Sharif Digital Repository

A group of vehicles are contributed to follow static or dynamic targets in a cooperative target tracking problem. The vehicles estimate the future location of dynamic targets based on the information they receive from other vehicles and targets. Noting to these estimations, the vehicles are able to decide the best movement toward the targets. Various control methods have been presented to solve different problems of target tracking which the majority of them proposed optimal control solutions. A new approach to the problem of tracking dynamic targets via cooperative multi-vehicle systems under the receding horizon control of the vehicles is proposed in this dissertation. A receding horizon... 

In this Thesis, a new algorithm is presented to cooperatively guide a set of robots, modeled as dynamic vehicles, toward a moving object while their heading angles variation are limited and collision avoidance is also required. The trajectory of object has unknown behavior, such that, at each moment in time, during the mission period, the available information about the object's trajectory is merely its position and instantaneous velocity. Due to this situation, vehicles are supposed to determine their movements, based on the predicted object's trajectory. To meet the goals of the algorithm, a time-decreasing reward is associated with the object, such that vehicles can collect the reward... 

Mobile Clouds are networks of devices with short-range communication capability, which at the same time can establish connection with the long-range cellular networks. Short-range communication links in mobile clouds provide the opportunity of resource sharing, which can result in new services for users. In this work, we study two key problems required to be addressed before the real implementation of resource sharing in mobile clouds; how to find the services offered in such clouds, and how to create incentive in users to share their resources for others.The goal of this work is to present a management framework for mobile clouds. Considering incentives in the form of price-based systems,... 

The climate crisis and the role of the energy sector in greenhouse gas emissions highlight the urgent need for a transition to a low-carbon energy supply system. In this study, the OSeMOSYS model was used to optimize emission reduction pathways by implementing various scenarios, including BAU, NZC, SSP1, SSP2, and SSP5. First, the technical parameters of the model, such as investment costs and capacity factors, were estimated using econometric methods to account for technological development. Sensitivity analysis was then conducted on investment and import constraints. The results indicate that the BAU scenario, due to its high reliance on fossil fuels, leads to the highest CO₂ emissions,... 

By using an encoding scheme based on Algebraic Integers (AIs), we study in this thesis how to map the real numbers needed in the computation of the FFT to integer numbers, in order to prevent error production and propagation throughout the intermediate stages of the FFT computation. To reconstruct encoded data, a decoding stage is to be used at the end of the FFT computation. AI-encoding poses two challenges; how to determine suitable AI bases and an unwanted growth in the number of data passes. This research work, firstly, determines an appropriate FFT architecture, and then, proposes a dedicated architecture based on AI-encoding. The basic and also the proposed dedicated architecture are... 

Design and production of a drug is a very time and money consuming process. It takes more than a decade and about 2.5 million dollars on various stages to design a drug. Attempts to reduce this cost and time to market will make drugs available to customers at a more reasonable time. Some stages such as animal testing phase and clinical trials, can not be replaced and must take place in practice. Fortunately, some laboratory steps are interchangeable with software algorithms. These algorithms can significantly reduce the cost and time to market of the drug if they are accurate enough. On the other hand, the remarkable results of machine learning, in particular, Deep Neural Networks, in areas... 

Nowadays, power systems and substations are the most important components of the vital infrastructure of a country, which handle the production, transmission and distribution of the electrical energy. Automation systems increase the efficiency of the power industry while making remote control possible, but the use of computer-based control systems is a potential field for cyberattacks which may cause equipment destruction and electricity network destabilization. One of the main requirements for the utilization of digital substations is the synchronization between different equipment used in it. Several algorithms and protocols have been proposed so far for time synchronization in distributed... 

Micro-Robotics is implemented by researchers inclusively in last decades in different fields such as, biolotechnology, space, army and medical engineering. However, micropositioning is the main challenge in such projects, since determination and control of micro-robot’s position for drug delivery, artificial insemination and other medical applications are too significant. In this thesis, a method for controlling a microswimmer’s position in two dimention by an external magnetic field has been proposed. Modelling of magnetic field and magnetic gradient are some important challenges due to the fact that in control loop, a fast and optimal model for estimation of magnetic filed and gradient is... 

Capsule endoscopy is a minimally invasive diagnostic technology for gastrointestinal diseases providing images from the human’s digestion system. Developing a robust and real-time localization algorithm to determine the orientation and position of the endoscopic capsule is a crucial step toward medical diagnostics. In this thesis, we propose a novel model-aided real-time localization approach to estimate the position and orientation of a magnetic endoscopic capsule swimming inside the stomach. In the proposed method, the governing equations of the motion of an ellipsoidal capsule inside the fluid, considering different hydrodynamics interactions, are derived. Then, based on the dynamic... 

The IEC61850 Standard was introduced for IED, Intelligent Electronic Device, in a power substation so that different devices from different manufacturers could work together. Each of these devices must be configured to start communication. Chapter 6 of the IEC61850 Standard discusses the configuration language of these devices, SCL, Substation Configuration Language, as well as how to write it in detail.A failure or denial-of-service attack can occur in a power substation if a tampering or embedding a breach in devices’ configuration occurs. To discover such attack, one can model the behavior of all the components in the SCL language using a language describing the behavior, and then compare...