Offsite construction (OSC) is one of the alternative methods for various challenges that sector faces today. This study developed a management system based on building information modeling (BIM) to execute OSC projects successfully. Because differs from conventional onsite method, authors studied and analyzed several project cases interviewed participants stakeholders. The method has unique cha...

the main objective of this article is to optimize the walking pattern of a 2d humanoid robot with heel-off and toe-off motions in order to minimize the energy consumption and maximize the stability margin. to this end, at first, a gait planning method is introduced based on the ankle and hip joint position trajectories. then, using these trajectories and the inverse kinematics, the position tra...

in this paper, polyacrylamide/chromium acetate gel polymer system was prepared as water shut-off system to control water production in one of the iranian oil reservoirs condition. effect of various parameters such as temperature (90 °c) and water formation from view point of salinity and divalent cations, was evaluated on the gelation kinetic and gel strength using bottle testing method. the re...