This paper presents the ability of hybrid zero dynamics (HZD) feedback control method to reproduce human like movements for walking push recovery of an under-actuated 3D biped model. The balance recovery controller is implemented on a three-dimensional under-actuated bipedal model subjected to a push disturbance. The biped robot model is considered as a hybrid system with eight degrees of freed...

many studies have been done on hybrid vehicles in the past few years. the full hybrid vehicles need a large number of batteries creating up to 300 (v) to meet the required voltage of electric motor. the size and weight of the batteries cause some problems. this research investigates the mild hybrid vehicle. this vehicle includes a small electric motor and a high power internal combustion engine...

landsat data for 1992, 2000, and 2013 land use changes for ekbatan dam watershed was simulated through ca-markov” model. two classification methods were initially used, viz. the maximum likelihood (mal) and support vector machine (svm). although both methods showed high overall accuracy and kappa coefficient, visually mal failed in separating land uses, particularly built up and dry lands.there...

using a hierarchical hybrid fuzzy model, this paper presents an intelligent system to manage the traffic of ambulances and the vehicles for transporting blood and blood products and generally the transportation related to health emergencies. the transportation of emergency patients, emergency accidents and health-related emergencies, and the transportation of blood and blood products should be ...

The process of pollutant adsorption from industrial wastewaters is a multivariate problem. This process is affected by many factors including the contact time (T), pH, adsorbent weight (m), and solution concentration (ppm). The main target of this work is to model and evaluate the process of pollutant adsorption from industrial wastewaters using the non-linear multivariate regression and intell...

the objective of this article is to develop an empirically based framework for formulating and selecting a vendor in supply chain. this study applies the fuzzy set theory to evaluate the vendor selection decision. applying analytic hierarchy process (ahp) in obtaining criteria weights and applied technique for order performance by similarity to idea solution (topsis) for obtaining final ranking...

The efficiency measurement is a subject of great interest. The majority of studies on DEA models have been carried out using radial or non-radial approaches regarding the application of DEA for the efficiency measurement. This paper, based on the directional distance function, proposes a new generalized hybrid measure of efficiency under generalized returns to scale with the existence of both r...

We investigate the hard nonresonant excitation of the forced Duffing equation with a positive damping parameter E. Using the symbolic manipulation system MACSYMA, a computer algebra system. we derive the two term perturbation expansion by the method of multiple time scales. The resulting approximate solution is valid for small values of the coefficient e As the damping parameter e increases, th...

the aim of this study is to evaluate the obstacles due to a dpsir model combined with fuzzy analytic hierarchy process technique. hence, to prioritize the responses regarding the driving forces, pressures, states and impacts, the hierarchy of the model is established. evaluations and prioritization of model results of urban transport situation in tehran have provided a number of necessary issue...