Changing the railway line from single track to double will increase capacity, which means there is an additional number of train trips. Even though it has become a track, trip still passes through level crossing. If trips increases, result in more frequent crossing gates being closed, or can also extended gate closing times. When be road traffic conflict; stop and form queue. The often conflict...

There is a great resolution calling for smart grids in recent years. Introduction of new technologies, that make the network flexible and controllable, is a main part of smart grid concept and a key factor to its success. Transmission network as a part of system network has drawn less attention. Transmission switching as a transmission service can release us from load shedding and remove the co...

Optimal load of mobile robots, while carrying a load with predefined motion precision is an important consideration regarding their applications. In this paper a general formulation for finding maximum load carrying capacity of flexible joint mobile manipulators is presented. Meanwhile, overturning stability of the system and precision of the motion on the given end-effector trajectory are take...

This paper proposes an optimal transmission expansion planning (TEP) which is based on determining share of each line in merchandizing surplus (MS) of system, determining by Independent System Operator (ISO). The more share of a line in MS of system denotes the priority of a line for expansion. The procedure of determining MS of each line in a power system is based on determining the MS share o...

this paper proposes an optimal transmission expansion planning (tep) which is based on determining share of each line in merchandizing surplus (ms) of system, determining by independent system operator (iso). the more share of a line in ms of system denotes the priority of a line for expansion. the procedure of determining ms of each line in a power system is based on determining the ms share o...

considering the large amount of investment in railway transportation systems, effective use of resources is highly important. typically, in order to utilize the line capacity, train scheduling plays a substantial role and thus attracts lots of attention all over the world. various train-scheduling models are introduced, according to different conditions of different countries. however, for iran...

Unit quaternion is an ideal parameterization for joint rotations. However, due to the complexity of the geometry of S group, it’s hard to specify meaningful joint constraints with unit quaternion. In this paper, we have proposed an effective and accurate method to specify the rotation limits for joints parameterized with the unit quaternion. Joint constrains constructed with our method are adeq...