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Optimal Maneuver-Based Motion Planning Over Terrain and Threats Using Heuristic Optimization Approaches
, Ph.D. Dissertation Sharif University of Technology ; Pourtakdoost, Sayyed Hossein (Supervisor)
Abstract
In line with advances in science and technology in the areas of robotics, artificial intelligence, computer and control, unmanned vehicles are being more utilized and focused. On the other hand, development and further advances of these vehicles is highly dependent on the level of their autonomy. Motion planning is one of the most important issues in this regard. Due to high levels of autonomy required for unmanned air vehicles (UAV), the subject of motion planning is of valuable interest in aerospace applications. The goal of the motion planning problem, that is the subject of this research, is to extract an optimal trajectory for the UAV from an initial location toward its target point...
Optimal Trajectory Planning for Flight through Microburst Wind Shears
,
M.Sc. Thesis
Sharif University of Technology
;
Pourtakdoost, Hossein
(Supervisor)
Abstract
An optimal trajectory for flight through Microburst wind shears is designed which minimizes the maximum deviation from desired trajectory With respect to optimal control methods. The suitable performance of airplane retrieval in abort landing and landing phases at microburst encounter is achieved by influence of mentioned design in worse case of wind fluctuation and variation. 3D Vicroy microburst model is selected to investigate its effects on 6 DOF jet engine aircraft EOMs. Above optimal control problem is solved using gradient method of SD . Furthermore, sensitivity of optimal trajectory to lateral and longitudinal location of microburst, microburst parameters, throttle setting and...
Aeroelastic Modeling and Stability Analysis of a Flapping Wing with Unsteady Aerodynamic Approach
, M.Sc. Thesis Sharif University of Technology ; Pourtakdoost, Hossein (Supervisor)
Abstract
At this project we proceed to aero elastic modelling of a flapping wing using unsteady aerodynamic approach. Solving this model according to aerodynamic and structure coupling needs to simultaneously solve of aerodynamic and wing structure. Left side and right side of wing, each on divided into 18 elements. each element is interacting with sides element in terms of structural force and moment. In this modeling aerodynamic was modeling with unsteady aerodynamic approach (using modify theodersen function), also structure is flexible in to direction, bending and twisting. In the following it is proved that with change in flapping pattern better performance can be achieved. the effect of change...
Experimental Attitude Determination Using Thermal Data
, M.Sc. Thesis Sharif University of Technology ; Pourtakdoost, Hossein (Supervisor)
Abstract
The problem of attitude determination (AD) has always been a challenging issue for space missions that is of importance either independently or for attitude control purposes. The problem of AD is generally focused from two aspects: measurement mechanisms (sensoring) and determination algorithms. From the former point of view, there exists a variety of measuring systems such as the Sun sensors, magnetometers, gyroscopes, star and horizon sensors that have been separately or collaboratively utilized for AD. Integrative usage of sensors not only can bring about added advantages in terms of accuracy, but also provides for estimates of attitude during special times such as the Sun eclipse. The...
Reliability Analysis of a Thrust Vector Control (TVC) System
, M.Sc. Thesis Sharif University of Technology ; Pourtakdoost, Hossein (Supervisor)
Abstract
Reliability modeling, analysis and computation of a Thrust Vector Control System (TVC) is investigated. In this respect, first the TVC subsystems including the jet vanes (JVs), sensors and actuators,... are identified and their pertinent Reliability Block Diagram (RBD) is depicted. Subsequently static reliability of a jet vane is calculated considering both structural and thermal loadings via related verified limit state functions. In addition, a sensitivity analysis is performed that identifies the key JVs design parameters from a reliability point of view. Next, knowing the structural and thermal reliability of the JVs, static reliability of the total TVC system is computed via utility of...
