EBFSP models with span length greater or less than height are considered. Using linear static analyses, the effects of size and location of the shear panel on the lateral stiffness of the frame with respect to the moment resisting frame with the same member sections are investigated. Next, for 1- And 3-story models, maximum displacement, along with base shear, and the ratio between the dissipated energy and input energy are examined under 4 ground motion records. Behavior of the...

Assessment of Seismic Retrofit Policies for Buildings

, M.Sc. Thesis Sharif University of Technology Movahedi, Ali (Author) ; Kashani, Hamed (Supervisor)

Abstract

Occurrence of natural disasters such as earthquake could seriously damage most buildings especially those with insufficient resistance located in urban worn-out textures. In order to reduce unpleasant consequences of an earthquake, appropriate policies need to be considered to persuade the beneficiaries to follow retrofitting standards in the process of planning, designing, and construction of buildings. These policies shall be implemented through institutions in arbitrary or obligatory forms, by encouragement or penalty mechanisms. In order to consider these policies, first of all we need to identify the beneficiaries and their particulars. By studying and considering subjects discussed in...

Optimal-Robust Control of Drug Delivery in Cancer Chemotherapy

, M.Sc. Thesis Sharif University of Technology Hosseini, Fatemeh (Author) ; Moradi, Hamed (Supervisor)

Abstract

Chemotherapy is a proven and effective systematic approach to treat various types of cancers. Despite its advantages, chemotherapy would kill healthy as well as cancer cells. To overcome this problem, different controlling strategies are implemented. This study aims to provide a medicine drug delivery schedule for chemotherapy (by designing a proper controlling system) based on the verifiable mathematical models. First, the dynamic model is analysed and stability points are reviewed. The selected model has five state variables and two inputs. In this study, the focus is on dynamic model analysis and obtaining an effective and appropriate treatment pattern by designing a proper controller. To...

Real Options Analysis Framework for the Optimal Timing of Network Infrastructure Systems Retrofits

, M.Sc. Thesis Sharif University of Technology Roghani, Mehran (Author) ; Kashani, Hamed (Supervisor)

Abstract

Natural disasters can damage the infrastructure of society. Damages to the infrastructure components of society can disrupt their service delivery. Disruption in providing services to society's infrastructure can disrupt social and economic activities and impose various significant costs on society. The cost of repairing the damaged infrastructure and reducing the income of households are among the economic damages of accidents. The decline in the quality of life, as well as the death and injury of people due to the breakdown of the infrastructure or the disruption in their services, are among the social damages caused by accidents. In the same way, natural disasters are considered a...

Analysis of Seismic Vulnerability Reduction Policies of Residential Buildings Using a Multi-agent Evolutionary Game Model Based on Prospect Theory

, M.Sc. Thesis Sharif University of Technology Hosseini, Ahmad (Author) ; Kashani, Hamed (Supervisor)

Abstract

Due to the vulnerability of urban fabric and residential buildings to earthquakes and considering its destructive social and economic effects on society, the need to adopt appropriate policies to prevent and reduce vulnerability, has been increasingly considered by policy makers. Despite the laws, regulations, incentives and penalties that policymakers have envisioned to prevent unprincipled and unsafe construction, evidence shows that a significant number of new buildings being built in the country are not earthquake resistant and there are many violations in design, implementation and supervision that is done by the stakeholders. To solve this problem, research has been done on the...

Development of a Multi-functional Soil Column for Studying Bioremediation and Multiphase Flow

, M.Sc. Thesis Sharif University of Technology Samari, Peyman (Author) ; Sadeghi, Hamed (Supervisor)

Abstract

Soil and water pollution is one of the most common types of pollution in terrestrial and aquatic ecosystems. The development of mines and the oil and petrochemical industry on one hand and the non-compliance with environmental requirements on the other hand have caused large amounts of hydrocarbon pollutants and heavy metals to enter the environment in recent decades. Petroleum materials and heavy metals leak into the surrounding environment during drilling and extraction in oil sites and mines or during land and sea transportation, despite the measures taken to control their pollution. The conducted studies show that human industrial activities are the only cause of environmental pollution...

Developing Novel Algorithms to Simultaneous Power Regulation and Load Mitigation of Modern Variable Speed Wind Turbines

, Ph.D. Dissertation Sharif University of Technology Golnary, Farshad (Author) ; Moradi, Hamed (Supervisor)

Abstract

The power control of horizontal axis wind turbines can affect significantly the vibration loads and fatigue life of the tower and the blades. In this thesis, we are going to consider both the power control and vibration load mitigation of the tower fore-aft vibration. For this purpose, at first, we developed a fully coupled model of the NREL 5MW turbine. This model considers the full aeroelastic behavior of the blades and tower and is validated by experiment results, comparing the time history data with the FAST (Fatigue, Aerodynamics, Structures, and Turbulence ) code which is developed by NREL (National Renewable Energy Lab in the United States). In the next, to estimate EWV, a novel...

