due to the limiting workspace of parallel manipulator and regarding to finding the trajectory planning of singularity free at workspace is difficult, so finding a best solution that can develop a technique to determine the singularity-free zones in the workspace of parallel manipulators is highly important. in this thesis a simple and new technique are presented to determine the maximal singula...

in this thesis, a structured hierarchical methodology based on petri nets is used to introduce a task model for a soccer goalkeeper robot. in real or robot soccer, goalkeeper is an important element which has a key role and challenging features in the game. goalkeeper aims at defending goal from scoring goals by opponent team, actually to prevent the goal from the opponent player’s attacks. thi...

abstract biometric access control is an automatic system that intelligently provides the access of special actions to predefined individuals. it may use one or more unique features of humans, like fingerprint, iris, gesture, 2d and 3d face images. 2d face image is one of the important features with useful and reliable information for recognition of individuals and systems based on this ...

hedging is a multi-purpose rhetorical strategy which is usually used in scientific arguments to secure ratification of claims, reduce the risk of negation, avoid conflict, manage disagreement and leave room for the audience to assess presented information. hedges are frequently used in research articles to mitigate the findings of research endeavors. the present research aims to investigate the...

abstract: in this thesis, we focus to class of convex optimization problem whose objective function is given as a linear function and a convex function of a linear transformation of the decision variables and whose feasible region is a polytope. we show that there exists an optimal solution to this class of problems on a face of the constraint polytope of feasible region. based on this, we dev...

target tracking is the tracking of an object in an image sequence. target tracking in image sequence consists of two different parts: 1- moving target detection 2- tracking of moving target. in some of the tracking algorithms these two parts are combined as a single algorithm. the main goal in this thesis is to provide a new framework for effective tracking of different kinds of moving target...

a novel ultra wideband microstrip bandpass filter using radial stub loaded resonator and interdigital coupled lines is presented in this paper. the radial stub loaded resonator and decagonal patch form a resonator named m to create tuneable multiple notches in the passband for suppression wlan interference. to realize sharp roll-off, two adjustable transmission nulls are located at the lower an...

a problem of computer vision applications is to detect regions of interest under dif- ferent imaging conditions. the state-of-the-art maximally stable extremal regions (mser) detects affine covariant regions by applying all possible thresholds on the input image, and through three main steps including: 1) making a component tree of extremal regions’ evolution (enumeration), 2) obtaining region ...