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Control Algorithm of Multi-agent Systems in Special Paths With an Applied Consideration in Biomechanical Engineering to Perform Operations of Interior Treatments

Soltani, Ali | 2010

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 40363 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayyadi, Hassan
  7. Abstract:
  8. In this project Deployment of multi-agent systems was studied. Maximum coverage over a point or curve or area is desired in deployment of multi-agent systems. A facility location optimization function was derived from geometrical concepts such as voronoi, n- geometric median and fermat-weber problem by optimization of which the deployment of multi-agent systems is performed. First, it is assumed that dynamic of agents is first order and second order .Next, it is assumed that agents are in a fluid. In all situations a suitable control algorithm was derived to optimize the facility location function to perform deployment. Next, another facility location function was derived by optimization of which the deployment of agents in the presence of environmental obstacles. In this model, the boundaries of obstacles are modeled by virtual agents which interrupt facility delivery of real agents. Suitable controllers are designed to optimize this function to deploy multi-agent systems in presence of obstacles. One can use all designed controller to control multi-agent systems in a special path by knowing some points of path and deployment of multi-agent systems toward those points respectively. Next, motion of Red Blood Cell in blood ways of human body is simulated by solving Navier-Stokes equations and fluid-structure effect on them. Finally, Simulation of multi-agent system path control in blood ways of human body in presence of environmental obstacles such as RBC was performed briefly. In conclusion, multi-agent nanorobotic systems can be used to drug delivery in human or animal body to perform operations of interior treatments with high efficiency. In appendix, there is a control law for agents with wheeled dynamic to control the regular robots and autonomous vehicles to perform various operations such as autonomous rescue operations.
  9. Keywords:
  10. Multiagent System ; Tracking Control ; Blood Vessels ; Deployment ; Geometric Concepts ; Red Blood Cell

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