Sharif Digital Repository

In this paper, a new approach for path generation and control of multi-agent systems is proposed. This method is based on global optimization techniques used for solving the inverse kinematic problem of redundant manipulators. Convergence of any performance function such as obstacle avoidance, collision avoidance, and heading angle to its global optimum is guaranteed by introducing a control law which is based on the Pontryagin's Maximum Principle. The efficacy of the proposed algorithm is demonstrated through simulation experiments. © 2006 IEEE  

In this paper, which consists of two parts, a new two-level computational algorithm is used for nonlinear optimal control of large-scale systems. The two-level optimizer uses a new coordination strategy which is based on the gradient of interaction errors instead of the gradient of overall performance function. The advantages of the new method can be categorized into two parts: First, the new formulation is applicable to a large class of problems whilst the classical model coordination method is not. Second, it extremely reduces the number of iterations required for obtaining the overall optimal solution. Although the computational burden of the algorithm in the first level increases... 

The planned design of nanocomposites combined with manageable production processes, which can offer controllability over the nanomaterial structure, promises the practical applications of functional nanomaterials. Hollow core-shell nanostructure architectures represent an emerging category of advanced functional nanomaterials, whose benefits derived from their notable properties may be hampered by complicated construction processes, especially in the sensing domain. In this regard, we designed a highly porous three-dimensional array of hierarchical hetero Cu(OH)2@CoNi-LDH core-shell nanotubes via a quick, very simple, green, and highly controllable three-step in situ method; they were...