In this study, modeling and fault detection of a novel faulty quadrotor is presented. It is assumed that a quadrotor vehicle has encountered a fault during a flight accident, and as a result, one of the rotors does not operate vertically. Although the rotor's rotational axis has deviated from the vertical direction, the amount of produced Thrust remains constant. Detecting this fault along with utilizing a proper controlling approach can reduce the risk of failure in the vehicle. Based on this statement, the procedure of this study has been developed in three main stages. First, the kinematic and dynamic equations governing the faulty system are driven using Newton's second law and Euler's principle. Then, equations governing the faulty system and the Thau observer are employed to calculate the residual value. This parameter is calculated based on the differences between states’,measurement and estimation. Eventually, by comparing the computed residual value with the assumed threshold, Thrust deviation in the shortest possible time has been detected.

Development of drainage basins has close relation with geomorphologic and geologic parameters. Therefore, study the relation between structural parameters like faults and development of drainage basins has greatly considered in hydrology and hydrogeology studies. Saravan drainage basin is a perfectly long basin that is extended along Saravan fault. In this survey, the method for studying morphometric and geology indices has been implemented for development of drainage basin. Clearly, present morphology is reflecting the erosion and geological processes particularly in Quaternary age. Saravan drainage basin is in the south-east part of Iran and has developed on flysch of this area. Drainage of Saravan basin joins to Mashkid river and finally leads to Pakistan. Different factors and parameters are important in formation and development of drainage basins including topographic, litho logy and structural factors. One of the important factors in development of this drainage basin is the evolution and activity of Saravan Thrust fault.Saravan fault with N135-145 trend has located on the north edge of Quaternary alluvial of the basin. The fault slope is approximately at same direction with flysch layering and slope direction's is 45-60 degree toward north-east. Saravan catchment basin is a long basin with 5.07 length to width ratio. Prepared maps and profile sections show a clear tilting and asymmetric basin. Morph metric index of tilting of basin (T) is maximum 0.72 and is maximum 0.83 in alluvial basin part. Asymmetric AF index is equal to 62.28 and it is equal 78.74 in the alluvial part. Clear asymmetric of basin and fault position on the north edge basin with average Smf equal to 1.42 showes that Saravan fault has been relatively an active fault. This fault has affected on formation and morphogenesis of Saravan drainage basin during its evolution. Younger northern-southern faults with dextral strike-slip (as Gosht fault) has caused small bent on general trend of alluvial along the drainage basin.

High Zagros zone in southeast Kermanshah is bordered between two Radiolarite and Zagros Fold Belt and consist of abundant NW-SE trending Thrust faults and folds sub-parallel to Zagros fold belt. Several structural cross-sections were prepared in NE-SW direction perpendicular to the trend of the structures. Main Thrusts were cut by some local strike-slip faults due to difference in their displacement. The Kohsefid Thrust fault (FA) is one of the main Thrusts that divide the northern Radiolarite zone from the High Zagros Zone. This fault is limiting the southern boundary of the Radiolarite zone. It displaced as a reverse fault during contraction tectonic in Late Cretaceous. The flysh facies of Amiran formation in Zagros Fold Belt with Paleocene age contain radiolarite fragments and confirms this event. It seems that the Garo Formation plays a detachment surface role for these Thrusts in the High Zagros zone. The foreland in Zagros, commenced to deform by Thrusting and folding in Late Cretaceous in the High Zagros zone and by later collision of the Arabian plate with the Iranian plate, rock units in the Zagros Fold Belt were deformed.

Kareh Bas fault system with a total length of more than 200 km is a nearly N-S trending transverse fault system in Zagros folds and Thrust belt. This system is situated about 40 km in the west of Shiraz.Having a right-lateral strike slip fault system and based on its geometry, it consists of six structural segments.In this paper for the first time, the type and attitude of Mountain Front fault (MFF) have been determined by data integration and Kareh Bas fault system, that caused approximately 109 km strike separation of MFF, has also been introduced as a transcurrent fault system. In addition, the role of this fault system in the basin partitioning, thickness and facies controlling of sediments since Middle Cretaceous is discussed. Finally, fractal dimensions have been analyzed on spot space image maps.

Frontal Zagros fold-Thrust belt in coastal Fars have been dissected by series of sinistral transverse faults. These faults, recognized and analyzed by interpreting satellite images and field mapping, are sinistral, normal left and normal faults. Based on their attitude, geometry and mechanism, they have been analyzed as continuation of the Nezamabad transverse fault in coastal Fars of Zagros fold-Thrust belt. Correlation between the fault trend with geomagnetic lineament crossing frontal part of Zagros reveals that Nezamabad fault has basement origin. It has also been proposed that the cover sequence is not only affected by the Nezamabad fault in northern part of the belt but also has significantly influence on the Kangan anticline in most frontal portion of the Zagros fold- Thrust belt.

The NNW-trending Dena fault, with 140 km length, cuts the major structures of Zagros Fold-Thrust Belt in Borujen region. The fault has divided the region in two zones, in which different structural, andmorphological features as well assedimentation and seismtectonic characteristics have developed. This study presents a new interpretation for the kinematics of Dena fault based on field evidence. Precise field mapping and structural analysis in four structural traverses across the Dena fault zone indicates that it composes of several sub parallel surface fault segments with right-lateral strike-slip to reverse right-lateral fault mechanism. Coincidence of the Dena fault with the T-11 aeromagnetic lineament as well as evidence on the fault activity on isopach maps from Cretaseous to Miocene time implies that the north segment of the Dena fault has kinematics relation to this lineament. The low angle between the general trending of the mapped fault segments on the surface with the trend of the aeromagnetic lineament implies their close relationship. Therefore, it is proposed that the mapped fault segments are the Riedel shear faults of an active deep-seated strikeslip fault on the surface. In addition, the proposed kinematics for the Dena fault is compatible with the focal mechanism of earthquakes epicentered along the fault. The result of this interpretation documents that the Dena fault is a basement fault with right-lateral strike-slip mechanism.

