Sharif Digital Repository

In this thesis, coupled trajectory and attitude control of an exoatmospheric interceptor is investigated. The interceptor is considered to track and intercept orbital targets in its terminal phase using an infrared strapdown seeker. Attitude control system uses its thrusters in order to keep permanently the detector toward the target in both elevation and azimuth directions. Detector is attached to the body. Divert thrusters generate acceleration perpendicular to the longitudinal axis of the interceptor to correct the trajectory. It is assumed that the interceptor has mass asymmetries. Transltional and rotational dynamics are coupled. Therefore, in order to improve the performance of... 

Nowadays, multi-agent robotic systems are implemented to perform various operations such as military mission, search and rescue operations, etc. One of the most interested robotic platforms for multi-agent systems is quadrotor aerial robot. In this paper, a team of quadrotors is prepared to perform a formation flight toward a specified target in order to catch and transport it on a desired path. Therefore, at first, trajectory tracking control of the quadrotor has been studied and two types of controllers have been introduced: Hierarchical controller and Non-hierarchical controller. Coordinate free structure of the hierarchical controller provides distinctive properties and guarantees... 

Low Back Pain (LBP) is one of the most common diseases in the world that according to the statistics 80% of people experience it at least once in their lifetime and a lot of money is spent for its therapy. Finding some methods for prediction and diagnosis of people with LBP from people without LBP helps to reduce these expenses. One of the most effective methods for diagnosing this problem, is the modeling and simulation of its skelomuscular system. However, because of the complications in modeling, simulation and neural control of human spine, it’s not been studied comprehensively. On the other hand, most of the numerical methods are based on optimization and approximation of muscle... 

The goal of this thesis is modeling and simulation of aircraft landing motion in order to evaluate the performance of an optimal anti-skid brake system (ABS) for the main landing gears with friction effects. In this process, the aircraft 6DOF perturbed equations of motion augmented with pertinent friction and brake forces and moments have been utilized. Subsequently, the problem is formulated within the framework of an optimal LQR that has allowed for generation of control brake commands as well as aircraft landing performance at different landing conditions with and without the proposed ABS. The results demonstrate the proposed ABS has been effective in providing admissible landing... 

Video games with respect to an ever Increasing player pool and Industry growth, have attracted a lot of attention in recent years. Dota 2, as one of the most successful games both in casual gamers’ community and E-sport community, is considered as a proper case study, however, most of the research done was limited to predicting games’ outcome. Despite The popularity, the rather unintelligent AI of the game has made quite a frustrating experience for new players. In this research, with a novel approach, hero features are used to predict their future positions. For this purpose, 35 professional games are collected and analyzed and 601 features are extracted. Then, suitable features are... 

Bohm-de Broglie theory is an alternative for standard quantum mechanics for explaining the bizarreness of micro-phenomena. This theory is casual and deterministic,but endows with nonlocal and contextual characters. Up to now,two different approaches presented: One is known as Bohm-Hiley (BH) formalism and the other is Dürr-Goldstein-Zanghí (DGZ) representation. In BH formalism, quantum potential has a significant role, according to witch peculiar phenomena such as quantum tunneling, two-slit interference and chemical bond are explained. Active information is also another important rotion introduced by quantum potential. In DGZ approach, however, the foundation of Bohm theory is based on... 

Passive source localization accounts for the identification of the position and velocity of an object that emits electromagnetic/sound waves. This concept suggests various civil and military applications such as localization of the cellular phone users for emergency services, navigation, localizing radar and sonar sources. Received Signal Strength (RSS), Time of Arrival (TOA), Time Difference of Arrival (TDOA) and Frequency Difference of Arrival (FDOA) of the emitted signals are commonly used for position finding. Among all these measurement methods, localization using TDOA and FDOA is highly accurate and needless of any time synchronization between the source and the sensors. Common methods... 

The purpose of this project is investigating the effect of cross flow and electric field on a liquid simple-jet experimentally. In this research the effect of parameters such as liquid to air momentum ratio, electric field on jet trajectory, penetration and the lenght of breakup point with respect to the jet outlet were studied. The air was produced by a blower in a duct with square test section of 8 cm sides. The air velocity varied from 1 m/s to 11 m/s. Liquid ethanol was injected into the duct with a needle with outer diameter of 0/62 mm and inner diameter of 0.4 mm and 28 mm length. The velocity of jet was 0/62 m/s while the change of liquid to air momentum ratio was from 3 to 260 The... 

New electric Unmanned Aerial Vehicles (UAV) has unconventional methods for design and performance analyzing. Using the electric power sources and reduce power with time, cause to confusion about operating this type of planes, so new optimization methods are generated. This methods, can used for some part of flight and special problems and involve some assumptions. One of these new methods is using Singular Perturbation theory for prediction optimal path trajectory of Aerial Vehicles. In this research, we solve the optimal climb trajectory for an electric UAV in rested (no wind) atmosphere. Solution of this problem, involve some parameters such as velocity, altitude and flight path angle with... 

Obtaining polymers with desired properties is very important from industrial point of view. Weight average molecular weight and polydispersity are two important polymer properties. It is also important to obtain a high monomer conversion. In this thesis production of polyvinyl acetate is considered. Under special conditions, the vinyl acetate reactor dynamics become oscillatory which makes the reactor control difficult. For obtaining polymer with desired properties, an objective function which includes weight average molecular weight, polydispersity and monomer conversion has been defined. Then by minimizing this objective function the optimal temperature trajectory is obtained. In this... 

