3D Multi Target Tracking

, M.Sc. Thesis Sharif University of Technology Najafzadeh, Nima (Author) ; Kasaei, Shohreh (Supervisor)

Abstract

The purpose of multi target tracking, is tracking multiple target in each frame of video sequences simultaneously. Object tracking encounters many challenges. Two major challenges of tracking problem that we focus on in them in this thesis are detecting object in each frame of video sequence and handling occlusion problem. Our proposed method for multi target tracking considers one target as a main target and other targets as subsidiary targets. Proposed method track objects in initial view by Kalman filter that is adapted and tuned for multi target tracking. In case of occlusion our method uses data from auxiliary view for handling occlusion. In auxiliary view objects that are occluded in...

Multiple soccer players tracking

, Article Proceedings of the International Symposium on Artificial Intelligence and Signal Processing, AISP 2015, 3 March 2015 through 5 March 2015 ; March , 2015 , Pages 310-315 ; 9781479988174 (ISBN) Najafzadeh, N ; Fotouhi, M ; Kasaei, S ; Sharif University of Technology

Institute of Electrical and Electronics Engineers Inc 2015

Abstract

This paper, describes a solution for tracking multiple soccer players, simultaneously, in soccer ground. It adapts Kalman filter for tracking multiple players. Adapting Kalman filter is divided to four main tasks. The first task is defining the state vector for multiple object tracking. The second task is determining a motion model for estimating the position of soccer players in the next frame. The third task is defining an observation method for detecting soccer players in each frame. Finally, the fourth task is tuning the measurement noise covariance and estimating noise covariance. In the third task, a novel observation method for detecting soccer players is proposed. This method divides...

Entanglement Hamiltonian of Interacting Systems and its Applications in the Study of Strongly Correlated Systems

, M.Sc. Thesis Sharif University of Technology Najafzadeh Oskoui, Hanieh (Author) ; Vaezi, Mir Abolhassan (Supervisor)

Abstract

Recent advances in numerical computations in the field of strongly correlated systems have provided us to calculate the entanglement spectrum and the entanglement entropy for interacting systems. Calculating the explicit form of the entanglement Hamiltonian (a.k.a. the modular Hamiltonian) is considered as a difficult problem.In this dissertation, we intend to introduce a method and by means of the d ensity-matrix-renormalization-group algorithm to obtain for the first time the second quantization form of the entanglement Hamiltonian of interacting systems at zero temperature. We implement our method for one-dimensional Heisenberg spin chain and also Heisenberg model on a square lattice...

Anti-aggregation of gold nanoparticles for metal ion discrimination: a promising strategy to design colorimetric sensor arrays

, Article Sensors and Actuators, B: Chemical ; Volume 270 , 2018 , Pages 545-551 ; 09254005 (ISSN) Najafzadeh, F ; Ghasemi, F ; Hormozi Nezhad, M. R ; Sharif University of Technology

2018

Abstract

The first report of anti-aggregation-based sensor arrays is presented. The strategy is based on the competitive interaction of citrate-capped gold nanoparticles (AuNPs) and heavy metal ions (i.e., Hg(II), Ag(I), Fe(III), and Pb(II)) with three aggregation reagents (i.e., cysteine, melamine, and arginine). In the presence of aggregation reagent, the color and UV–vis spectra of AuNPs are changed indicating the aggregation of AuNPs. Addition of the aggregation reagents which are firstly treated with the ions, causes AuNPs turn from the aggregation to the dispersion state. The anti-aggregation capability of ions towards various aggregation reagents is different because of distinct stability...

Design of an Optoelectronic Tongue Based on Anti-Aggregation of Gold Nanoparticles for Detection and Classification of Heavy Metal Ions

, M.Sc. Thesis Sharif University of Technology Najafzadeh, Fatemeh (Author) ; Hormozi-Nezhad, Mohammad Reza (Supervisor)

Abstract

The ﬁrst report of anti-aggregation-based sensor arrays is presented. The strategy is based on the competitive interaction of citrate-capped gold nanoparticles (AuNPs) and heavy metal ions (i.e., Hg(II), Ag(I), Fe(III), and Pb (II)) with three aggregation reagents (i.e., cysteine, melamine, and arginine). In the presence of aggregation reagent,the color and UV–vis spectra of AuNPs are changed indicating the aggregation ofAuNPs. Addition of the aggregation reagents which are ﬁrstly treated with the ions, causes AuNPs turn from the aggregation to the dispersion state. The anti-aggregation capability of ions towards various aggregation reagents is diﬀerent because of distinct stability...

