Robust connectivity maintanance in multi-agent systems.
In this research the focus is on control development for multi agent systems to preserve network connectivity so that the robustness of the resulted network is maximized for different fails in communication links. In particular, we aim at cooperative multi-robots system controlled in a decentralized way and interact with human operators.
The research program carried out and described in the PhD thesis focuses on the design and analysis of automatically driven networked dynamical units so called multi-agent systems. In this framework, the agents communicate to each other and exchange some data so that, while each agent has only partial information of the whole system, the overall goal of the system is achieved. The agents models were inspired by different real world systems as multi-robots and power generators. The stability behavior of the designed controlled systems in the presence of communication delays was studied theoretically and it was shown to be dependent only on some general properties of the corresponding communication network topology which is an essential challenge in distributed controller design.
In this collaboration, the focus was on distributed controller design for sampled networked systems. In addition to the above mentioned assumptions, in order to reduce the amount of the communications between the pairs of the agents, a sampled-data communication strategy was proposed. We supposed that the samplings are aperiodic, and we provided some proofs for the stability of the system.
In the thesis we used adaptive and intelligence methods to design controllers for space vehicles, and using hardware in the loop simulation scheme, the effectiveness of the designed controllers were investigated. This involved working on actuators design, position measurement, and a lot of different real-time systems programming skills.
Using MSC ADAMS and generating a wind model with C++, the aeodynamical behavior of saffron flower in a special wind tunnel was studied. The wind tunnel was indeed a part of a stamen picking machine.
Involved in projects from the concept and detail of the design on orbital injection control problems.
Worked in R&D department, on the Crane rod fatigue estimation project. Prepared a technical note based on the results of modeling of load distribution estimation in MSC ADAMS and validated the results by the real data.
Worked as a trainee in ship maintenance. Prepared a technical note based on statistical analysis.
Fluent English and Italian, Intermediate French and Arabic, basic Swedish, native Persian.
Dynamical modeling: ADAMS, Working Model.
3D design software: AUTOCAD, SOLIDWORKS, CATIA.
Structural analysis: ANSYS
Programming: MATLAB, C++, FORTRAN.
Mathematical Modeling: MAPLE, SIMULINK, MATHEMATICA.
Operating systems: Linux, Windows.