Sharif Digital Repository

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... 

This paper presents a new robust composite nonlinear feedback control law for accurate, smooth, and fast regulation in the presence of parameter uncertainties, external disturbances, and input saturation for a class of spacecraft rendezvous systems. The novel proposed method consists of the original composite nonlinear feedback part for good transient performance plus a nonlinear disturbance rejection part for reducing the steady-state error stemming from variable disturbances and simultaneously producing feasible control input. The nonlinear disturbance rejection relies on sliding-mode observer for disturbance estimation. Closed-loop system stability has been proved with the Lyapunov... 

A new heuristic filter, called firefly filter, is proposed for state estimation of nonlinear stochastic systems. The new filter formulates the state estimation problem as a stochastic dynamic optimization and utilizes the firefly optimization algorithm to find and track the best estimation. The fireflies search the state space dynamically and are attracted to one other based on the perceived brightness. The performance of the proposed filter is evaluated for a set of benchmarks and the results are compared with the well-known filters like extended Kalman filter and particle filter, showing improvements in terms of estimation accuracy. © 2016 IEEE  

This paper presents a new robust composite nonlinear feedback control law for accurate, smooth, and fast regulation in the presence of parameter uncertainties, external disturbances, and input saturation for a class of spacecraft rendezvous systems. The novel proposed method consists of the original composite nonlinear feedback part for good transient performance plus a nonlinear disturbance rejection part for reducing the steady-state error stemming from variable disturbances and simultaneously producing feasible control input. The nonlinear disturbance rejection relies on sliding-mode observer for disturbance estimation. Closed-loop system stability has been proved with the Lyapunov... 

The lazy bureaucrat scheduling is a new class of scheduling problems that was introduced in [1]. In these problems, there is one employee (or more) who should perform the assigned jobs. The objective of the employee is to minimize the amount of work he performs and to be as inefficient as possible. He is subject to a constraint, however, that he should be busy when there is some work to do. In this paper, we focus on the cases of this problem where all jobs have the same common deadline. We show that with this constraint, the problem is still NP-hard, and prove some hardness results. We then present a tight 2-approximation algorithm for this problem under one of the defined objective... 

The aim of this study is to develop a non-linear robust controller with adaptive gains in order to prevent malaria epidemic as a positive system with an uncertain model. The malaria outbreak is modelled by seven non-linear coupled differential equations for the population variables: susceptible, exposed, symptomatic infected and recovered humans and the susceptible, exposed and infected mosquitoes. The non-linear robust adaptive integral-sliding-mode controller is developed in order to appropriately adjust the use of treated bednets, treatment rate of infected individuals and the use of insecticide spray to control malaria epidemic. Accordingly, the numbers of exposed and infected humans and... 

Despite great advances, molecular cancer pathology is often limited to the use of a small number of biomarkers rather than the whole transcriptome, partly due to computational challenges. Here, we introduce a novel architecture of Deep Neural Networks (DNNs) that is capable of simultaneous inference of various properties of biological samples, through multi-task and transfer learning. It encodes the whole transcription profile into a strikingly low-dimensional latent vector of size 8, and then recovers mRNA and miRNA expression profiles, tissue and disease type from this vector. This latent space is significantly better than the original gene expression profiles for discriminating samples... 

BACKGROUND: StrongestPath is a Cytoscape 3 application that enables the analysis of interactions between two proteins or groups of proteins in a collection of protein-protein interaction (PPI) network or signaling network databases. When there are different levels of confidence over the interactions, the application is able to process them and identify the cascade of interactions with the highest total confidence score. Given a set of proteins, StrongestPath can extract a set of possible interactions between the input proteins, and expand the network by adding new proteins that have the most interactions with highest total confidence to the current network of proteins. The application can... 

In this paper, the three-dimensional adaptive finite element modeling is presented for cohesive fracture analysis of non-planer crack growth. The technique is performed based on the Zienkiewicz-Zhu error estimator by employing the modified superconvergent patch recovery procedure for the stress recovery. The Espinosa-Zavattieri bilinear constitutive equation is used to describe the cohesive tractions and displacement jumps. The 3D cohesive fracture element is employed to simulate the crack growth in a non-planar curved pattern. The crack growth criterion is proposed in terms of the principal stress and its direction. Finally, several numerical examples are analyzed to demonstrate the... 

Motivation: Multiple sequence alignment (MSA) is important and challenging problem of computational biology. Most of the existing methods can only provide a short length multiple alignments in an acceptable time. Nevertheless, when the researchers confront the genome size in the multiple alignments, the process has required a huge processing space/time. Accordingly, using the method that can align genome size rapidly and precisely has a great effect, especially on the analysis of the very long alignments. Herein, we have proposed an efficient method, called FAME, which vertically divides sequences from the places that they have common areas; then they are arranged in consecutive order. Then... 

Anti-reflection and self-cleaning coatings on the glass substrate are used to improve the performance of solar systems. TiO2 are one of the most used semiconductors for this application. In this research meso-porous TiO2 coatings (that synthesized by the sol-gel process) with the various extent of porosity (using different concentrations of Pluronic F127, as pore-forming agent) have been investigated. The coating's thickness and porosity and anti-reflective properties were studied by FE-SEM and UV/VIS spectrometer (transmission spectra test), respectively. It was found that the use of F127 leads to the formation of pores smaller than 30 nm and increases the surface roughness from 1.5 (for... 