Optimal Control of Spacecraft on the Earth-Moon Lagrange Point Orbits considering Sun and other Planets and Elliptic Orbit Perturbations

, M.Sc. Thesis Sharif University of Technology Ghorbani, Mehrdad (Author) ; Assadian, Nima (Supervisor)

Abstract

In this thesis, optimal station keeping of spacecraft on the closed-orbits near the Earth-Moon Lagrange points has been investigated. Lagrange points L1 and L2 are unstable equilibrium points of the circular restricted three-body problem (CRTBP), and periodic orbits near them are the destination of modern missions. However, perturbations resulting from the gravitational forces of the Sun and the planets and the eccentricity of the orbit of the Moon around the Earth make the Lagrange point unstable, even L4 and L5, which are stable in CRTBP. The most suitable choice for spacecraft mission near the collinear Lagrange points is the Halo and other closed-orbits around them, which need...

Orbit Design and Optimization of Satellite Constellation for Regional Coverage

, M.Sc. Thesis Sharif University of Technology Borhani, Amir (Author) ; Assadian, Nima (Supervisor)

Abstract

In this thesis, the satellite constellation orbit design for regional coverage is investigated. The orbits of satellites in a constellation for Earth observation missions play a crucial role in performance and characteristics of the mission; for example the image resolution, the area of coverage, and the coverage interval. In this thesis the problem is to find the optimal initial orbital elements for meeting the earth observation mission objectives for one or several sites. The cost functions are the total coverage time, the maximum gap time, time average gap, altitude, and number of satellites. The problem is solved in a multi-objective manner for different combination of two of the above...

Autonomous Orbit Estimation for Regional Navigation Satellites

, M.Sc. Thesis Sharif University of Technology Memaran, Mohsen (Author) ; Asadian, Nima (Supervisor)

Abstract

In this thesis, autonomous orbit estimation of regional navigation satellites has been investigated. Estimation of satellite orbit is an integral part of satellite navigation, which may be executed via assistance of ground station. As the satellite is exposed to the ground station view, range, direction and rate of range is measured by mean of ranging instrumentation relative to ground reference, hence the precise position is calculated. In this thesis a set of satellites are investigated in a unique structure called constellation with the purpose of navigation. The occurrence which is likely to happen in this condition, is the failure of ground station under certain circumstances or losing...

Fabrication and Characterization of a UF Ceramic Membrane based on TiO_2 Nanoparticles

, M.Sc. Thesis Sharif University of Technology Mirkazemi, Amin (Author) ; Taghavinia, Nima (Supervisor)

Abstract

UF membranes are widely used in various industries now, a major type of these membranes are ceramic membranes which are resistant to high temperatures and corrosive fluids. In this thesis we developed an anisotropic UF ceramic membrane based on 20nm TiO2 nanoparticles on a prous sustrate. We had two major challenges, the first one was to find a suitable prous substrate and the second one was to find an appropriate coating method. Our main task was to optimise the process conditions to achive a crackless and uniform membrane layer with minimal ups and downs. Lots of coating methods and TiO2 inks have been tried, finally we used a coating method which we called it “Soft Blade Coating”, with...

Continuous-thrust Trajectory Optimization in the Binary Asteroids System

, M.Sc. Thesis Sharif University of Technology Ashrafi, Mehnraz (Author) ; Asadian, Nima (Supervisor)

Abstract

In this thesis, the optimal trajectories of a spacecraft in the binary asteroids system is studied. The objective functions of optimal trajectories in these system are the maximum coverage of the asteroids surface and minimum time and fuel consumption. For this purpose, the dynamic of binary system is modeled. The binary system of 1999 KW4 is selected as a case study. The ellipsoid-sphere model is a good approximation for the case of this study. In this model, the asteroids orbit in a circular orbit around each other in a spin-spin-orbit resonance configuration, in which the asteroids’ rotational velocity is equal to orbital mean motion. Then, the equations of motion of the spacecraft as the...