Laboratory Investigation of the Effects of Sodium Chloride Concentration on Soil Water Retention Curve and Volumetric behavior Using an Unsaturated Automatic Oedometer

, M.Sc. Thesis Sharif University of Technology Nasiri, Hamed (Author) ; Sadeghi, Hamed (Supervisor)

Abstract

Laboratory studies to investigate the effects of different saline concentrations (such as sodium chloride or calcium chloride) on the soil water retention behavior of clayey soils and their volumetric changes have received much attention recently. However, many previous studies have investigated these effects in only one path of the SWRC (wetting or drying path) and the effects of saline concentration on hydraulic hysteresis have not been considered. In addition, researchers have frequently studied these effects on SWRC on clay samples, and little research has been done on collapsible soils. Therefore, the most important purpose of this study is to investigate the effects of increasing...

Robust and Nonlinear Control of the Boiler-Turbine Unit Performance in a Coal Fired Ultra-Supercritical Once Through Boiler Power Plant in Order to Optimize the Uncertain Problem

, M.Sc. Thesis Sharif University of Technology Esmaeili, Mohammad (Author) ; Moradi, Hamed (Supervisor)

Abstract

Nowadays electricity power has a key role in developing various aspects of the world. The great importance of fossil fuel power plants come from their large contribution in electricity power generation. Among the different fossil fuel power generation technologies, supercritical power plants have great advantages. They are an advanced power generation technology with high plant efficiency, high coal utilization and low emission. Their complexity and existing many unavoidable uncertainty sources in their dynamic such as changes of ambient temperature, climate condition and wear of components make their control challenging. To overcome mentioned problems and achieving a good performance, a...

Numerical Modeling of Stability and Transport of Soluble Contaminants in Tailings Dams under Coupled Hydro-Chemical Processes (A Case Study of Sarcheshmeh Tailings Dam)

, M.Sc. Thesis Sharif University of Technology Anbarestani, Mona (Author) ; Sadeghi, Hamed (Supervisor)

Abstract

The instability and contamination leakage through tailings dams is one of the major problems of them. These dams are usually constructed through self-consolidation with minimum compaction effort, so special attention must be given to the stability of these structures. In addition, tailings dams contain considerable amounts of metals and chemically soluble contaminants resulting from mining processes in their reservoirs, making them more likely to leak contamination from the dam's foundation and body, causing pollution downstream. The infiltration of various chemical contaminants into the soil may alter its hydraulic and resistance properties. Laboratory studies have shown that pore solution...

Modelling and Electromechanical Control of Variable Speed wind Turbine in Order to Gain Maximum Wind Power

, M.Sc. Thesis Sharif University of Technology Golnary, Farshad (Author) ; Moradi, Hamed (Supervisor)

Abstract

In this research, the main purpose of the controller design is in the second region of operation of a wind turbine, which involves absorbing the maximum energy from the wind. WindPACT 1.5MW turbine has been investigated and the power coefficient of this turbine has been obtained using WT-PERF and FAST softwares. Simulations show that the results of both methods are well matched. Then, using ANFIS, a method for estimating the wind speed is derived from the data obtained by FAST. Inputs to the ANFIS system are the turbine aerodynamic power, rotor speed and blade pitch angle while the output of ANFIS system is the estimated wind speed. The maximum power coefficient of the wind turbine occurs...

Design of a Robust Active Controller to Suppress the Undesirable Vibration of Power Transmission Lines by Using the Intermediate Actuators and Optimization of Their Locations

, M.Sc. Thesis Sharif University of Technology Zolfaghari, Saghar (Author) ; Moradi, Hamed (Supervisor)

Abstract

Power transmission lines, which are responsible for the distribution and transmission of electrical energy from the power plant to the consumer areas, due to their characteristics such as long length and flexibility with low structural damping, face environmental irritations, especially the galloping phenomenon, causing many damages annually. In this study, it has been attempted to reduce the vibrations of power transmission lines by designing a robust active control and by using intermediate actuators in such a way that the failures of these lines can be prevented. For this purpose, linear modeling of the system and designing the controller using the pole replacement method have been done....

Nonlinear Vibration Analysis of Non-Uniform Beam in two Lateral Directions by Multiple Scales Method: Application in Wind Turbine

, M.Sc. Thesis Sharif University of Technology Karimi, Behnam (Author) ; Moradi, Hamed (Supervisor)

Abstract

Environmental issues and energy crisis have led the world attention to the renewable energies; especially wind power, since they have low cost and high reliability. One of the most challenging areas of studying for wind power is to increase the capacity of wind turbines. As a result, over the years, wind turbines have got progressively larger. Vibration is one of the problems that reduces the life and efficiency of wind turbines; and the growing size of the blades has worsen this problem due to the importance of nonlinear effects in large scale wind turbines. Researchers have been constantly working on this issue in order to make the wind turbines more efficient. In this research, a...