Geometry and kinematics analyses of structures developed along one of the transverse fault zone (Izeh) in the Zagros fold-Thrust belt has been presented to document the origin and to present the effect of this fault zone on the belt structures. Surface deformation of Izeh fault zone on the cover sediments are including changes on the Zagros major structures trends and development of minor structures (such as minor folds and faults) that are overprinted on the belt major structures. Detaeled structural mapping showed the precense of three major restraining zones between the mapped subsurface en-echelon faults along the Izeh fault zone in the Zagros fold-Thrust belt. Analysis of isopach maps, facies variation of formations together with interpretation of seismic reflection profiles showed that these subsurfase faults are younger orders of the Izeh fault zone reactivation as a basement fault. Oblique convergence of the Arabian Plate toward the Central Iran is in favor for the reactivation of the fault zone and formation of surface deformations along it. Based on earthquake data this reactivation is continuing until the present time.The result of this study can be used for interpretation of deformation on the sedimentary cover along the similar transvers fault zone in the Zagros fold-Thrust belt.

The Zagros fold-Thrust belt has been cut out by various transverse faults with segments displaying en-echelon pattern. Depending on the type of overlapping and fault mechanisms, restraining and releasing zones have been developed between these en-echelon segments. The NW-trending dextral Sabzpushan fault is one of these transverse strike-slip faults located in the Fars province of the Zagros belt. Since the Sabzpushan fault zone consists of several en-echelon segments of clockwise pattern, restraining zones have been generated between them. One of these restraining zones is developed on the NW nose of the Chaghal anticline. Detailed field studies and interpretation of satellite images resulted in identification of several dextral en-echelon faults in the western part of the Chaghal anticline. This fault zone consists of two en-echelon faults called Qir and Harm. Different kinds of structures such as dextral faults with reverse component, Thrust faults, minor duplexes and young minor folds were mapped in these restraining zones. These structural assemblages are similar to those that are developed in the restraining zones produced in physical models of en-echelon strike-slip faults. In addition, similar restraining zones which are also observed across the Ghol Ghol and Sefidar anticlines to the south and north of the Chaghal anticline, respectively, are attributed to other en-echelon segments of clockwise array along the Sabzpushan fault zone. These dextral en-echelon faults along the Sabzpushan fault, which are interpreted as surface ruptures in the sedimentary cover with basal detachment zone, formed as a result of the activity of Sabzpushan fault in the basement.

Zagros fold-Thrust belt has been crossed by different transverse faults with NNW-SSE trend and dextral mechanism. These faults often show en-echelon geometries on the surface because of presence of detachment layers at base and within the cover sequence. The Karehbas fault is one these faults located in Fars province about 65 km to the east of the Kazerun fault zone. Presence of the Hormoz salt as a basal detachment and ductile horizons within the sedimentary cover have caused the fault to appear on the surface as several north-northwest-trending en echelon segments. At least six segemnts have been recognized in northern and southern parts of the Karehbas fault. In this study two southern segments, the Mengharak and Kalagh segments of the Karehbas fault zone to the south of Firuzabad are introduced and their mechanism are analyzed. Riddle and anti-riddle faults and drag folds and terminations are used to analyze the dextral kinematic for both segments. These strike-slip fault segments terminate in Thrusts that are sub-parallel to the regional the Surmeh and Kalagh Thrusts in the south. These fault terminations are in the hanging-wall of the Surmeh and Kalagh Thrusts, and expose formations that are older than those in the hanging-wall of the latter Thrusts. Therefore, the Mengharak and Kalagh segments introduced in this study have strike-slip mechanism, and according to this mechanism, their geometry and their structural position in continuation of the northern and central segments of the Karehbas fault, they are introduced as the southern segments of the Karehbas fault. Based on the Thrusting of the Asmari Formation over the Bakhtiari Formation in the positive flower structure along the Mengharak segment, the minimum amount of displacement on these fault segments are evaluated equal to the thickness of the Mishan Formation.

The Shekarab fault system, located in the north of the Birjand city, has fault scarps parallel to main fault. Due to the structural features, mechanism of fault trends in the region, fault-related folding and the occurrence of the migration from the north to the south at Shekarab fault, modeling is done for the geometric pattern of the fault propagation, which is in accordance with the Shekarab fault zone. In this model, new scarps are formed in the footwall of the previous scarps. According to the results of modeling, the most important factor for creating alternate scarps is the north-south compression in the Shekarab Thrust. At each step, by increasing the amount of shortening, the emergence of new faults are observed so that the first Thrust is created on the northern side of the Shekarab zone and subsequent faults are created by increasing the amount of shortening up to a maximum of 58%, on the southern side of the zone and on the footwall of the previous faults. In this modeling, the slope of the Thrusts is created in four stages of shortening varying between 60-65 degrees, which is comparable with the actual slope of the Shekarab faults of 70 degrees. According to the experimental results, the sequence of Thrust creation in each modeling stage is consistent with the sequence of Thrust in the Shekarab zone and with the north-south migration of the fault. According to the geometry of Thrusts and back-Thrust, the model of formation of structures in this fault zone is the foreland breaking sequence model so that the branches of the Thrust originate from a point.