In this project, modeling and control of grasping phase of flight is investigated inspired by birds’ aerial hunting. For this purpose, grasping mechanism and its challenges in flight is studied. In the following, an explanation about gripper, its design and its performance in flight is given. Both 1-DOF and 2-DOF gripper is modeled. Then, the simulation is evaluated during different test cases. After modeling, optimum trajectory for an air-vehicle in grasping phase is studied and analyzed. When using a 2-DOF gripper instead of a 1-DOF gripper, the vehicle is capable of grasping in different positions and attitudes. Therefore, the results of trajectory generation show more chances of grasping... 

The Yazd province is located in the dry and desert region of Iran and is constantly exposed to strong winds and dust storms due to its climatic conditions and geographical location. The first objective of this thesis is to assess the dust storm events that have occurred in Yazd province in order to identify their source and pathways of transport during the long-term period of 2012-2019. A novel multi-criteria framework for identifying the sources of dust storms and dust events in Yazd province has been presented using the HYSPLIT model. In this framework, the numerical results, along with geographical features, observational and satellite data, were used as criteria in the multi-criteria... 

Since Iran is a part of Afro-Asian belt of deserts, 21 percent of its area belongs to desert lands. By the increasing number of dust storms in western adjacent countries dust particle concentration’s value has been critical. PM10 modeling and finding out dust origins can extremely help to manage methods by decision-makers to control dust from the origin. HYSPLIT modeling tool is benefited to get to this aim. In this study metropolises which hardly confront air pollution according to EPA statement were selected. HYSPLIT was calibrated and validated by comparing the results with measurement stations. According to the point that that particles were transported from western parts of Iran,... 

Cesium-137 is one of the more important radionuclides in the environment because it is relatively abundant, it has a moderately long half-life (~30 y), its decay produces highly penetrating gamma radiation in addition to beta particles, and its biogeochemical properties allow it to move readily through food chains. It is a radioactive isotope of cesium which is formed as one of the more common fission product by the nuclear fission of uranium-235 and other fissionable isotopes in nuclear reactors and nuclear weapons.
In this reseach a model is introduced that could simulate a nuclear accident, its distribution into air, deposition into soil and absorption by plant. Nuclear accident and... 

In recent years, the increase of particulate matter concentration due to frequent dust storms has become one of the most important dilemmas of people around the world. The high concentration of dust particles causes irreparable respiratory diseases, premature death, economic and social damages. Because of placement in the vicinity of the main sources of dust, Iran has been severely affected by the phenomenon of dust storms and damage caused by it.In this research, two dust storms occurred in Tehran are simulated using WRF-Chem and HYSPLIT models. The first event took place on February 2, 2016, and the second event took place on May 22, 2018. In order to determine the empirical parameters of... 

Walking on legs using orthosis for spinal cord injury patients has many advantages and decreases the physiological and psychological problems comparing with wheelchair application, however high energy consumption and early exhaustion of patients are disadvantages of orthosis usage. The most important group of orthosis for spinal cord injury patients is RGO (Reciprocating Gait Orhtosis) which a reciprocating cable mechanism links two hip joints motion. So swinging of mobile leg gets easier and stability of patient in standing and walking step increases. Regarding to existent reports about high energy consumption in walking by orthosis, this project has been fulfilled to design an improved... 

In this Thesis, an unmanned multicopter with a new structure is modeled and a nonlinear controller is designed for it to track the trajectories precisely. The multicopter in this thesis, has six propellers with a hybrid propulsion system (a combination of fuel and electric propulsion system) that has the ability to carry more payload and maintain more flight duration compared to electric multicopters. In the beginning, the performance characteristics and technical specifications of the hexacopter are presented. For modeling, first the equations of six degrees of freedom movement of the hexacopter are derived by the Newton-Euler method. In the next step, the forces and torques applied to the... 

The purpose of this thesis is to obtain a logical decision making for the landing of multiple electric vertical takeoff and landing (eVTOL) aircraft that are simultaneously approaching a skyport. This research was conducted in response to the expansion of cities and the increased demand for transportation. In fact, the increase in population in cities makes the existence of a new mode of air transportation unavoidable, and in this regard the landing and take-off of such aircraft is very important because using a control tower for managing the take-off and landings of these aircraft doesn’t seem possible. To do this, the problem of simultaneous landing of multiple eVTOL aircraft was divided... 

In this thesis, black-box identification, designing and implementing an iterative learning controller for the quadcopter was performed. Initially, the open-loop quadcopter system is unstable, so for black-box identification, a controller must first be implemented to stabilize it, but since no model is available from the system, the controlling parameters of the stabilizer through a proportional-integral and a proportional controller are executed as trial and error. To identify the roll and pitch models, the quadcopter is carried out using a radio controller and the measurements are saved during flight. Different models and methods are used to black-box identification, and finally the best... 

Optimal Maneuvering to lessen the required fuel or to speed up the mission operation time is a significant part of various space missions. Optimal performance of a spacecraft reduces the mission cost, increases the mission life time and subsequently provides more chances for space exploration. In this sense, optimal maneuvering has always been at the center of attention and abundant works have been assigned to this importance. This research is also devoted to optimal trajectory design to transfer from low Earth orbits to the halo orbits. Specific characteristics of the halo orbits including periodicity, geometry, and particular position around the collinear liberation points of the...