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Control of a Distributed Multi-agent System of Quadrotors for Transportation of a Shared Load
, Ph.D. Dissertation Sharif University of Technology ; Sayyadi, Hassan (Supervisor)
Abstract
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...
New mathematical model to analysis fluid sloshing in 3D tanks with slotted middle baffle
, Article Ocean Engineering ; Volume 262 , 2022 ; 00298018 (ISSN) ; Firouz Abadi, R. D ; Amirzadegan, S ; Sharif University of Technology
Elsevier Ltd
2022
Abstract
This work studies the natural frequencies and modes of liquid sloshing in a rectangular 3D tank with the slotted baffles in middle. A new vibrational model incorporating the pressure difference between the two sides of the baffle, using a transmission function in Laplace space is presented. To this end, a part of the baffle that includes the wall and the slot is modeled in Fluent software, to express this pressure difference as a function of the fluid velocity passing through the baffle. Then, using the boundary element method, and boundary conditions, the equations of the fluid domain are developed. In this research, the rigid baffle is surrounded by a three-dimensional irrotational...
Two phase modal analysis of nonlinear sloshing in a rectangular container
, Article Ocean Engineering ; Volume 38, Issue 11-12 , August , 2011 , Pages 1277-1282 ; 00298018 (ISSN) ; Firouz Abadi, R. D ; Ghasemi, M ; Sharif University of Technology
2011
Abstract
Sloshing, or liquid free surface oscillation, in containers has many important applications in a variety of engineering fields. The modal method can be used to solve linear sloshing problems and is the most efficient reduced order method that has been used during the previous decade. In the present article, the modal method is used to solve a nonlinear sloshing problem. The method is based on a potential flow solution that implements a two-phase analysis on sloshing in a rectangular container. According to this method, the solution to the mass conservation equation, with a nonpenetration condition at the tank walls, results in velocity potential expansion; this is similar to the mode shapes...