Reliability Assessment, Allocation and Optimization for Launching Systems
, Ph.D. Dissertation Sharif University of Technology ; Pourtakdoost, Hossein (Supervisor)
Abstract
The subject of systemic reliability assessment, allocation and optimization as well as structural reliability (SR) of a two stage solid fuel launch vehicle (LV) is investigated. In this regards, first the LV reliability block diagram is broken-down into appropriate subsystems. Subsequently the total LV system reliability is determined assuming the subsystems reliability. In addition, using a hybrid GA-PSO algorithm optimal subsystems redundancy levels, reliabilities as well their type are determined to simultaneously maximize the total reliability while minimizing the LV cost (weight) as a constraint. While the reliability and cost of subsystems are not precisely known, the total LV...
Satellite Attitude Estimation Using MEMS
,
M.Sc. Thesis
Sharif University of Technology
;
Pourtakdoost, Hossein
(Supervisor)
Abstract
This thesis deals with the attitude estimation based on low cost sensor for a micro satellite in a circular, low earth orbit (LEO) and sensor calibration. With two body problem theory and Quaternion formulation, rotational motion is modeled. In addition gravity gradient effect is considered on satellite orbital elements. Using a 3-axis MEMS-based magnetometer and a sun sensor as two measurement systems, low cost attitude estimation is proposed. Bias and Scale factor are presented to model deterministic sensor error and white Gaussian noise to model stochastic sensor error. It is shown that by sensor calibration the estimation accuracy will improve. Non-linear estimation methods EKF, SRUKF...
Optimal Control Approach to Formtaion Flight of Quadrotors
, M.Sc. Thesis Sharif University of Technology ; Pourtakdoost, Hossein (Supervisor)
Abstract
The problem of quadrotors formation flying via optimal approach is investigated using the idea of cooperative and multi-level control. In this respect, a low level optimal control formulation of quadrotors is formulated for stability and tracking where the required tracking commands are generated via the high level controller over a simpler translational dynamics of quads. The idea of multi-level controllers enables one to develop formation keeping controls for complex dynamics systems, where varying agents in terms of dynamics and platform could be utilized. Due to inherent difficulties in implementing acceleration commands emanated out of the high level controller, an inverse dynamic...
Development of an Active Guidance Method For Satellite Carrier
, M.Sc. Thesis Sharif University of Technology ; Pourtakdoost, Hossein (Supervisor)
Abstract
A carrier should be used a guidance system for reaching to the point of injection in an orbit. The main purpose of guidance system in the injection process is issuance of guidance commands to achieve the final desirable velocity and position. These velocity and position indicate the purpose orbit for injection. Carrier is a dynamic system which is described by mathematical terms. In general carrier guidance systems apply pitch angle or rate of pitch angle to reach specific path over injection process. Different methods are available for carrier guidance such that preset method. In this method, the guidance system addresses specific guidance commands and control system performs these...
On endurance of erasure codes in SSD-based storage systems
, Article Computer Architecture and Digital Systems (CADS), 17th CSI International Symposium on ; Article number 6714239 , 2013 , Pages 67-72 ; 9781479905621 ; Miremadi, Gh. (Sayyed Ghassem) ; Asadi, H. (Hossein) ; Sharif Univesity of Technology
2013
Abstract
The wear-out of flash-based Solid-State Drives (SSDs) is a main concern that significantly affects their reliability. One major parameter that accelerates SSD wear-out is the number of write-cycles committed to flash chips. The number of write-cycles in SSD-based disk subsystem is highly dependent on the erasure code implemented in Redundant Array of Independent Disks (RAIDs). In this paper, we investigate the impact of erasure codes and the configuration of storage subsystems (i.e., the number of disks participated in the RAID array and stripe unit size) on the endurance of storage systems. The number of write-cycles is considered as a metric to evaluate the endurance of storage system. We...
