Bipedal locomotion has been widely studied in recent years, where passive safety (i.e., a biped rapidly brakes without falling) is deemed to be pivotal problem. To realize safe 3-D walking, existing works resort nonlinear optimization techniques based on simplified dynamics models, requiring hand-tuned reference trajectories. In this article, we propose integrate constraints into constrained ta...

Arm stiffness is a critical factor underlying stable interactions with the environment. When the hand moves freely through space, a stiff limb would most effectively maintain the hand on the desired path in the face of external perturbations. Conversely, when constrained by a rigid surface, a compliant limb would allow the surface to guide the hand while minimizing variations in contact forces....

In this paper we consider a constrained optimization problem where the objectives are fuzzy functions (fuzzy-valued functions). Fuzzy constrained Optimization (FO) problem plays an important role in many fields, including mathematics, engineering, statistics and so on. In the other side, in the real situations, it is important to know how may obtain its numerical solution of a given interesting...

in this paper a mathematical simulation of a simplified internal combustion engine is presented. to contribute engine kinematics and its geometry, simple relations are derived for constrained motions. the equation of motion for the piston forms a singular boundary value problem. the uniqueness of the solution was studied in the banach space. for solving governing equations an iterative numerica...

In this paper we present a Lagrange-multiplier formulation of discrete constrained optimization problems, the associated discrete-space first-order necessary and sufficient conditions for saddle points, and an efficient first-order search procedure that looks for saddle points in discrete space. Our new theory provides a strong mathematical foundation for solving general nonlinear discrete opti...

Many space applications require robotic manipulators which have large workspace and are capable of precise motion. Micro-macro manipulators are considered as the best solution to this demand. Such systems consist of a long flexible arm and a short rigid arm. Kinematic redundancy and presence of unactuated flexible degrees of freedom, makes it difficult to control micro-macro manipulators. This ...

In this article, a finite horizon, multi product and multi period economic order quantity like seasonal items is considered where demand rate is deterministic and known but variable in each period. The order quantities of items come in batch sizes and the end of the period order quantity and, consequently, demand of customers are zero. In addition, storage space is constrained and the problem...