Sharif Digital Repository

In the past few decades, with the advancement of technology, using autonomous robots has been receiving growing interest. Autonomous semi-submersible vehicles are a subset of autonomous underwater vehicles (AUV). This type of vehicle operates near the surface of the water and is semi-submerged. Nonlinear coupled dynamics, structural uncertainties, model parameters dependency to robot velocity, external disturbances, and model constraints are AUV’s workspace challenges. For this reason, depth control of these vehicles in the presence of environmental disturbances is crucial. However, MPC as one of the advanced control methods in the field of robotics is increasingly developing. This control... 

Gorgan Bay and Miankaleh Wetland have been exposed to various environmental risks in the past years due to the decrease in the Caspian water level and the subsequent decrease in the water level of these water bodies. 2 channels, Chapgoli and Ashuradeh, are the only ways connecting the Gulf with the Caspian Sea. If the water level of the Caspian Sea and the Gulf continue to decrease, these 2 channels will be completely blocked and the connection between the Gulf and the sea will be completely closed. Due to the low depth of the bay and high evaporation on this water body, the blockage of these 2 channels will eventually lead to drying up of the bay or changing the flora and fauna of the area....