We discuss the problem of minimum cost trajectory planning for robotic manipulators. It consists of linking two points in the operational space while minimizing a cost function, taking into account dynamic equations of motion as well as bounds on joint positions, velocities, jerks and torques. This generic optimal control problem is transformed, via a clamped cubic spline model of joint tempora...

abstract due to limited water resources and occurrence of recent droughts, the use of new management and planning methods for optimal irrigation scheduling of agricultural crops is inevitable. present of appropriate mathematical and dynamic relationship between yield, evapotranspiration and water use efficiency parameters is the first and most important step in the optimal management of irrigat...

given the strategic remarkable rank of pistachio in non-oil exports, inputs’ management in its production is so important. as the scarcest input in agricultural sector, water is considered to be among the most important inputs of pistachio production.water inadequate supply and limate conditions increase water demand in pistachio growing areas. it is necessary to determine the real value or pri...

In this paper, an extended economic production quantity (EPQ) model is investigated, where demand follows a random process. This study is motivated by an industrial case for precision machine assembly in the machinery industry. Both a positive resetup point s and a fixed lot size Q are implemented in this production control policy. To cope with random demand, a resetup point, i.e., the lowest i...

This paper examines the process of outsourcing manufacturing to cost-efficient and innovative suppliers in support of internal core competencies. A framework that links the phases of the entire outsourcing process to strategic planning is presented. The framework includes a logical sequence of key activities with built-in performance measures and expected output for each of the phases. In addit...

the main objective of this study was to determine the economical level of inputs applied in production of sugar beet by eglid region farmers. therefore data set was obtained from 55 farmers through interview and completing questionnaire. the farmers were selected based on a two-stage random sampling method.  marginal productivity of inputs was studied using cobb –douglasand transendental produc...