Introduction: The study of life and the detection of gene functions is an important issue in biological science. Multiple sequences alignment methods measure the similarity of DNA sequences. Nonetheless, when the size of genome sequences is increased, we encounter with the lack of memory and increasing the run time. Therefore, a fast method with a suitable accuracy for genome alignment has a significant impact on the analysis of long sequences. Methods: We introduce a new method in which, it first divides each sequence into short sequences. Then, it uses evolutionary algorithms to align the sequences. Results: The proposed method has been evaluated in seven datasets with different number of... 

qPCR is still the gold standard for gene expression quantification. However, its accuracy is highly dependent on the normalization procedure. The conventional method involves using the geometric mean of multiple study-specific reference genes (RGs) expression for cross-sample normalization. While research on selecting stably expressed RGs is extensive, scant literature exists regarding the optimal approach for aggregating multiple RGs into a unified RG. In this paper, we introduce a family of scale-invariant functions as an alternative to the geometric mean aggregation. Our candidate method (weighted geometric mean minimizing standard deviation) demonstrated significantly better results... 

Due to climate change and the need to use renewable energy resources, solar cell modification is being considered by scientists around the world. Photocatalytic and anti-reflective coatings on solar cells can affect the efficiency and stability of solar cells. In this study, single-layer zinc oxide thin films and double-layer ZnO–TiO2 thin films were investigated to study their photocatalytic and optical properties. In fact, the effect of porosity and the application of double-layer thin films on the optical and photocatalytic properties of coated glass were studied. Mesoporous thin films thinner than 100 nm were synthesized using a sol-gel process and the ZnO thin film with 2 × 10-2 M... 

In this paper, a method for fast processing of data stream tuples in parallel execution of continuous queries over a multiprocessing environment is proposed. A copy of the query plan is assigned to each of processing units in the multiprocessing environment. Dynamic and continuous routing of input data stream tuples among the graph constructed by these copies (called the QueryMega Graph) for each input tuple determines that, after getting processed by each processing unit (e.g., processor), to which next processor it should be forwarded. Selection of the proper next processor is performed such that the destination processor imposes the minimum tuple latency to the corresponding tuple, among... 

Meta-heuristic algorithms have been successfully applied to solve the redundancy allocation problem in recent years. Among these algorithms, the electromagnetism-like mechanism (EM) is a powerful population-based algorithm designed for continuous decision spaces. This paper presents an efficient memory-based electromagnetism-like mechanism called MBEM to solve the redundancy allocation problem. The proposed algorithm employs a memory matrix in local search to save the features of good solutions and feed it back to the algorithm. This would make the search process more efficient. To verify the good performance of MBEM, various test problems, especially the 33 well-known benchmark instances in... 

Background: Pluripotency is proposed to exist in two different stages: Naive and Primed. Conventional human pluripotent cells are essentially in the primed stage. In recent years, several protocols have claimed to generate naive human embryonic stem cells (hESCs). To the best of our knowledge, none of these protocols is currently recognized as the gold standard method. Furthermore, the consistency of the resulting cells from these diverse protocols at the molecular level is yet to be shown. Additionally, little is known about the principles that govern the metabolic differences between naive and primed pluripotency. In this work, using a computational approach, we tried to shed light on... 

In this research, polyaniline@Ba0.5Sr0.5Fe12O19@MWCNTs nanocomposite was prepared via co-precipitation and in-situ polymerization methods, respectively. Microstructural, magnetic and electromagnetic wave absorption analysis of the prepared nanocomposite were studied via XRD, FESEM, VSM and VNA. Compared with Ba0.5Sr0.5Fe12O19@MWCNTs, the microwave absorption bandwidth of the coated nanocompoite with polyaniline was significantly enhanced, which increased to approxiamately 4 GHz from 3 GHz. The effective microwave absorption performance of the Ba0.5Sr0.5Fe12O19@MWCNTs nanocomposite was attributed to increase in the interfacial polarization, improvement in impedance matching as well as porous... 

Needle insertion simulation and planning systems (SPSs) will play an important role in diminishing inappropriate insertions into soft tissues and resultant complications. Difficulties in SPS development are due in large part to the computational requirements of the extensive calculations in finite element (FE) models of tissue. For clinical feasibility, the computational speed of SPSs must be improved. At the same time, a realistic model of tissue properties that reflects large and velocity-dependent deformations must be employed. The purpose of this study is to address the aforementioned difficulties by presenting a cost-effective SPS platform for needle insertions into the liver. The study... 

The bus network design problem is an important problem in transportation planning. It is the problem of determining a network of bus lines which best achieves a predetermined objective. This may be done with or without the presence of rapid transit lines. This study is devoted to solving this problem using genetic algorithm. The fitness function is defined as the benefit to the users of the bus network less the cost of the operator of the network, which is to be maximized subject to constraints that properly distribute bus routes over the study area. Objective function calculation depends on the basic data of the city and its bus lines and does not need traffic assignment results. So, it is...