This paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. A novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. Parameters of the fuzzy estimator are adapted to minimize the estimat...

the present research is concerned with the determination of ductility, over-strength and response modification factors of coupled steel shear wall frames. three structural models with various numbers of stories, bay width and coupling beam height were analyzed using static pushover and incremental nonlinear dynamic analyses. the ductility, over-strength and response modification factors for the...

measurements of pb, cu, zn, as, ni, hg, and fe heavy metals and major elements and components such as ca, hco3, so4, na, k, mg and cl in soluble rain fractions were performed on rainwater collected at arak plain during the rainy seasons of 2012. concentrations of the heavy metals in the soluble fractions decreased for fe, pb, zn, ni, cu, as and hg, respectively and the major elements and compon...

Factor construction methods are widely used to summarize a large panel of variables by means of a relatively small number of representative factors. We propose a novel factor construction procedure that enjoys the properties of robustness to outliers and of sparsity; that is, having relatively few nonzero factor loadings. Compared to more traditional factor construction methods, we find that th...

This article studies estimation of linear panel regression models with heterogeneous coefficients using a class weighted least squares estimators, when both the regressors and error possibly contain common latent factor structure. Our theory is robust to specification such structure because it does not require any information on number factors or itself. Moreover, our efficient, in certain circ...

One of the fundamental problems in the classic DEA is lack of ability to distinguish unit's performance scores that is considered as a disadvantage. Recently, Parkan et al. [9] tried to address this problem.   They proposed to assess each unit both optimistic and pessimistic views are taken into account. In contrast to traditional evaluation, one index is considered for each unit based on the l...

Natural disasters, such as earthquakes, affect thousands of people and can cause enormous financial loss. Therefore, an efficient response immediately following a natural disaster is vital to minimize the aforementioned negative effects. This research paper presents a network design model for humanitarian logistics which will assist in location and allocation decisions for multiple disaster per...