this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...

In the dissertation, structural Finite Element Analysis is carried out. Both linear and non linear analysis is considered for the investigation. Geometry non linearity, material non linearity and boundary non linearity also called as contact analysis is considered. All the boundary conditions, loadings, material definitions considered are real in nature. Experimental validations are considered ...

this paper investigates the effect of different methods of carbon nanotubes distribution in a thin matrix on static and dynamic behavior of the nanocomposite. five different symmetric patterns of distribution are considered, including four parabolic patterns and a linear one. for each pattern, the effective mechanical properties of the resultant nanocomposite are calculated using the rule of mi...

In this study we investigate a stabilized space-time formulation for linear and non-linear elastodynamics. We use Isogeometric Analysis (IGA) in order to benefit from its numerical qualities. focus on two points: the of weak-forms context interest using continuous Galerkin schemes space time with higher continuity basis functions. illustrate performance these methods through typical impact or v...

One of the major cipher symmetric algorithms is AES. Its main feature is to use S-BOX step, which is the only non-linear part of this standard possessing fixed structure. During the previous studies, it was shown that AES standard security was increased by changing the design concepts of S-BOX and production of dynamic S-BOX. In this paper, a change of AES standard security is studied by produc...

a total number of 116,984 weight records belonging to 12,397 baluchi lambs reared in abbas abad breeding station during years 1978-2008 were used for phenotypic evaluation of maximum daily growth (mdg) and analysis of environmental factors affecting this trait. the initial data were performed by foxpro program and then gompertz non-linear model was fitted on the weight records of individual lam...