Sharif Digital Repository

Classification is one the contrivesial problems in machine vision and pattern recongnition. Traditional feature extraction methods which are based on low level feature extraction do not have high classification accuracy, thus they do not have the ability to represent images in feature space in discriminative way. In this thesis we have proposed a grid base method and used hidden Markov model (HMM) to include topological and spatial information in feature vectors. Then the classifiers created based on HMM feature extraction are combind. Combination of classifiers is based on designing a convex goal function. The goal of this optimization is to determine the wight of each classifier for... 

In this study a mathematical model has been presented for multi depots, continuous location-routing problem with inventory restrictions. In this problem, a three-echelon supply chain was assumed and a factory which is producing one product and with unlimited capacity is on the first echelon of supply chain. In the second echelon of supply chain, several distribution centers distribute products. In the third echelon, there is a set of customers who are scattered in different geographical locations. Location of customers is pre-specified, but distribution centers should be located. In this problem, location of distribution centers will be determined in a continuous space. As the leader of this... 

Concrete filled double-steel-plate (CFDSP) composite wall is a new lateral resisting system that recently used in design and strengthening of high-rise buildings. This CFDSP composite wall is composed of concrete filled steel tubular columns at the two boundaries and concrete filled double-steel-plate wall body. The main advantage of this system is the interaction between steel and concrete which delays local buckling of steel plates. Also, steel jacket increases the strength of concrete in result of confinement effects. Furthermore, these systems have lower thickness compared to ordinary concrete shear walls. Hence, they have less structural weight which reduces the earthquake force.... 

The significant growth of wind generation in power systems, in form of wind farms connected to transmission networks, is changing the present transmission reinforcement planning in the mid-term horizon and transmission expansion planning in the long-term horizon approaches. In this thesis, the optimal wind farms integration to the power system and uncertainty of wind farms output power are considered as two major items in the proposed models and the novel transmission reinforcement and expansion planning models considering optimal wind farms integration are presented. According to these models, the optimal capacity of wind farms and wind farms lines, and the new transmission lines of the... 

In Iran, titanium dioxide is still not produced and imports of titanium dioxide are required by various industries, including dyeing, electrodeposition, plastics and Therefore, according to the Ministry of Industries and Mines objectives, to obtain the technology of extraction Ti and TiO2, a research was carried out on titanomagnetite concentrate, extracted from the minerals of the plancher titanumitent and low-grade kahnoj. In this research, titanium dioxide is produced by sulfate method. Solid state recovery and magnetic separation were used to isolate titanium and iron. The dissolution process was then performed to achieve maximum dissolution. At this stage, the effects of temperature,... 

In this study, the effects of adding rubber particles to reinforced concrete beams were investigated. In recent years, the use of recycled materials in concrete production has emerged as a method to reduce environmental impacts and costs in the construction industry. In this context, the use of waste rubber particles from worn tires as a partial replacement for fine aggregates in concrete production can contribute to improving the technical properties of concrete. This research examines the simultaneous effects of rubber particles, concrete compressive strength, and the tensile steel reinforcement ratio on the flexural strength of reinforced concrete beams under four-point loading. Sixteen... 

Recent developments in space industry and the great tendency for definition of efficient, precise and low cost missions are the main reasons for the growing interest in satellites formation flight. Regarding the aforementioned, the study of the multiple satellite control methods is the subject of the present project. In this project, the governing equations of motion of satellite formation flight are developed. Based on this development, it is shown that the satellite linear equations of motion like many other linear system presentations, can not sufficiently model the real system. Therefore, some of the most famous uncertainties in space dynamics such as semimajor axis and eccentricity... 

The goal of this project is the development of a control algorithm for a flock of non-holonomic aerial agents. For this purpose,the swarm architecture having some unique features such as robustness, flexibility, and scalability is utilized. Swarm is defined as a group of simple agents having local interactions between themselves and the environmentwhich shows an unpredictable emergent behavior.Behavior based control which is inspired from the animal behaviors is employed to control the swarm of mobile agents. Accordingly, the necessary behaviors which are distance adjustment, velocity agreement, and virtual leader tracking together with a fuzzy coordinator are designed. In this study, in... 

This thesis represents the obstacle avoidance of a fixed-wing small aircraft using optical flow information of cameras mounted on the aircraft. The thesis consists of two main sections. In section one, the ideal optical flow has been simulated based on the camera model, complete six DOF of flight equations, and the geometry of the environment. An analytical formula has been derived to relate the obstacle detection distance to the maneuverability of the aircraft. Having the obstacle detection distance, the control and navigation algorithms have been developed to achieve a collision-free flight for the aircraft in urban canyons and junctions. The effect of some parameters such as approach... 

