Sharif Digital Repository

Adaptation is a recurring phenomenon in biology by which biochemical systems can robustly- and in some cases completely- adapt their regulated outputs to en- vironmental disturbances and uncertainties. In nature, such a feature has been evolved in biological circuits through the construction of integral feedback control structures. Three types of biologically plausible controllers have been recently in- troduced which can ensure the existence of robust perfect adaptation for arbitrary plants. In this thesis, the main purpose is to have a comparison between them. To this end, we first find a stability criterion to relate the system’s stability with its internal parameters. We then calculate a... 

In this work dynamic behavior of a two body TSS with main satellite as rigid body is studied and effects of tether elasticity and tension on the satellite dynamic are indicated in station keeping phase and circular orbit. Also a simplified modeling is introduced which could be used in nonlinear controller design. Lagrange and extended Lagrange method is used to derive equations of motion. It is shown that longitudinal vibration of tether has small effect on satellite attitude and angular velocity and because of high frequency it can be decoupled from satellite dynamic. In the simplified model, orbital motion is decoupled from equations of TSS and main satellite dynamic. Effect of decoupling... 

Time delay and bandwidth limitations are common characteristics of communication channels that cause problems in direct use of classic control strategies in networked control systems. As networked systems become larger in scale and the need to share communication channels by multiple processes and controllers, this issue becomes more apparent. In recent decades, the stabilization of time-delay systems has attracted much attention. One of the most common control methods in such cases is based on the use of predictor feedback controllers. Predictor feedback controllers apply a delay-dependent or delay-independent control signal to the system. On the other hand, event-based control has many... 

Lack of force feedback during minimally invasive procedures is one of the downsides of such interventions and might result to excessive damage to surrounding tissues. The goal of the present research is to introduce a vision-based approach to estimate contact forces on soft tissues. In this approach, a model was developed in which, image of deformation of a sample soft tissue, under the jaws of laparoscopic gripper, is the input and the output is the gripper force.
In this method, using finite element simulation, a database from different deformations of a rectangular soft tissue was generated. Accordingly, from the geometric position of nodes of the upper surface of the... 

This research has dedicated to study the control of chaos when the system dynamics is unknown and there are some limitations on measuring states. There are many chaotic systems with these features occurring in many biological, economical and mechanical systems. The usual chaos control methods do not have the ability to present a systematic control method for these kinds of systems. To fulfill these strict conditions we have employed Takens embedding theory which guarantees the preservation of topological characteristics of the chaotic attractor under an embedding named "Takens transformation". Takens transformation just needs time series of one of the measurable states. This transformation... 

In recent years formation control of autonomous vehicles has been a well-studied topic, and the attention has shifted from the control of a single mobile robot to the control of multiple mobile robots because of the advantages a team of robots offer, such as increased efficiency, robustness against fault and damaging, and more systematic approaches to tasks like search and rescue operations, automated highways, survey and patrols, military missions, moving large objects and moving a large number of objects. Formation control means the problem of controlling the relative position and orientation of the mobile robots in a group according to some desired pattern for executing a given task. In... 

global warming and air pollution due to the excessive consumption of fossil fuels have led to the proliferation of renewable energy sources (RESs). RESs are connected to the grid through power electronic converters and therefore, provide insignificant inertia and damping property for the system. As a result, the system overall inertia and damping is decreased and therefore, the system stability is jeopardized. This thesis presents a comprehensive small signal model for a virtual synchronous generator (VSG) integrated into a microgrid. In the developed state space, active and reactive power control loops of the VSG as well as resistances and reactances of the lines are considered. Based on... 

Distributed feedback dye lasers are among the suitable candidates for spectroscopic applications due to their capability of producing widely tunable picosecond pulses in UV-IR region. However, the pulsewidth sensitivity of the laser to pump intensity fluctuations hinders its suitability for precision applications. In this thesis, by utilizing widely used Self Q-Switching model, we showed that if the dye solution is pumped by a narrow (sub-nanosecond) pulse, the laser can operates in the single-pulse output mode with a better stability over a wide range of pump intensity. After that, we used a dynamical model based on the induced polarization and Maxwell equations, where the obtained results... 

Reservoir Computing is a novel computing paradigm that uses a nonlinear recurrent dynamical system to carry out information processing. Recent electronic and optoelectronic Reservoir Computers based on an architecture with a single nonlinear node and a delay loop have shown performance on standardized tasks comparable to state-of-the-art digital implementations. Here we report an all-optical implementation of a Reservoir Computer, made of off-the-shelf components for optical telecommunications. It uses a semiconductor optical amplifier as nonlinearity, and a Fabry-Perot Resonator as a key element to establish the virtual nodes, connecting them and consequently, build the virtual neural... 

With the increasing trend toward Minimally Invasive Surgery (MIS) procedures in last 2 decades, the need to develop new robotic systems to facilitate such surgeries is more and more recognized. The aim of developing robotic surgery systems is not to replace surgeon with robots. Thus, the robotic surgery systems have the approach of master and slave robots. One of the main deficiencies of existing robotic surgery systems is the lack of sense of touch during the surgery. Consequently, the surgeon cannot touch the tissues to examine the quality of surgery .Hence This project describes the design and development of a 5 DOF force-reflective master robot (RoboMaster1) for haptic telesurgery... 