Multidisciplinary External Ballistic Design Optimization of a Flying projectile Using Evolutionary Algorithms
, M.Sc. Thesis Sharif University of Technology ; Pourtakdoost, Hossei (Supervisor)
Abstract
Multidisciplinary Design Optimization (MDO) has been considered by many researchers, especially in field of aerospace engineering during the last two decades. The goal of MDO is to achieve optimal design of systems considering a variety of disciplines. In this regard, selection of viable disciplines, their codification, structure and interactions, levels of integrity and the optimization approach to be utilized are of importance and challenging.
In this project, MDO external ballistic optimization of the conceptual design of a flying projectile is investigated. The key objectives to be met by optimal design were chosen to be maximizing the payload weight and the covered range. To this...
In this project, MDO external ballistic optimization of the conceptual design of a flying projectile is investigated. The key objectives to be met by optimal design were chosen to be maximizing the payload weight and the covered range. To this...
Interruptible Load Contracts and Demand Response Program Implementation in Stochastic Long-Term SCUC with Wind Farm Consideration
, M.Sc. Thesis Sharif University of Technology ; Hosseini, Sayyed Hamid (Supervisor)
Abstract
Providing more choices to customers for determining the cost of their required reliability levels is one of the most important targets of restructured power system. Centralized management of reliability in Vertically Integrated Utility (VIU) applying the same policies to different customers is replaced with decentralized management allowing customers to participate in reliability management based on their required reliability levels. In this thesis, impact of emergency demand response programs, interruptible load contract and wind farms on the long-term security constrained unit commitment has been studied. Random outages of generators and transmission lines, load forecast inaccuracies as...
Transient Liquid Phase Bonding of AA6061/SiC
, M.Sc. Thesis Sharif University of Technology ; Ekrami, Ali Akbar (Supervisor) ; Sayyed Reyhani, Morteza (Supervisor)
Abstract
Composites are made to obtain several mechanical and physical properties selectively. But joining and manufacturing of complex shapes restricts their usages. Transient liquid phase (TLP) bonding is a novel method for joining of these materials without any defects that occur in other welding methods, such as melting or solid state methods. In this research, temperture gradiant TLP bonding of AA6061/SiC/15p using gallium as interlayer was performed. To obtain the optimum conditions, joining was performed at 260, 310, 360 and 410 ˚C, and pressure of 5 and 10 Mpa with holding time of 5 and 10 minutes, the joined samples then solutionized at 530˚C for 70 minutes. Optical and scanning electron...
Determination of Discharge Coefficient for Sharp-edged Rectangular with Curvature Weirs Experimentally
, M.Sc. Thesis Sharif University of Technology ; Borgheei, Sayyed Mahd (Supervisor) ; Abrishamchi, Ahmad (Co-Advisor)
Abstract
Sharp crested weirs are one of the main and oldest means of measuring discharge in water conveyance systems. Many studies have been done on sharp rectangular weirs and have provided many relationships regarding the effect of geometric parameters and various factors on discharge coefficient of the weirs.In some places, due to existence of obstacles or barriers in the channel, it is impossible to create a symmetrical continuous weir some other cases, multiple or asymmetric or curved weirs should be used, which is the main concept of this project. Since it seems unlikely that a purely mathematical model can review the impact of the multiplicity and asymmetry of these weirs without using...
Study on Effects of Short Wood Fibers on Physical and Mechanical Properties of Biodegradable Composite Based on Thermoplastic Starch
, M.Sc. Thesis Sharif University of Technology ; Bagheri, Reza (Supervisor) ; Sayyed Reihani, Morteza (Supervisor)
Abstract
Due to the negative effects of conventional plastics on the enviroment, especially in the packaging sector, extensive efforts have been put to replace these polymers with biodegradable polymers. Starch is one of the biodegradable polymers which has attracted a lot of attentions because of low cost and good processability. Native starch has the form of granule and can be processed to a continuous phase after gelatinization in the presence of a plasticizer. The resulting material is a biodegradable plastic-like material called thermoplastic starch (TPS) which is processed using conventional technologies, but suffers from low mechanical properties and high hydrophilicity. Addition of natural...
