Sharif Digital Repository

One of the most important problems in teleoperation systems is time delay and packet loss in the communication channel, which can affect transparency and stability. One way to overcome the time delay effects in a teleoperation system is to predict the master-side motion. In this way, when data is received in the slave side, it will be considered as the current position of the master robot and, thus, complete transparency could be achieved. The majority of the previous works regarding operator position prediction have considered known and constant time delay in the system; however, in the real applications, time delay is unknown and variable. In this paper, an adaptive online prediction... 

One of the most important problems in teleoperation systems is time delay and packet loss in the communication channel, which can affect transparency and stability. One way to overcome the time delay effects in a teleoperation system is to predict the master-side motion. In this way, when data is received in the slave side, it will be considered as the current position of the master robot and, thus, complete transparency could be achieved. The majority of the previous works regarding operator position prediction have considered known and constant time delay in the system; however, in the real applications, time delay is unknown and variable. In this paper, an adaptive online prediction... 

The electromagnetic interface states formed in a heterostructure composed of two semi-infinite Kronig-Penny photonic crystals were studied. Modified transfer matrices were used for the study to show strong similarity between solid-state physics and electromagnetics. The calculations were limited to TE polarization and the numerical examples for both surface and interface states were given  

Manganeses(II) chloride supported on montmorillonite K10 was found to be an efficient catalysts for the oxidation of alcohols to carbonyl compounds with hydrogen peroxide as oxidant  

In this paper, a biosignal analysis approach to determine the relation between a typical cell action current (potential) and its resulted biosignals is presented. This relation is a logical result that can be obtained from the electrophysiological concepts governing the biosignals generating phenomena and can tell us some facts about its generating organ. Therefore, one has an input (Action Current or AC), an output (biosignal) and an unknown system (black box) relating them together. In this study, a linear system modeling is proposed to identify that relationship. This system acts as a transfer function (or generating function) that generates different forms of biosignal from a unique... 

The Henry problem (HP) continues to play a useful role in theoretical and practical studies related to seawater intrusion (SWI) into coastal aquifers. The popularity of this problem is attributed to its simplicity and precision to the existence of semi-analytical (SA) solutions. The first SA solution has been developed for a high uniform diffusion coefficient. Several further studies have contributed more realistic solutions with lower diffusion coefficients or velocity-dependent dispersion. All the existing SA solutions are limited to homogenous and isotropic domains. This work attempts to improve the realism of the SA solution of the dispersive HP by extending it to heterogeneous and... 

Radio Frequency Identification (RFID) technology is being deployed at our daily life. Although RFID systems provide useful services to users, they can also threat the privacy and security of the end-users. In order to provide privacy and security for RFID users, different RFID authentication protocols have been proposed. In this study, we investigate the privacy of two recently proposed RFID authentication protocols. It is shown that these protocols have some privacy problems that cannot provide user privacy. Then, in order to enhance the privacy of these protocols, two improvements of analyzed protocols are proposed that provide RFID users privacy  

Promising advantages offered by resistive NonVolatile Memories (NVMs) have brought great attention to replace existing volatile memory technologies. While NVMs were primarily studied to be used in the memory hierarchy, they can also provide benefits in Field-Programmable Gate Arrays (FPGAs). One major limitation of employing NVMs in FPGAs is significant power and area overheads imposed by the Peripheral Circuitry (PC) of NVM configuration bits. In this paper, we investigate the applicability of different NVM technologies for configuration bits of FPGAs and propose a power-efficient reconfigurable architecture based on Phase Change Memory (PCM). The proposed PCM-based architecture has been... 

This paper presents a new inference algorithm for active learning method (ALM). ALM is a pattern-based algorithm for soft computing, which uses the ink drop spread (IDS) algorithm as its main engine for feature extraction. In this paper, a fuzzy number is extracted from each IDS plane rather than from the narrow path and the spread, as in previous approaches. This leads to a significant reduction in the hardware required to implement the inference part of the algorithm and real-time computation of the implemented hardware. A modified version of the memristor crossbar structure is used to solve the problem of varying shapes of the ink drops, as reported in previous studies. In order to... 

Harmonic pollution minimisation in voltage-source programmed pulse-width modulation (PPWM) inverters is defined as a time-limited optimisation problem in real-time applications with variable DC sources. In order to obtain minimum total harmonic distortion (THD) as the objective function, shuffled-frog-leaping algorithm (SFLA) is modified and employed to calculate the switching angles and compared with non-linear programming as a traditional optimisation method. In addition, particle swarm optimisation and three of its modified versions as popular evolutionary optimisation algorithms are employed to ensure the capability of the proposed optimisation method. Moreover, modified sinusoidal PWM... 