One of the ultimate goals in robotics is to design autonomous robots. Among other things, this means a robot has to be able to plan its own motion. To be able to plan a motion, a robot must have some knowledge about the environment in which it is moving. Some of this information can be provided by a floor plan. For other information the robot will have to rely on its sensors. In this thesis, we consider that the environment is unknown for the robot. So, the robot uses weak sensor to planning its motion. The sensor can distinguish between colors. The robot can follow the colors. Therefore, we need to specify the umber of colors in which the robot can navigate by them. We propose an efficient... 

A key point in designing class-C oscillators is maximizing the Figure-of-Merit (FoM). For this purpose, changing the oscillator’s structure or adjusting its bias current may be used. Previous literatures mostly limit their efforts to the first case, leaving the issue of determining the proper bias current almost untouched. In this work, a new approach recruiting DC voltage of the common source node of the switching pair transistors as an indicator has been presented. Using theoretical analysis, it has been shown that maximizing this voltage will optimize the oscillator in term of the FoM. The proposed indicator has the advantages of not introducing any loading effect to the output node, and... 

In order to perform laparoscopic surgery of large intra-abdominal organs with minimum trauma on patient’s body, an endoscopic tool is designed, analyzed and fabricated in this project. This instrument is capable of passing through a 10mm incision point on patient’s abdomen and then be opened to grasp and hold large organs up to 80mm in diameter. It acts as a miniature hand with three fingers which are opened and closed parallel with each other. Using this tool, there will be no need for a 7-9 cm incision for entering surgeon hand which is required in hand assisted laparoscopic surgery method. In order to evaluate the capability of the tool in grasping and manipulating large organs, the... 

Magnetic levitation is an appropriate solution for noncontact 3D manipulation. Workspace of the previously proposed maglev systems is confined to a relatively small cube, which severely limits the application of this technology. In addition, most of the previously given mechanisms require the design and application of a subsystem in order to unify their magnetic field. In this paper, a moving magnet is proposed which results in a horizontally extendable workspace; moreover, the field unifying section is not needed since one electromagnet only is used. Further, details of the mechanism and finite element based design procedure of the magnet are presented. Dynamic equations of the system... 

Injuries of neuro-musculoskeletal system impose large costs to the modem societies. Studying the strategies of CNS in planning and control of movements can be helpful in developing diagnoSiS, prognosis and treatment procedures in clinical view and also in designing rehabilitation system and humanoid robots. Tow important features of human movements are redundancy problem and structured variability. Previous studies solved the redundancy problem mainly with optimization methods. Also optimal feedback control theory is the only method that successfully modeled structured variability in voluntary movements. Despite the appropriate outputs this methods are not based on physiological facts... 

New nonlinear voltage and current control strategies based on backstepping control and a high-order sliding mode differentiator for microgrid are proposed. The microgrid consists of multiple distributed generation (DG) units with an arbitrary configuration that can be parametrically uncertain or topologically unknown. The proposed method robustly regulates the microgrid voltages and currents in the presence of parametric uncertainties, unmodeled dynamics, load imbalances, and nonlinear loads with harmonic/interharmonic currents. In contrast to existing methods, the proposed method does not need to know the frequency of harmonic and interharmonic current of microgrid loads that lead to the... 

The purpose of determining orientation and position of a rigid-body is specifying its attitude and position with respect to a specified reference frame in order to using in controller. Since there is no sensor that can directly measures the attitude and position, we have to estimate those variables by observers. In this thesis we derive a new and explicit neccesary and sufficient condition for observability of the rigid-body kinematic equation. Also we propose a new observer for estimating the attitude and position of the rigid-body. The special feature of the proposed estimator is that it use only a single landmark and is globally and exponentially stable. In the next step we study the... 

Swaying is an unfavorable phenomenon in moving suspended loads. So, cranes are usually equipped by anti-sway controllers. In this thesis, various controllers have been applied to a prototype of gantry crane system with various control inputs, and their competency has been assessed. First, a 2-DOF model has been introduced. This model contains a trolley and double pendulum with variable length attached to it. Then, it has verified by two approaches: first is comparing with simplified equations of model with flexible cable; and second is comparing with behavior of simulated system by Visual Nastran software. Next, a SISO linear controller has been designed for container cranes and applied to... 

The problem of LQR design based on full state feedback is solved completely in the subject of Optimal Control. So far, however, despite the fact that use of output feedback in many applications of Control is desirable or even necessary, designing optimal controllers using output feedback in general does not seem to have received much attention in the existing literature. Of course, special cases of designing simple controllers using analytical or numerical-analytical methods do exist in the literature. A new algorithm for tuning an optimal controller (P, PI, PID, etc) for a low-order system without delay, and also in the presence of delay, has been introduced in this thesis using the LQR... 

The following thesis is concerned with the effect of channel feedback in tracking and stability of linear Gaussian systems over Additive White Gaussian Noise (AWGN) channel when the decoder is the Kalman filter and encoder is the innovation encoder. When the feedback channel is described by a noisy link or a random switch, it is shown that stability is not possible for unstable systems. But for stable systems, an innovation encoder, Kalman filter decoder and a certainly equivalent controller for tracking and stability are presented. When the feedback channel is described by a deterministic switch, for both stable and unstable systems, an innovation encoder, Kalman filter decoder and a...