Fault-tolerant Attitude Control of Sattelite Using Neural Networks

, M.Sc. Thesis Sharif University of Technology Sepehr, Firoozeh (Author) ; Asadian, Nima (Supervisor)

Abstract

This research aims to introduce a new integrated fault tolerant attitude control system of satellites based on the neural networks. First, a linear controller and an optimal controller are designed assuming that no fault occurs in the reaction wheels of the satellite. It is obvious that these controllers are not able to respond properly when a fault occurs. Therefore, artificial neural networks are employed in the fault tolerant controller design. Neural networks are well-known for their adaptiveness and the ability to learn the dynamics of a system. Therefore, they can be used to predict the faulty conditions. In this research two approaches are examined to deal with the faulty conditions....

Fabrication and Characterization of Inverted Perovskite Solar Cells Using Nickel Oxide as Hole Transporting Layer

, Ph.D. Dissertation Sharif University of Technology Saki, Zahra (Author) ; Taghavinia, Nima (Supervisor)

Abstract

In this research, we study and optimize the inverted perovskite solar cells (PSCs) using nano layers of NiOx and Li:NiOx as hole transporting layers (HTLs) and nano layers of PC70BM and C60 as electron transporting layers (ETLs). We fabricated inverted PSCs with three different HTLs, namely MoOx, PEDOT:PSS and NiOx, using vapor assisted solution processed (VASP) method for making MAPbI3 perovskite which yielded a power conversion efficiency (PCE) of 1%, 1.93% and 3.65%, respectively. Solution-processed deposition method, high transparency (˃90%) and high band gap (3.9 eV) are the most advantages to use NiOx as HTL in current research. Using lithium as dopant to the NiOx increases the...

Dynamics of Tethered Satellite Formation Around Binary Asteroids

, M.Sc. Thesis Sharif University of Technology Bakhshipour, Mehran (Author) ; Assadian, Nima (Supervisor)

Abstract

Studying of binary asteroids because of achieving data of existence sources in the world persuades to investigate about tethered satellite formation around binary asteroids in future missions. About 20 percent of asteroids around the sun are binary asteroids. It is going to analyse dynamics of tethered satellite around Didymos binary asteroid. Light mass of the asteroid is good reason to consider gravitational harmonic perturbation, and leads to attention about solar radiation pressure depends on distance in modelling of the dynamical system. It will be zonal harmonics up to second order and sectoral. Satellites are such a particle as an assumption; that is why attitude motion of satellites...

Fractional Order Modeling and Control of Flexible Satellite

, M.Sc. Thesis Sharif University of Technology Hosseini, Masoud (Author) ; Assadian, Nima (Supervisor)

Abstract

In recent decades the structure of space systems has gained more complexity due to the development of space technology. Usage of larger structure in spacecraft could cause undesirable structural vibration. mNeglecting this phenomena would affect the performance of satellite subsystems specially the accuracy of satellite control subsystem. By implementing fractional order calculus in modeling of flexible satellite, the damping effect could be modeled better than classical damping model. Also using fractional order integrator and differentiator operator will increase the performance of control subsystem. In this research, the fractional order calculus has been used in modeling and control of...

Spacecraft Rendezvous and Docking Using Adaptive Neuro-Fuzzy Inference System

, M.Sc. Thesis Sharif University of Technology Tallebi, Morteza (Author) ; Asadian, Nima (Supervisor)

Abstract

In this research an ANFIS controller will be developed to rendezvous and dock with a non-cooperative spacecraft; the controller must make the spacecraft reach the velocity and nearby position of the target spacecraft. Due to uncertainty in modeling and changes in the moment inertia tensor, the controller must be able to adapt with these changes and uncertainty, these changes may happen because of robotic arm or solar panel movings. Robustness of the controller will be evaluated by applying orbital disturbances and modeling errors through monte-carlo simulations. To model the spacecraft the specifications of a known spacecraft will be used but some specifications may be studied parametricaly....

