Sharif Digital Repository

In this study, the cooperative inertial navigation systems are used to prevent the error growth of the inertial navigation system in unmanned aerial vehicles that fly in group. Here, the navigation problem is defined for a group of unmanned vehicles, flying with full six degrees of freedom and the objective is to estimate the navigation information of all cooperators. Due to the nonlinear equations, the decentralized extended Kalman filter is used to estimate the states of the system. This means that there is a Kalman filter in each vehicle. The inputs of this filter are the range and the bearing angles between the vehicle and the cooperators, the estimated position of the cooperators and... 

Distribution is a necessary part of a supply chain. Location-routing problem is a problem that decide about location of facility , allocation and routing for vehicle. This research focus on modeling for multi-level and multi-product for perishable foods that include five suppliers, three plants, two depots and ten costumers. costumers and products classify according to their importance for the company and their quality into three batch. In order to decreasing of cost return orders and damaged products, a special system are Designed that products can be sent again. In real world we do not have any certain data for model’ parameters, then we consider uncertainty and use robust for showing... 

Movement-Related Cortical Potentials (MRCPs) are a subset of Event Related Potentials (ERPs). The event that MRCPs are related to is the endogenous event of self-paced voluntary movement. Like many other ERPs, MRCPs have small amplitudes relative to the background EEG activity, making it difficult to detect them on a single-trial basis. Nevertheless, detection of MRCPs with good accuracy can be vastly benecial to automated rehabilitation systems and to Brain-Computer Interfaces. In this project, a new experimental protocol for MRCP is introduced and signals recorded using this protocol are analyzed. The protocol has been designed and recordings have been made by the author during the summer... 

The Emergence of modern wireless communication standards and the need to use the frequency spectrum efficiently has made communication system designers exert complex modulation schemes. One of the results of such designs that has a direct impact on the design procedure of power amplifiers is that there will be signals with high peak to average power ratio.The obvious consequence of this manner in the design of communication systems would be the reduction of power amplifier efficiency due to its operation in its back-off region. The solution will be to use load modulated power amplifiers such as Doherty amplifier which brings up the problem of limited bandwidth.In this thesis, we tackle this... 

The development of alternative energy sources is a prominent area of scientific research. Hydrogen, with its exceptional energy density, has emerged as a particularly promising candidate among these new energy sources. An effective technique for generating hydrogen is through the electrochemical process of water splitting. To enhance this process, it is crucial to investigate the development of electrocatalysts with high electrocatalytic activity. Among the potential options, sulfides of transition metals show promise. An essential difficulty in electrochemical water splitting is the development of a bifunctional catalyst that is both active and stable for both the hydrogen evolution... 

Among the new energies, hydrogen has been noticed due to its high energy density. Electrochemical production of hydrogen using electrocatalysts with high efficiency and cheap price is one of the effective solutions to achieve a clean and renewable energy source. Various studies have shown that after noble metals such as Pt, nickel has the highest electrocatalytic activity for hydrogen production. Alloying nickel with other intermediate metals is one of the effective methods to improve the catalytic activity of this metal, and among the intermediate metals that increase electrocatalytic properties, manganese and copper have a special place. Also, among different non-noble metals, selenide... 

Various safety systems have been designed and developed in recent decades, but one of the most important issues is the improvement of safety of such systems and that is the goal of this research. In this thesis, while introducing different methods of designing an electronic system, we designed one of these safety systems: the Airbag system in accordance with ISO 26262 by considering standard requirements, prediction of potential hazards of the system, and its safe design at the system level. The designed system is capable of detecting the car crash in a precise and timely maner. The airbag will deploy within 45 milliseconds protecting the health and safety of occupants of the car and in... 

In recent years, the use of embedded processors has grown increasingly in wide range of computer systems; so that most of manufactured CPUs are used in emebedded systems many of which are safty-critical systems such as medical devices, aircraft flight control, space systems, nuclear systems, etc. The incidence of failure in these systems can cause irreversible damages on human life, financial or environmental matters. Silicon process technology trends, such as reducing the threshold voltage, increasing the frequency and decreasing the size of transistors, not only caused increase in single-bit fault rate but also caused occurance of multi-bit faults. Due to importance ofcorrect operation of... 

Nowadays, one of the most important challenges in the design of digital circuits is their susceptibility to the strike of high energy particles which leads to the Single Event Transient (SET) and Multiple Event Transients (MET). In fact, technology scaling which results in lower supply voltage, higher operating frequency, and lower nodal capacitance, makes today’s digital circuits more susceptible not only to high energy particles but also to low energy particles. Moreover emerging deep sub-micron technologies and the integration of more cells in today’s chips have caused higher probability of MET occurrences. A lot of research has tried to reduce the soft error rate due to high energy... 

Wireless Sensor Networks (WSNs) are prone to faults due to battery depletion of nodes, where a node failure can disturb routing, as it plays a key role in transferring sensed data to the end users. A WSN may be partitioned into groups of nodes called clusters; for every cluster, there is a node, called Cluster Head (CH) that is responsible for collecting and transferring data from all nodes in that cluster. This means that the CH is a single point of failure; i.e., once a CH fails, the whole cluster will fail, which leads to inability of its members for transferring data outside the cluster. This thesis presents a Fault-Tolerant and Energy-Aware algorithm (FTEA), which prolongs the lifetime... 

