based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...

while sophisticated analytical methods like morgenstern-price or finite elementmethods are available for more realistic analysis of stability of slopes, assessment of the exactvalues of soil parameters is practically impossible. uncertainty in the soil parameters arisesfrom two different sources: scatter in data and systematic error inherent in the estimate of soilproperties. hence, stability o...

Windows Dam Analysis Modules (WinDAM) is a set of modular software components that can be used to analyze overtopped earthen embankments and internal erosion of dams. WinDAM is being developed in stages. The initial computational modules address routing of floods through the reservoir with dam overtopping and evaluation of the potential for vegetation or riprap to delay or prevent failure of th...

The Monte Carlo technique can be used to propagate input variable uncertainty and parameter uncertainty through a model to determine output uncertainty. However, to carry out Monte Carlo simulations, the uncertainty distributions or the probability density functions (PDFs) of the model parameters and input variables must be known. This remains one of the bottlenecks in current uncertainty resea...

We present a new method for the uncertainty estimation of diffusion parameters for quantitative body DW-MRI assessment. Diffusion parameters uncertainty estimation from DW-MRI is necessary for clinical applications that use these parameters to assess pathology. However, uncertainty estimation using traditional techniques requires repeated acquisitions, which is undesirable in routine clinical u...

in previous studies we first concentrated on utilizing crisp simulationto produce discrete event fuzzy systems simulations. then we extendedthis research to the simulation of continuous fuzzy systems models. in this paperwe continue our study of continuous fuzzy systems using crisp continuoussimulation. consider a crisp continuous system whose evolution depends ondifferential equations. such a ...

Because of random nature of many dependent variables in coastal engineering, treatment of effective parameters is generally associated with uncertainty. Numerical models are often used for dynamic analysis of complex structures, including mechanical systems. Furthermore, deterministic models are not sufficient for exact anticipation of structure’s dynamic response, but probabilistic models...