Sharif Digital Repository

According to the importance of obstacle and collision avoidance for multiple Autonomous underwater vehicle (AUV) that are synchronized for starting the path following, in this study the coordination path following controller for a group of underactuated underwater vehicle with considering of obstacle and collision avoidance presented. The proposed control method is based on graph theory and back stepping with modeling of obstacle using limit cycle. At first, for controller design the back stepping method for path following of one AUV is used. Then the designed controller using of principles of graph theory, has been extended for multiple AUV and as the result multiple AUV is synchronized and... 

Nowadays, one of the most important desires of the human being is to reduce his living environmental pollution. Using the diluted combustion systems in new gas turbines in order to produce the minimum amount of has been done to satisfy this desire. It should be noted that reducing this amount and using the lower flame temperature will result in some consequences. The most important problem occurred in industrial and aerial gas turbines are the instability of the combustion due to dilution of the fuel to air mixture which it results in heat release fluctuations. If the heat release fluctuations and acoustic pressure are in the same phases, the amplitude of the fluctuations will increase which... 

Inspired by the agility of animal and human locomotion, the number of researchers studying and developing legged robots has been increasing at a rapid rate over the last few decades. In comparison to multi-legged robots, single-legged robots only have one type of locomotion gait, i.e., hopping, which represents a highly nonlinear dynamical behavior consisting of alternating flight and stance phases. Hopping motion should be dynamically stabilized and therefore, presents challenging control problems. A large fraction of studies on legged robots have focused on modeling and control of single-legged hopping machines. In this research, somersaulting is introduced as a kind of hopping motion for... 

In this thesis , we consider the generalized lienard system (dx/dt=1/(a(x)) [h(y)-F(x)])¦(dy/dt=-a(x)g(x) )and under suitable assumptions on a , F , g , h we obtain sufficient and necessary conditions for the intersection of all orbits with the vertical isocline y=F(x) . using these conditions we give some sufficient condition for the oscillation of solutions . then existence and uniqueness of periodic solutions for a kind of lienard equation with a deviating argument are studied . finally we study existence and uniqueness of limit cycles for the generalized lienard system(x ̇=ϕ(y)-F(x))¦(y ̇=-g(x))
 

In this thesis, we first introduce the required biological preparations and popular models for modeling single neuron, synapse and cable. Then by introduction of limit cycle oscillators and the necessary prerequisites, investigations are limited to systems involving weakly coupled oscillators. As two examples of such models, famous Kuramoto and Wilson- Cowan models are described. In the following, we introduce some methods for reduction dimension of weakly coupled oscillators and finally we apply one of the expressed methods on the dynamics of cortical network  

Walking-robots have received much attention because of the variety of motion maneuvers they can produce and the many applications they have in various areas including rehabilitation. One of these maneuvers is running. In this study, a time-invariant controller is designed to dynamically stabilize a five-link and a seven-link running-robots in two dimensions. In the simulation of the seven-link model, an attempt has been made to measure the impact of the circular foot on the stepping pattern. Also, it is tried to present a dynamically simple model similar to the geometry of the human body. Simulations are performed in MATLAB software. The running is modeled with three phases of stance, flight...