Browsing by Author "Sultan, Mohammad M."
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Item Optimize an MRI Gauss Gun(2017-12) Sultan, Mohammad M.; Becker, Aaron T.; Wolfe, John C.; Tsekos, Nikolaos V.; Contreras-Vidal, Jose L.MRI-based navigation and propulsion of millirobots is a new and promising approach for minimally invasive therapies. The strong constant magnetic field inside the scanner precludes torque-based control. Consequently, prior propulsion techniques have been limited to gradient-based pulling through fluid-filled body lumens using the weaker gradient magnetic coils. Performing interventions requires techniques or mechanism to increase this weak magnetic pulling force. One technique is a self-assembling robotic tool designed by our lab called a Gauss gun. This thesis shows numerical analysis and results for optimizing the kinetic energy generated by a Gauss gun to penetrate tissue, deliver a drug or remove a clot. This analysis based on the equations of energy for an MRI Gauss gun. The numerical method used for this optimization is Nelder Mead, implemented in Mathematica software.Item Reachable Set for a drone(2022-12-14) Sultan, Mohammad M.; Becker, Aaron T.; Jackson, David R.; Chen, Zheng; Cescon, Marzia; Li, XingpengQuadcopters are increasingly popular for robotics applications. Being able to efficiently calculate the set of positions reachable by a quadcopter within a time budget enables collision avoidance and pursuit-evasion strategies. This research computes the set of positions reachable by a quadcopter within a specified time limit using a simplified 2D model for quadcopter dynamics. This popular model is used to determine the set of candidate optimal control sequences to build the full 3D reachable set at final time T in (x,z,θ) phase space or rotated to form the set in (x,y,z) Cartesian space. We calculate the analytic equations that exactly bound the set of positions reachable in a given time horizon for all initial conditions. We use these bounds to: escape a bounded region, avoid a collision, find the collision set, determine the closest point to the reachable set, reach a goal (x,z) in the reachable set, and for drone countermeasures.