In this thesis, maneuverability enhancement of a given twin engine fighter aircraft with integrated thrust-vector and conventional aerodynamic control surfaces havebeen studied. For this purpose a nonlinear 6DOF simulation program base on a near exact mathematical model has been prepared for the aircraft, and then a thrust vectoring system for producing moments about three body axes, like that used in F/A-18, has been added to the simulation. The control method that is employed to control the aircraft in simulation environment is based on Nonlinear Dynamic Inversion (NDI). Finally the Velocity Vector Roll (VVR) maneuver has been considered as an example tostudymaneuverability enhacement. It... 

In this thesis, the theory of robust control is applied to design a controller for the longitudinal dynamics of a tail-sitter jet engine unmanned aerial vehicle. The engine thrust deflection is considered as the input controller of the system. The aircraft dynamical model is developed based on the assumption of no aerodynamic loads in low speed flight associated with the hovering condition. The controller is primarily designed using both classical and modern control techniques. Then and synthesis approaches are applied to design the robust controller. The results obtained from different approaches are compared. It is shown that the robust controller techniques are more stable and robust... 

One of the key technologies in the future space missions is the formation flight of small satellites. Currently, widespread research in this field is being carried out and remarkable developments have been achieved. In the mentioned laboratory researches, satellite navigation is performed by conventional sensors like infrared and ultrasonic. Both of these sensors are of active type and energy consuming. Also, use of the ultrasonic sensors is impractical in space missions (due to vacuum condition). Therefore, as an alternative for space missions, visual sensors are good candidates. The main goal of this research is to present a method for the relative navigation in proximity operations in an... 

In this research work, several guidance laws have been utilized and validated, considering the contraints on the missslie seeker angle and maximum acceleration, in order to simultaneously intercept the so-called Close-in Weapon System (CIWS) by multiple missiles. First of all, the existing guidance laws for salvo-attack are reveiwed. Then, a simulation program has been developed and validated for the misslie and CIWS as a five and two degrees of freedom systems, respectively. Optimization of the system is then carried out by the method of Particle Swarm Optimization, considering the given constraints. In the next step, for the improvement of the optimized guidance law, paramertic study has... 

In this project an algorithm is designed for automatic landing of unmanned helicopter on a pad moving with six degrees of freedom. The designed controller is based on state dependent riccati equations (SDRE).by developing nonlinear mathematical model of helicopter and then converting this model to state dependent coefficient (SDC) form. A nonlinear compensator is added to controller to compensate effect of some nonlinear terms of model that are not able to translate and then state dependent riccati equations are solved.
The relative pose-estimation of landing pad is based on vision. Corner detection algorithm is used to identify and detect features by processing of image taken from... 

Modeling and simulation are widely used as essential tools to predict and analyze complex systems in various scientific and engineering fields. For an aerospace system such as aircraft, mathematical models are useful used to carry out such tasks as dynamic analysis, autopilot development and combination of flight control laws, hazardous behaviors prediction, the controller design and validation, the study of the handling qualities, or the implementing simulators used for training pilots and many other tasks. In general, the aircraft flight dynamics is a nonlinear and coupled system whose dynamic modeling, in addition to pilot control inputs, depends on flight conditions (i.e., Mach and... 

In this study, the possibility of detecting known and unknown anomalies in a micro jet engine is evaluated. the proposed method is neural network and clustering analysis. The process consists of two main parts, first part is experimental abnormal behavior simulation and second part is validation of proposed detection method. In the first part a micro jet engine (Olympuse HP) were used and we created pre-designed errors in engine normal behavior to record significant changes in its performance. Recorded outputs consist of six different variables: RPM, Exhaust gas temperature, Throttle command, Fuel pump voltage, Thrust and Fuel weight. In the second part, for analyzing data, we used... 

One of the most important technologies in space missions is capability of moving satellites together with a predefined structure (virtual structure). This structure can reconfigure itself to any desired space mission and it is known as reconfiguration maneuver, in this maneuver all of the satellites have to follow needed virtual structure from any initial configuration to any desired second composition. In available virtual structure methods, there are a lot of limitations in maneuver because of algorithm constraints, in this project we try to extend available algorithm in virtual structure method and reach an algorithm which can start from any initial condition and complete the maneuver in...