Coupled Rotational and Translational Modelling of Two Satellite Tethered Formation and their Robust Attitude Control

, M.Sc. Thesis Sharif University of Technology Darabi, Atefe (Author) ; Assadian, Nima (Supervisor)

Abstract

The 6DOF modelling and robust attitude control of two tethered satellites using tether tension moments is studied in this thesis. In this regard, the coupled rotational and translational dynamics of two satellites connected by a tether in the presence of Earth’s gravitational perturbation, aerodynamic drag, solar radiation pressure and third body effects (Sun and Moon) and also uncertainties in some of physical parameters of system and sensor’s outputs is modelled. Moreover, the tether attachment point to the satellites is different from their center of mass and its effect on dynamics of the system is taken into consideration. Then, the attitude of both satellites are controlled using robust...

Fault-Tolerant Attitude Control of Satellite with Thrusters Using μ-synthesis

, M.Sc. Thesis Sharif University of Technology Taheri, Abdolreza (Author) ; Assadian, Nima (Supervisor)

Abstract

In this project, a fault-tolerant attitude control system is developed for thruster-driven satellites. The proposed method has the advantage over current state-of-the-art approaches in that it does not require a fault detection and isolation system. Generalized moments are generated by a robust controller that is designed using mixed sensitivity H_∞ and μ-synthesis by DK-iteration. Moreover, a pulse-width modulation technique with quadratic programming optimization is tuned to map the controller outputs to thruster on-off commands as efficiently as possible. The controller is designed to tolerate up to ±30% perturbations in inertia properties and thrust degradations up to 90% of the nominal...

Attitude and Deformation Estimation of Flexible Satellite Using Magnetometer and Sun Sensor

, M.Sc. Thesis Sharif University of Technology Ghani, Marzieh (Author) ; Asadian, Nima (Supervisor)

Abstract

The estimation of attitude and deformation of a flexible satellite using magnetometer and sun sensor data are studied in this thesis. To this end, the dynamical differential equations of the flexible satellite have been derived using Lagrange’s equation. These equations of motion are then utilized for the purpose of simulation and verification. After introducing the measurements equations, the observability of the satellite with flexible panels has been evaluated. Afterward, the attitude of the satellite body and deformation of the flexible panels have been estimated by EKF (Extended Kalman Filter) as well as UKF (Unscented Kalman Filter). The results show that the estimations using UKF are...

Fault Tolerant Model Predictive Control of Tethered Satellite System

, M.Sc. Thesis Sharif University of Technology Ramezani, Mahya (Author) ; Asadian, Nima (Supervisor)

Abstract

In this thesis, a control method to cope with the fault in the two-satellite two-tether satellite systems has been proposed to avoid failing the mission in the case one tether is torn. A new model for the tethered satellite system with two tethers has been developed to show the effects of tethers’ tension forces in the attitude dynamics. One of the main features of this model is the ability of changing the tethers’ connection points to the co-satellite for attitude control purposes. As a result, tethers’ tension forces are used as control actions to reduce the fuel consumption. The introduced coupled tethered satellite system has been controlled using the model predictive control method....

Satellite Attitude Actuator Fault Detection and Identification Using Adaptive Neuro-Fuzzy Inference System (ANFIS)

, M.Sc. Thesis Sharif University of Technology Moosavi, Saba (Author) ; Asadian, Nima (Supervisor)

Abstract

This thesis focuses on the detection and estimation of faults occurring in one of the reaction wheel axes of a three-axis stabilized satellite. The wheel axes are aligned with the satellite's body axes, and the emphasis is on the attitude (rather than position) of the satellite. The primary goal of the subsystem is to determine and control the satellite's attitude, transitioning from its initial state to a desired Earth-pointing state. It is assumed that environmental disturbances, including gravitational disturbances and Drag related disturbances, are considered. Based on this, a PID controller is designed after modeling the nonlinear kinematics and dynamics of the satellite using Euler...