Sharif Digital Repository

In this paper, the development of a controller for autonomous lateral alignment of fixed-wing Unmanned Aerial Vehicles (UAVs) with runway centerline in landing phase is presented. Fuzzy Logic Control (FLC) is used in order to enable the vehicle to mimic the decision making procedure that a pilot follow in the same situation. Also, for longitudinal motion controller design for the UAV to follow a pre-defined trajectory, the pole-placement technique is used. It is assumed that the runway relative position and orientation are provided by a built in vision system and its associated image processing unit. The performance of the controller in the presence of the Gaussian noises is investigated by... 

This paper proposes a high performance voltage tracking and current sharing among parallel connected inverters by applying optimal control and minimizing the cost function. The control system forces the voltage of load to track the voltage reference, and the current of all inverters becomes equal. Therefore, both current sharing and voltage tracking are obtained. In addition, the smallest input energy and simplicity in control circuit are the other advantages of the suggested method. To show the performance of the proposed control scheme, the simulations with two-modular practical systems are performed and the results are provided. The results indicate that the control objectives are... 

Recorded ground accelerations at various locations of Karun III Dam during November 20, 2007, were recorded by an array of accelerometers located on the dam. In terms of amplitude and phase, these accelerations show non-uniformities in different elevations. In this paper, the effect of these non-uniform ground motions on the seismic response of the dam taking dam-reservoir-foundation interaction into account is investigated. The EACD-3D-2008 finite element program and ABAQUS Software are used for carrying out the seismic analyses. For this purpose, time histories of the earthquake accelerations are interpolated at nodal points located on the dam foundation interface. The analysis has been... 

Thermal analysis of Roller Compacted Concrete (RCC) dams is generally carried out considering identical ambient boundary conditions at upstream and downstream faces. For the case of Shahri-Kor Dam (an RCC dam with a height of 57 m), recorded thermal data depicts a considerable difference between upstream and downstream ambient temperatures, especially during cold months. This paper investigates how taking this difference into account can affect the thermal response of the dam. For this purpose, two thermal analyses are carried out with and without consideration of these different ambient boundary conditions (DABC). Consequently, the computed temperatures at representative points are compared... 

Mobile ad hoc networks have different characteristics from wired networks. There are new challenges related to security issues that need to be addressed. In this paper, first, critical nodes and authentication in mobile ad hoc networks are discussed. Then, a monitoring nodes selection method with high battery power in these networks is presented. We propose a three-phase detection scheme. In the first phase, unauthorized nodes and in the second phase, malicious nodes are detected. Finally in the third phase, nodes with the largest battery power as monitoring nodes are considered. In the first and the second phases, detection scheme uses non-interactive zero knowledge technique in order to... 

Recently XML has become a standard for data representation and the preferred method of encoding structured data for exchange over the Internet. Moreover it is frequently used as a logical format to store structured and semi-structured data in databases. We propose a model-driven and configurable approach for modeling hierarchical XML data using object role modeling (ORM) as a flat conceptual model. First a non-hierarchical conceptual schema of the problem domain is built using ORM and then different hierarchical views of the conceptual schema or parts of it are specified by the designer using transformation rules. A hierarchical modeling notation called H-ORM is proposed to show these... 

The current paper focuses on the non-linear torsional vibration of a one-stage transmission gear system. Four different methods have been applied for solution of the equation of motion; the discretization method, the perturbation method, the Ritz method, and the stepwise time integration of the equation of motion. The time and frequency results from these analyses have been compared with each other, as well as those reported in literatures. Although all of these methods are accurate and computationally effective for finding the main spectral contribution, however, only the discretization method and the step-wise time-integration model are able to identify the other frequency components. ©... 

Abstract ORM (Object Role Modeling) is a rich and popular conceptual modeling method. ORM has been used for data modeling, ontology engineering, modeling business rules, XML-Schemes and data warehouses, requirements engineering and web forms. Automated reasoning like satisfiability testing allows developers to detect modeling mistakes in the early stages of development. In this paper we propose a lightweight formalization of the ORM meta-model in Alloy. Using this meta-model as a toolkit one can easily specify ORM models in Alloy and verify various properties on them using the Alloy Analyzer. In order to achieve scalability, we use the cardinality of concepts to model their population. This... 

XML has become the preferred format for representing and exchanging structured and semi-structured data on the web. The XML Schema language is widely used for defining and validating highly structured XML instance documents. While text-based languages, such as XML-Schema, offer great advantages for data interchange on the Internet, graphical modeling languages are widely accepted as a more visually effective means of specifying and communicating data requirements for a human audience. This paper uses Object-Relationship-Attribute model (ORA-SS) as a conceptual graphical model for designing XML-Schemas. To facilitate this process we introduce an xml representation for ORA-SS Schema Diagram... 

XML has emerged as a common standard for data exchange over the World Wide Web. One way to manage XML data is to use the power of relational databases for storing and querying them. So the hierarchical XML data should be mapped into flat relational structure. In this paper we propose an algorithm which maps DTD to relational schema and as well as content and structure it preserves the functional dependencies during the mapping process in order to produce relations with less redundancy. This is done by categorizing functional dependencies and introducing four rules to be applied to the relations created by the hybrid inlining algorithm according to each category. These rules will reduce... 

In this paper we present a formal definition of the basic concepts and notations of Object Role Modeling (ORM) using the Z formal specification language. Most of ORM concepts such as object and relationship types, value types, objectification, reference schemes, sub-types, roles and constraints such as uniqueness, mandatory, cardinality, subset, equality, exclusive and ring constraints are specified formally. Population is specified as objects, relationships and roles instances. These are specified using Z axioms and diagram instances are specified using Z schemas. This would enable validation and reasoning on the formal properties of ORM diagrams such as detecting constraint contradictions... 

Intrusion Detection Systems (IDS) for Mobile Ad hoc NETworks (MANETs) are necessary when they are deployed in reality. In This paper, we have presented a combined method of selecting IDS agent nodes in mobile ad hoc networks. Since, the IDS agents in MANET due to more activities need to more battery power. In our method, first, compromised nodes are detected and then the nodes with the highest energy power from among valid nodes as IDS agent nodes are considered. So, with this method, some valid nodes contribute in intrusion detection activities and costs of the network monitoring will be reduced and the network lifetime will be increased. © 2009 IEEE  

Mobile Ad hoc NETworks (MANET) due to different characteristics from wired networks are more vulnerable to security attacks. Construction of Intrusion Detection Systems (IDS) for MANETs is complicated by the fact that they are lack of fixed infrastructure and lack of central management for authentication and distribution of cryptographic keys. On the other hand, the network lifetime is an important issue in MANETs because of the energy power of mobile nodes is limited. In this paper is presented a proposed Method that in the first step, authorized nodes are detected by non-interactive zero knowledge technique and in the second step, nodes with the highest battery power from among authorized... 

In this paper an analytical model is proposed to study the nonlinear dynamic behavior of rolling element bearing systems including surface defects. Various surface defects due to local imperfections on raceways and rolling elements are introduced to the proposed model. The contact force of each rolling element described according to nonlinear Hertzian contact deformation and the effect of internal radial clearance has been taken into account. Mathematical expressions were derived for inner race, outer race and rolling element local defects. To overcome the strong nonlinearity of the governing equations of motion, a modified Newmark time integration technique was used to solve the equations...