Sharif Digital Repository

In this paper we consider the real, discrete time asymmetric Gaussian parallel relay network, the more realistic model than the symmetric one considered by Schein-Gallagar. We present achievable rates for this network that are superior rates to the Schein-Gallagar rates. The proposed methods are based on the superimposition technique used for the degraded broadcast channel and also cooperation of the relays to send as much as possible information to the receiver at the multiple access side  

Random geographical networks are realistic models for wireless sensor networks which are used in many applications. Achieving average consensus is very important in sensor networks and the faster the consensus is, the durable the sensors' life, and thus, the better the performance of the network. In this paper we compared the performance of a number of linear consensus algorithms with application to distributed averaging in random geographical networks. Interestingly, the simplest algorithm - where only the degree of receiving nodes is needed for the averaging - had the best performance in terms of the consensus time. Furthermore, we proved that the network has guaranteed convergence with... 

Microrobots design and manufacturing has been one of interesting fields in robotics in recent years. Various legged designs have been proposed in the literature. All designs rely on friction for locomotion. In this paper the dynamic model of a planar two-legged microrobot is presented using LuGre friction model. LuGre friction model is more realistic model, reducing uncertainties of the microrobot dynamic model, providing a better prediction for both design and control applications. The proposed microrobot is driven by a piezoelectric actuator mounted between centers of two legs. One of important issues in modeling of microrobots is to determine the friction force between robot and... 

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... 

The use of Model Aided Inertial Navigation (MAIN) during the landing of an Unmanned Aerial Vehicle (UAV) is investigated. A new MAIN algorithm is proposed, which is fast and accurate enough to be used in automatic landing. In this algorithm, the six Degree of Freedom (6DoF) model of the UAV is tightly coupled with the inertial navigation system; thus, the 6DoF model acts as an aiding system for the INS and vice versa. In the last parts of the landing phase in proximity of Earth, the proposed algorithm also estimates and removes the Ground Effect (GE) uncertainties and provides the height controller with a realistic model. An adaptive controller based on a parametric state-space model is used... 

Signal direction-of-arrival (DOA) estimation using an array of sensors has been the subject of intensive research and development during the last two decades. Efforts have been directed to both, better solutions for the general data model and to develop more realistic models. So far, many authors have assumed the data to be independent and identically distributed (i.i.d.) samples of a multivariate statistical model. Although this assumption reduces the complexity of the model, it may not be true in certain situations where signals show temporal correlation. Some results are available on the temporally correlated signal model in the literature. The temporally correlated stochastic Cramér-Rao... 

The performance of friction dampers to mitigate the wave-induced vibrations in jacket-type offshore platforms has been investigated in this study. Due to the random nature of ocean waves, a full stochastic analysis method has been used to evaluate the response of the structures equipped with these devices. A stochastic linearization technique has also been used to take the nonlinear behavior of these hysteretic dampers into account. At last, the developed mathematical formulation has been applied to evaluate the response of realistic models, and to find out the optimal values for the adjustable parameters of the friction dampers to dissipate the wave induced vibrations of the platforms. ©... 

The performance of friction dampers to mitigate the wave induced vibrations in jacket type offshore platforms has been investigated in this study. Due to the random nature of ocean waves, a full stochastic analysis method has been intended to evaluate the response of the structures utilized with these devices and also a stochastic linearization technique has been used to take the nonlinear behavior of these hysteretic dampers into account. At last, the developed mathematic formulation has been practiced to evaluate the response of a realistic model and to find out the optimal values for the adjustive parameters of the friction dampers to dissipate the wave induced vibrations of the platform.... 

Different experimental techniques which have been developed to obtain data related to force-deformation behaviour of soft tissues play an important role in realistically simulating surgery processes as well as medical diagnoses and minimally invasive procedures. Indeed, an adequate quantitative description of soft-tissue-mechanical-behaviour requires high-quality experimental data to be obtained and analysed. In this review article we will first scan the motivations and basic technical issues on surgery simulation. Then, we will concentrate on different experimental techniques developed for recording force-deformation (stress-strain) behaviour of soft tissues with focussing on the in-vivo... 

Needle insertion simulation and planning systems (SPSs) will play an important role in diminishing inappropriate insertions into soft tissues and resultant complications. Difficulties in SPS development are due in large part to the computational requirements of the extensive calculations in finite element (FE) models of tissue. For clinical feasibility, the computational speed of SPSs must be improved. At the same time, a realistic model of tissue properties that reflects large and velocity-dependent deformations must be employed. The purpose of this study is to address the aforementioned difficulties by presenting a cost-effective SPS platform for needle insertions into the liver. The study...