Multi-user opportunistic spectrum access with channel impairments [electronic resource]
, Article AEU - International Journal of Electronics and Communications ; Volume 67, Issue 11, November 2013, Pages 955–966 ; Salehkalybar, S ; Pakravan, M. R ; Sharif University of Technology
Abstract
In this paper, we study the impact of sensing error and channel fading on the decision process of a multiple secondary user network in a primary network whose channel occupancy states are modelled as a Bernoulli process. We present a randomized access strategy to maximize total secondary network throughput. The proposed method guarantees that the probability of collision between primary and secondary users in each channel is less than the predefined value of Pc = ξ. To find the optimal access strategy, we formulate secondary network throughput as an optimization problem. Then, using the KKT method to find the solution, we break the original problem into multiple sub-problems. Then, we employ...
Calculation of the Energy Release Rate of Nano-Cracks in FCC Materials Via the Many Body Atomic Scale FEM
, M.Sc. Thesis Sharif University of Technology ; Mohammadi Shodja, Hossein (Supervisor)
Abstract
Since the classical continuum theory fails to deal with the problems associated with defects, stress concentrators, and relevant deformation phenomena in solids, alternative approaches that can detect the atomistic nature of materials' fracture are required. The deficiency of the capture the size effect which yields delusively high values for some components of the stress field right on the edge of the stress concentrators, and its weakness in describing the complex interaction between small inhomogeneities, cracks and the like when they are only a few nanometers apart, are among some of the disadvantages of the classical approach. In recent years, however, atomistic methods are emerging to...
Semisolid Stir Joining of As-Cast Silicon-Aluminum Bronze
, M.Sc. Thesis Sharif University of Technology ; Kokabi, Amir Hossein (Supervisor) ; Ashuri, Hossein (Supervisor)
Abstract
Aluminum Bronzes have many applications in marine environments. These alloys suffer from both hot cracking and cold cracking. In order to overcome the hot cracking and cold cracking, Semisolid Stir Joining method and a proper thermal cycle was used respectively. Effects of temperature, stirring rate, and tool type were investigated in Semisolid Stir joining method. In this method, butt joint design was used in order to place specimens, and the specimens were heated up to specific temperatures (920, 925, 930°C). A stirrer (Cylindrical and Grooved tool) with three rotational speeds (800, 1200, 1600 RPM) was introduced into the stir weld seam. Welded specimens were cooled to the 900°C...
The Study of Eliminating Gender Gap in Iran Labor Market on Participation Rate of Married Urban Women
, M.Sc. Thesis Sharif University of Technology ; Rahmati, Mohammad Hossein (Supervisor) ; Joshaghani, Hossein (Supervisor)
Abstract
The low female labor force participation rate in the Iranian labor market relative to the global average and even to countries that do not differ significantly from the socio-economic characteristics of our country is one of the important questions of the Iranian labor market. In this study, we seek to answer the question of whether the economic participation rate of married women will increase if the gender gaps in wages, job findings and job losses among women and men are eliminated in the Iranian labor market. To answer this question using household expenditure and income data and labor force data, we show that between the two categories of occupations, in terms of the share of women's...
Graph homomorphisms through random walks [electronic resource]
, Article Journal of Graph Theory ; 2003, Volume 44, Issue 1, pages 15–38 ; Hajiabolhassan, Hossein ; Sharif University of Technology
Abstract
In this paper we introduce some general necessary conditions for the existence of graph homomorphisms, which hold in both directed and undirected cases. Our method is a combination of Diaconis and Saloff–Coste comparison technique for Markov chains and a generalization of Haemers interlacing theorem. As some applications, we obtain a necessary condition for the spanning subgraph problem, which also provides a generalization of a theorem of Mohar (1992) as a necessary condition for Hamiltonicity. In particular, in the case that the range is a Cayley graph or an edge-transitive graph, we obtain theorems with a corollary about the existence of homomorphisms to cycles. This, specially, provides...