Sharif Digital Repository

Motion capture is a process that movements of living organisms like human or objects are captured and the results are processed for the desired applications. These applications are in rehabilitation, sports, film industry and etc. There are many techniques and instruments for motion capture that optical camera systems are the most accurate ones. But these cameras are high cost and limited to labs. Some sensors like Inertial Measurement Units (IMU) and recently, Kinect cameras have been considered by many researchers because these are low cost and easy to use. But problems like bias, accumulated error and occlusion make them look for improvements. Fusion algorithms are one of the best methods... 

Resource-constrained project scheduling problem (RCPSP) is one of the most important problems in the context of project scheduling. Considering a single objective, such as makespan minimization, net present value minimization or cost minimization has been the cornerstone of most studies done so far. At the other hand, taking this problem into account as a multi objective one has not been well studied. In this paper, a bi-objective model of RCPSP is presented. The first objective is makespan to be minimized, and the second one, a recently developed measure, is robustness maximization aimed at floating time maximization to make scheduling more reliable. The problem formed in this way is an... 

To attain superior energy density concurrently with high power density, high-performance supercapacitors have been developed. Herein an innovative strategy has been adopted to fabricate unique binder-free electrodes composed of a unique porous structure of binary metal carbonate hydroxide nanomace-decorated hydrothermal porous carbon spheres (PCSs). Hierarchical nickel-cobalt carbonate hydroxide (NiCOCH) nanomaces, directly grown on PCSs, are used as positive electrodes for supercapacitors fabrication. Furthermore, Fe2O3@PCS composites, having benefits of highly reversible redox reaction in the negative potential window and highly porous structure, are employed as the negative electrode in... 

Motion capture is a process that movements of living organisms like human or objects are captured and the results are processed for the desired applications. These applications are in rehabilitation, sports, film industry and etc. There are many techniques and instruments for motion capture that optical camera systems are the most accurate ones. But these cameras are high cost and limited to labs. Some sensors like Inertial Measurement Units (IMU) and recently, Kinect cameras have been considered by many researchers because these are low cost and easy to use. But problems like bias, accumulated error and occlusion make them look for improvements. Fusion algorithms are one of the best methods... 

Weibull distributions play an important role in reliability studies and have many applications in engineering. It normally appears in the statistical scripts as having two parameters, making it easy to estimate its parameters. However, once you go beyond the two parameter distribution, things become complicated. For example, estimating the parameters of a three-parameter Weibull distribution has historically been a complicated and sometimes contentious line of research since classical estimation procedures such as Maximum Likelihood Estimation (MLE) have become almost too complicated to implement. In this paper, we will discuss an approach that takes advantage of Artificial Neural Networks... 

The navigation algorithms which use inertial measurement units (IMUs), such as inertial navigation systems (INSs), always suffer from intrinsic accumulated errors. Bias in gyros induces a significant drift in navigation output especially when micro-electro-mechanical sensor (MEMS) type is used. This error has high-and low-frequency components. De-noising of the long-term error (LTE) (the low-frequency component) is more challenging due to undeterministic behavior and overlapping with carrier motion in the low-frequency band. In this article, a method for de-noising of long-term MEMS-based gyro is presented. In this approach, an auto-regressive (AR) model for the LTE is developed which is... 

In the present study the behavior of Ti-Al-C ternary system is investigated during mechanical alloying. The mixture of Ti, Al and C powders was used with initial stoichiometric composition of Ti3AlC2. X-ray diffraction (XRD) was used to characterize the milled powders and a thermodynamic analysis of the process was then carried out using Miedema model. This thermodynamic analysis showed that for all binary Ti-C, Al-C, Ti-Al systems and ternary Ti-Al-C systems, among all compositions, the thermodynamic driving force for intermetallic phase formation is much greater when compared with the formation of solid solutions or amorphous phases. Finally the reactions that are feasible to occur during... 

This paper presents sliding mode control and model reference adaptive control strategies for the tape transport mechanism. A nonlinear multivariable MIMO model of the process, consisting of take-up and supply reel servos for tape tension control and capstan servo for speed control is considered. The sliding mode control is applied for the nonlinear dynamic model of the process, while the model reference adaptive control deals with the linearized one. Moreover, in order to associate with the realistic model of system, design of controllers is accomplished with respect to parametric uncertainties. It is shown that both control strategies can guarantee asymptotic stability of the closed-loop... 

Perturbed-Chain Statistical Associating Fluid Theory Equation of State (PC-SAFT EoS) requires cross interaction parameter for each binary pair in the mixture. For real mixtures, these parameters should be corrected by binary interaction coefficients (kij's). The values of kij's are tuned by an optimization method in order to minimize the deviation from equilibrium data. The Particle Swarm Optimization (PSO) algorithm is employed for optimization of kij's due to the continuous nature of kij and highly nonlinear nature of PC-SAFT EoS. Although kij can be adjusted using the mentioned algorithm, it is cumbersome and highly time-consuming because the optimization should be performed for each pair... 

This paper proposes a novel decentralized control approach for islanded direct-current (DC) microgrids (MGs) based on model predictive control (MPC) to regulate the distributed generation unit (DGU) output voltages, i.e. the voltages of the point of common coupling (PCC). A local controller is designed for each DGU, in the presence of uncertainties, disturbances, and unmodeled dynamics. First, a discrete-time state-space model of an MG is derived. Afterward, an MPC algorithm is designed to perform the PCC voltage control. The proposed MPC scheme ensures that the PCC voltages remain within an acceptable range. Several simulation studies have been conducted to illustrate the effectiveness of... 

Amine-functionalized MIL-101(Cr) has been synthesized by hydrothermal (MNH2) and post-synthetic modification (MNH2-p) approaches. Pd/MNH2 and Pd/MNH2-p have been tested in CO oxidation reaction as a gas phase reaction to clarify the difference between two synthesis approaches. Their performance has also been compared with that of Pd supported on MIL as a common MOF and CuBTC as a commercial one. The results show the significant difference between Pd/MNH2-p and Pd/MNH2, where CO conversion of 100% was not observed for Pd/MNH2-p, whereas Pd/MNH2 outperformed the others and exhibited the high reaction rate thanks to the active sites created by amorphization during the reduction process because... 

The usual key assumptions in designing quality control charts are the normality and independency of serial samples. While the normality assumption holds in most cases, in many continuous-flow processes such as the chemical processes, serial samples have some degrees of autocorrelation associated with them. Ignoring the autocorrelation structure in constructing control charts, results in decreasing the in-control run length, and so increasing the false alarms. Moreover, when the object is to detect small shifts in the mean vector of a process, the performance of Cumulative Sum (CUSUM) control charts is dramatically better than Schewhart control charts. One of the methods, which have been...