Sharif Digital Repository

Examining composite quantum systems through quantum thermodynamics, we face the new concept of binding energy. In this thesis, we are going to present a general definition for binding energy in quantum systems which covers any kind of interactions. First of all, we examine the possibility of energy exchange in a quantum system using quantum thermodynamics. In this theory, energy exchanges of an open quantum system may be divided in to two portions: heat and work; due to an accepted definition, heat is the portion of energy that is supposed to change entropy, while work has no influence on that. In this research, we restrict our calculations to the systems which are thermally closed and... 

Magnetic steering of continuum robots is a promising technology that uses a magnetic field to control the robot without contact and can improve the accessibility, safety, and accuracy of the robot. On the other hand, magnetic localization can also be used as a positioning method without direct line of sight in various applications. Common magnetic localization methods face the challenge of dependence on initial guess, divergence, and high computational cost. In this research, by eliminating the unknowns related to the orientation and rewriting the equations, a new method for magnetic localization has been presented. The advantage of the new method in convergence and increasing the speed of... 

Quadcopters are a bunch of vertical takeoff and landing UAVs and generally consist of four symmetric arms, each possessing a rotor-blade at the end. Quadcopters are able to retain their state and position by performing static maneuverability. Conventional quadcopters have less actuators (four engines) than their DOF (six degrees of freedom in the space). Thus, it is impossible to control all DOF of the system independently. Nevertheless, one can make a solution to this problem by increasing the number of actuators, so that each rotor-blade can also rotate about the corresponding arm. Such a quadcopter is so called a “tilt-rotor quadcopter”. The aim of this work is to model a tilt-rotor... 

An optimal trajectory for flight through Microburst wind shears is designed which minimizes the maximum deviation from desired trajectory With respect to optimal control methods. The suitable performance of airplane retrieval in abort landing and landing phases at microburst encounter is achieved by influence of mentioned design in worse case of wind fluctuation and variation. 3D Vicroy microburst model is selected to investigate its effects on 6 DOF jet engine aircraft EOMs. Above optimal control problem is solved using gradient method of SD . Furthermore, sensitivity of optimal trajectory to lateral and longitudinal location of microburst, microburst parameters, throttle setting and... 

Mathematical models are used for describing physical systems to make it possible to study and investigate the behavior of these systems and compare their performance and improve them. For this reason, a mathematical model for cardiovascular system and respiratory system is used to study how these two systems interact. The cardiovascular system model and the respiratory system model comprise four and two compartments, respectively. In fact, the combined model contains the left and right ventricles, body tissue, lung, systemic blood circulation, and pulmonary compartments. Heart rate and alveolar ventilation are assumed to be the quantities through them the central nervous system controls the... 

In recent years, planing boats have been used in more exposed areas, for instance as patrol boats, pilot boats, coast guard and small naval vessels. When such a small vessel operating in a rough-water environment, frequently experiences violent motions and vertical acceleration. Even on calm water, porpoising may occur and may be severe as the speed is increased. Operation of the crew, equipments and overall operability of the vessel always suffer from mentioned motions. In the present study, the impact of fixed and controlled interceptors on a planing crafts hydrodynamic and seakeeping quality is investigated through application of an experimental and theoretical methods. Two scaled-down... 

This thesis is concerned with an optimal trade-off between communication overhead and the number and size of neighborhoods in a distributed optimal control technique for large-scale systems that is based on the Jacobi iteration and two-layer architecture for communication. Although this method efficiently reduces computational overhead, continuous and proper data transfer between subsystems that are very often far from each other, is required to achieve an acceptable performance. However, limited transmission bandwidth and short communication range result in significant communication overhead. This causes significant time latency between measurement and applied calculated control actions,... 

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... 

Plantwide control plays a significant role in both industrial and academic fields. In this work, two plantwide control methodologies, “Self-Optimiaing Control (SOC)” and “Integrated Framework of Simulation and Heuristic (IFSH)”, have been applied on toluene hydrodealkilation process. Consequently, the performance of each methodology has been evaluated and compared due to the same process disturbance scenarios.The results are as follows: Although self-optimiaing control includes lots of optimization efforts, dynamic performance of the plant dose not exhibit notable differences. Therefore, Integrated framework of simulation and heuristic methodology is preferable for hydrodealkilation... 

Micro-robotics is one of the currently emerging technologies which has attracted attentions for its probable applications in different fields including biotechnology, diagnosis and treatment in medical engineering as well as general studies in micro-scale science and engineering. Magnetic micro-robotics is considered as the most promising group, primarily due to the biocompatibility of magnetic fields and advances in electronic circuits to produce and control such fields. One critical point in utilizing these robots is their high density in comparison with the working fluid and their tendency to sink. In this thesis, a method to fabricate buoyant magnetic robots has been proposed based on... 

