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Completing the Fabrication of Magnetic Micro-swimmer Positioning System and Designing an Optimal Controller to Minimize Energy Consumption
, M.Sc. Thesis Sharif University of Technology ; Nejat, Hossein (Supervisor) ; Saidi, Mohammad Said (Co-Supervisor)
Abstract
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...
Modeling and Designing Dynamic Positioning System for an Underwater Vehicle
, M.Sc. Thesis Sharif University of Technology ; Seif, Mohammad Saeed (Supervisor)
Abstract
The aim of this study is to design a control system for an autonomous underwater vehicle and evaluate this system for different missions. Due to the non-linear behavior of the target robot, both linear and non-linear behavior of the system was studied. Model Predictive control method has been implemented since it can outline both linear and non-linear controllers. The first non-linear dynamics of this robot, maneuvering equipment, and external disturbances (waves and ocean current) were modeled. Then, to design the linear controller, the equations of motion have been linearized around the working point(cruise speed). In order to analyze both designed controllers, various duties have been...
Modeling, Study of Operational Characteristics and Fabrication of an Ultrasonic Linear Motor
, Ph.D. Dissertation Sharif University of Technology ; Akbari, Javad (Supervisor)
Abstract
Nowadays, piezoelectric motors are used as one of the suitable options in the modern motion control field and precise positioning systems due to their suitable functional characteristics such as high power to weight ratio, fast dynamic response, direct drive motion, integrated structure without backlash and possibility of miniature design. Accordingly, the present dissertation is defined in order to develop a comprehensive path for modeling, analysis and optimization of the ultrasonic piezoelectric motors. In this study, the focus is on the ultrasonic motors with an elliptical structure, but the results can be used for other structures as well. In the present work, the process of modeling of...
Analysis of Effective Parameters in Localization Accuracy of Positioning Systems
, Ph.D. Dissertation Sharif University of Technology ; Behnia, Fereidoon (Supervisor)
Abstract
Target localization using positioning systems has long been considered by researchers in various fields.One of the important issues in localizing a target is the accuracy of its determined position. There are several parameters in the accuracy of position estimation. In a comprehensive view, these parameters can be divided into three general factors,including the relative geometry of the transmitters/receivers with respect to the target, the accuracy of measurements, and the type of target position estimator.The first factor, i.e. the relative geometry between the target and the transmit/receive antennas, plays an important role in localization accuracy. In the first part of this thesis, the...