Shaping a Swarm Using a Shared Control Input

Simple item page
dc.contributor.advisorBecker, Aaron T.
dc.contributor.committeeMemberMayerich, David
dc.contributor.committeeMemberFaghih, Rose T.
dc.creatorShahrokhi, Shiva
dc.date.accessioned2019-05-23T15:21:07Z
dc.date.createdAugust 2018
dc.date.issued2018-08
dc.date.submittedAugust 2018
dc.date.updated2019-05-23T15:21:07Z
dc.description.abstractMicro-robots are small enough to move through the passageways of the body, therefore they are suited for targeted drug delivery and micro-scale manufacturing. Due to their small size, a single robot does not have enough force to deliver payloads, and it is prohibitively difficult to have onboard computation. Therefore, these robots are usually controlled by global inputs such as a uniform external magnetic field. This thesis presents controllers and algorithms for steering such an under-actuated swarm. This work first proves that the mean position of the swarm is controllable, and shows how an obstacle can make the variance controllable. Then it derives automatic controllers for these and a hysteresis-based switching control to regulate the first two moments of the swarm distribution. Finally, this work uses friction with boundary walls to break the symmetry caused by the global input and uses it to steer two particles to arbitrary positions.
dc.description.departmentElectrical and Computer Engineering, Department of
dc.format.digitalOriginborn digital
dc.format.mimetypeapplication/pdf
dc.identifier.urihttps://hdl.handle.net/10657/4014
dc.language.isoeng
dc.rightsThe author of this work is the copyright owner. UH Libraries and the Texas Digital Library have their permission to store and provide access to this work. Further transmission, reproduction, or presentation of this work is prohibited except with permission of the author(s).
dc.subjectSwarm control
dc.subjectShared Input
dc.subjectRobotics
dc.subjectManipulation
dc.titleShaping a Swarm Using a Shared Control Input
dc.type.dcmiText
dc.type.genreThesis
local.embargo.lift2020-08-01
local.embargo.terms2020-08-01
thesis.degree.collegeCullen College of Engineering
thesis.degree.departmentElectrical and Computer Engineering, Department of
thesis.degree.disciplineElectrical Engineering
thesis.degree.grantorUniversity of Houston
thesis.degree.levelMasters
thesis.degree.nameMaster of Science

Files

Original bundle

Now showing 1 - 1 of 1
No Thumbnail Available
Name:
SHAHROKHI-THESIS-2018.pdf
Size:
4.77 MB
Format:
Adobe Portable Document Format
Download

License bundle

Now showing 1 - 2 of 2
No Thumbnail Available
Name:
PROQUEST_LICENSE.txt
Size:
4.43 KB
Format:
Plain Text
Description:
Download
No Thumbnail Available
Name:
LICENSE.txt
Size:
1.82 KB
Format:
Plain Text
Description:
Download

Collections

Published ETD Collection