Asphaltene deposition in a reservoir severely reduces the effective permeability and results in a reduction in oil production. The main term in asphaltene deposition modeling in the porous media is pore surface deposition. Previous models do not describe the effects of different parameters (i.e., concentration, velocity, and temperature) on the pore surface deposition term. We report the results of a series of experiments carried out to study the effects of the above parameters on the surface deposition term using an accurate thermal method. Based on these data, a new expression for the surface deposition term has been developed and implemented in asphaltene deposition modeling. The... 

In this paper an efficient filtering procedure based on Extended Kalman Filter (EKF) has been proposed. The method is based on a modified nonlinear dynamic model, previously introduced for the generation of synthetic ECG signals. The proposed method considers the angular velocity of ECG signal, as one of the states of an EKF. We have considered two cases for observation equations, in one case we have assumed a corresponding observation to angular velocity state and in the other case, we have not assumed any observations for it. Quantitative evaluation of the proposed algorithm on the MIT-BIH Normal Sinus Rhythm Database (NSRDB) shows that an average SNR improvement of 8 dB is achieved for an... 

The vulnerability of microprocessors to soft errors is increasing due to continuous shrinking in fabrication process. Recent studies show that 1-5% of the SEUs (single event upset) can cause MBUs (multiple bit upsets). The probability of MBU generation due to SEU is increasing because of the reduction in minimum energy required to flip a memory bit in modern technologies. Register file is the most sensitive component in a microprocessor. In this paper, we present an innovative way to protect registers in a 64-bit register file for a RISC processor using extended Hamming (8, 4) code (SEC-DED code) and narrow-width values. A narrow-width value can be represented by half number of bits of the... 

To achieve the available performance gains in half-duplex wireless relay networks, several cooperative schemes have been earlier proposed using either distributed space-time coding or distributed beamforming for the transmitter without and with channel state information (CSI), respectively. However, these schemes typically have rather high implementation and/or decoding complexities, especially when the number of relays is high. In this paper, we propose a simple low-rate feedback-based approach to achieve maximum diversity with a low decoding and implementation complexity. To further improve the performance of the proposed scheme, the knowledge of the second-order channel statistics is... 

This paper introduces a well-balanced second-order finite volume scheme, based on the Q-scheme of Roe, for simulating granular type flows. The proposed method is applied to solve the incompressible Euler equations under Savage-Hutter assumptions. The model is derived in a local coordinate system along a non-erodible bed to take its curvature into account. Moreover, simultaneous appearance of flowing/static regions is simulated by considering a basal friction resistance which keeps the granular flow from moving when the angle of granular flow is less than the angle of repose. The proposed scheme preserves stationary solutions up to second order and deals with different situations of wet/dry... 

ECG denoising has always been an important issue in medical engineering. The purposes of denoising are reducing noise level and improving signal to noise ratio (SNR) without distorting the signal. This paper proposes a method for removing white Gaussian noise from ECG signals. The concepts of singularity and local maxima of the wavelet transform modulus were used for analyzing singularity and reconstructing the ECG signal. Adaptive thresholding was used to remove white Gaussian noise modulus maximum of wavelet transform and then reconstruct the signal  

ECG denoising has always been an important issue in medical engineering. The purposes of denoising are reducing noise level and improving signal to noise ratio (SNR) without distorting the signal. This paper proposes a method for removing white Gaussian noise from ECG signals. The concepts of singularity and local maxima of the wavelet transform modulus were used for analyzing singularity and reconstructing the ECG signal. Adaptive thresholding was used to remove white Gaussian noise modulus maximum of wavelet transform and then reconstruct the signal. ©2009 IEEE  

We propose an accurate analytical model for a circularly polarized antenna comprising a normally magnetized, grounded ferrite disk with a metalized top surface. The antenna is assumed to be excited by a conventional current probe. In the case of a thin ferrite disk, the electromagnetic fields of the dominant mode of the antenna do not vary in the direction normal to the disk. However, with increasing thickness of the ferrite disk, higher order modes start to affect antenna characteristics such as resonance frequency. This work presents an analysis of the structure that takes into account all higher modes of the antenna. To validate the theoretical calculations, HFSS simulations are... 

Hydrostatic pressure is one of the most fundamental and common mechanical stimuli in the body, playing a critical role in the homeostasis of all organ systems. Kidney function is affected by high blood pressure, namely hypertension, by the increased pressure acting on the glomerular capillary walls. This general effect of hypertension is diagnosed as a chronic disease, but underlying mechanistic causes are still not well understood. This paper reports a portable and adaptive device for studying the effects of hydrostatic pressure on a monolayer of cells. The fabricated device fits within a conventional incubation system and microscope. The effects of various pressures and durations were... 

Silica-supported boron trifluoride (BF3·SiO2) is an efficient, readily available and reusable catalyst for the synthesis of 1,2,4,5-tetrasubstituted imidazoles using benzil, an aromatic aldehyde and an amine in the presence of ammonium acetate. This one-pot procedure is very simple, affording good to excellent yields. © 2008 Elsevier Ltd. All rights reserved