We consider a system of two coupled integro-differential equations modelling populations of healthy and cancer cells under chemotherapy. Both populations are structured by a phenotypic variables, representing their level of resistance to the treatment. we analyse the asymptotic behaviour of the model under constant infusion of drugs. By designing an appropriate Lyapunov function, we prove that both cell densities converge to Dirac masses. We then define an optimal control problem, by considering all possible infusion protocols and minimising the number of cancer cells over a prescribed time frame. We provide a quasi-optimal strategy and prove that it solves this problem for large final... 

We consider a system of nonlinear partial differential equations corresponding to a generalization of a mathematical model for geographical spreading of dengue disease. the mosquito population is divided into subpopulations: winged form (mature female mosquitoes) and aquatic form (comprising eggs, larvae and pupae); the human population is divided into the subpopulations:susceptible, infected and removed (or immune). On the other hand we allow higher spatial dimensions and also parameters depending on space and time. is last generalization is done to cope with possible abiotic effects as variations in temperature, humidity, wind velocity, carrier capacities, and so on; thus, the results... 

In the first part of the thesis, based on the optimal control theory, a novel approach to derive a cooperative guidance law for two pursuers with an arbitrary-order linear dynamics against one zero-lag evader with random step maneuver is proposed. This approach is intended to minimize the mean value of the resultant control effort taken over a set of possible evader maneuvers which is modeled as step function, the parameters of which are unknown. Since the resultant control effort is the minimum effort among the pursuers, we encounter the nonlinear “minˮ function in the performance index. By introducing binary parameters, it is changed to a linear function including binary parameters and... 

Paralysis is one of the most common disabilities resulting from stroke. Usually injury to one hemisphere of the brain affects the opposite side of the body. This one-sided paralysis is called hemiplegia Damage to a lower part of the brain, the cerebellum, can affect the body's ability to coordinate movement, a disability called ataxia, leading to problems with body posture, walking, and balance. Reaching tasks are building blocks of most daily functional movements. The purpose of such a movement is to transfer a specific point of hand (e.g. fingertip) toward a special location in space around. In people with ataxia, trajectories of reaching movements are far different from healthy people in... 

In this thesis, two essential issues are investigated. The first issue is, when a general incommensurate fractional-order controller would be a stabilizing controller for an incommensurate fractional-order system in the standard feedback structure, and how one can possibly construct such closed-loop stabilizing controller. The second issue is to synthesize internal model principle based fractional-order controllers. These controllers consist of two main parts: the internal model corresponding to exogenous signals and an arbitrary fractional order controller. The main objective in the internal model principle based controllers, is to synthesize the second part of the controller such that the... 

In this thesis first of all the different approaches of control and parallel of multi-modular inverter system were investigated. These methods have been categorized and examined separately, and they were compared with each other in terms of quality and quantity. Afterwards, Active current sharing technique due to its high reliability was selected as the fundamental control approach. Among different ways for active current sharing, Avarage load sharing was chosen for its acceptable stability compared with other method. Approaching this goal, for the first time optimal control strategy and LQR method was proposed to parallel 3-phase inverters.At first, the problem was edited to be compatible... 

The problem of point to point repetitive time reduction for the rigid manipulators is a major case in industry especially for applications such as point to point welding and part manipulation. These motions are usually repeated for a large numbers of cycles, so that even a minor economization in time can be hugely significant. Nowadays, the time optimal control problem of manipulator with completed theory, is an appropriate solution of the problem. In recent years, with the expansion of design space to structure design, more satisfactory results can be obtained using this method.
Optimal balancing is a new approach based on the optimal control theory in which the balancing unknowns plus... 

Today, a lot of efforts have been done in order to commercialize space travels. Spacecrafts have a lot of components and producing each of them spends high costs. Components such as propellant tanks and boosters are multi segment and are released simultaneously and therefore it is economically feasible to recover them. Due to Parafoil ability in low-cost, soft (no damage to the cargo) and accurate landing, it is gradually replacing parachute. Parafoil can fly long distances after being released, so its landing point could be determined. The aim of the study is to evaluate this scenario in which some segments of launch vehicle (e.g. booster) that are equipped with Parafoil expand their... 

Anaerobic digestion is a useful process that is very important, addition to producing methane as energy source, it can be used for treatment of solid waste and sewage sludge. This process due to the presene of chemical and biological reactions and abundant chemical species, is very complicated and sensitive, so it is very unstable against any kind of change. as for the large importance of the process, we need control and optimization. In order to improving the performance of the process and increasing biogas and methane production, we should control and optimize the process. ADM1 is principal and the most accurate model for this process, a variety of reduced order models used to design... 

Micro-Robotics is implemented by researchers inclusively in last decades in different fields such as, biolotechnology, space, army and medical engineering. However, micropositioning is the main challenge in such projects, since determination and control of micro-robot’s position for drug delivery, artificial insemination and other medical applications are too significant. In this thesis, a method for controlling a microswimmer’s position in two dimention by an external magnetic field has been proposed. Modelling of magnetic field and magnetic gradient are some important challenges due to the fact that in control loop, a fast and optimal model for estimation of magnetic filed and gradient is...