The increasing size of valuable data emphasizes the importance of applying reliability in storage systems. One way to protect storage system failures is using erasure codes. The advantages of using erasure codes are their low overheads and high reliability. Soft errors caused by high-energetic particles do not only corrupt data in the SSD-based storage systems, but also in the erasure codes. In this regards, it is important to protect erasure code implementations against soft errors. This thesis proposes a fault-tolerant implementation of erasure codes. The proposed method is based on the structure of each erasure code. This method is analytically evaluated on four erasure codes, i.e.... 

With continuous device down-scaling and increase in transistor counts on a chip, complementary metal-oxide-semiconductor (CMOS) technology has become extremely sensitive to soft errors. Soft errors are transient errors caused by energetic particles such as neutrons and alpha particles. An essential step to design a soft error tolerant digital system with minimal performance and power overheads is Soft Error Rate (SER) estimation of system components. Until recently, Single Event Upsets (SEUs) in latches and Filp-Flops (FFs) and Single Event Transients (SETs) in combinational logic parts of digital circuits were regarded as the main effects of particle strikes. However, with the emerging... 

Ever increasing applications of embedded systems have motivated the designers to pay special attention to the design requirements of such systems. Among embedded applications, safety-critical systems have high reliability requirements as failures in such systems may endanger human life or result in catastrophic consequences. Embedded processors as the computation cores of embedded systems are very crucial from reliability point of view. This is because; a failure in the processor most probably leads to a system failure. One effective way to protect embedded processors against environmental faults is to use system level fault-tolerant techniques such as Master/Checker (M/C) or Triple Modular... 

Vulnerability of SRAM-based FPGAs to soft errors signals the importance of applying fault-tolerant methods in FPGAs used in safety-critical applications. Previous methods to protect SRAM-based FPGAs impose significant area and power overheads. Additionally, they suffer from susceptibility of configuration bits to Single Event-Multiple Upsets (SEMU). This thesis presents a Highly Available Fault-Tolerant Architecture (HAFTA) to protect SRAM-based FPGA designs against SEMUs in both configuration and user bits. In HAFTA, the entire design is duplicated and the main and replica flip-flops are compared at each clock cycle to detect any possible mismatch. To save the latest correct state of the... 

Increasing complexity of embedded systems and the need for more computation powerhave directed designers toward using of multiprocessors. SRAM-based FPGAs are suitable platforms for implementation of multiprocessors due to thier low cost, fast time-to-market and re-configurability. FPGA-based multiprocessors are known as soft multiprocessors. The large area of SRAM-based FPGAs is occupied by configuration bits. Configuration bits are vulnerable to high energy particles that can lead to soft errors. In this regards, it is of decisive importance to protect soft multiprocessors against soft errors. This thesis proposes a fault-tolerant method for soft multiprocessors that can detect and... 

The use of flash-based Solid State Disks (SSDs) has been increased in the past decades because of their high performance and low power consumption. As SSDs have no moving mechanical parts, they are more reliable than HDDs. SSDs have specific errors, such as read, program, and erase disturbs, data retention, and endurance. It is so common in storage systems to apply an array of disks called Redundant Array of Independent Disks (RAID) together for the aim of reliability and performance. Erasure codes are one of the main methods applied in storage systems for the aim of reliability. Erasure codes increase the reliability of storage systems by protecting them against disk failures and sector... 

Reliability, performance, and energy consumption are among the most important constraints that should be satisfied in modern processors design. More than 60% of the chip area is occupied by on-chip SRAM memories and they not only contribute in a large fraction of energy consumption, but also are the most error-prone components. Radiation-induced soft errors in on-chip memories are a major concern in modern processors design. Although Single Event Upsets (SEUs) have been known to be the main concern regarding SRAM memory reliability over the past decades, with the continued downscaling of technology, the occurrence rate of Multiple-Bit Upsets (MBUs) is comparable to that of SEUs in today’s... 

One of the major challenges that threat the reliability of NoC-based systems is Crosstalk fault. Some effects of crosstalk fault such as Rising/falling delays and rising/falling speed-ups lead to the variations in channel delay, incorrect data transmission, and extra power consumption in NoC communication channels. Crosstalk fault is data dependent and the intensity of this fault seriously depends on the transition patterns appearing on the wire during the data traversal between processing elements. Most of mechanisms tackling crosstalk fault that are discussed in literature are based on 3-wire delay model. In 3-wire delay model, one wire is considered as victim wire and classification of... 

Recent advances in Very-Large-Scale Integration (VLSI) technologies have enabled designers to integrate a large number of Processing Elements (PEs) on a single die. According to International Technology Roadmap for Semiconductors (ITRS), the number of PEs will reach 5000 on a single die in 2021. Although the main achievements of such rapid advancement in chips are high processing speed, shrinkage of technology size has made chips highly sensitive to different challenges. Networks on chip (NoCs), as an example of these systems, are not exempted from these challenges. Crosstalk fault is one of the major fault resources in NoCs. Crosstalk faults occur due to coupling capacitances between... 

Wireless Sensor Networks (WSNs) consist of sensor nodes that are connected to each other and are widely used in many applications to acquire and process information. WSN nodes are battery powered, therefore energy management is a key factor for long live network. Node radio transceiver unit uses the most part of energy resource of the node and as a result limits the network lifetime. One way to prolong lifetime of network is to utilize routing protocols to manage energy consumption. To have an energy efficient protocol, we can apply cluster organization on the network, where sensor nodes are partitioned into groups called cluster. Then, the whole cluster data is sent through Cluster Head...