in this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. to this end, the dynamics model of the considered wheeled mobile robot is derived using lagrange equations of motion. then, using adams multi-body simulation software, the obtained dynamics of the wheeled system in matlab software is verified. after that, ...

The purposes of this study were to: 1) assess whole body center of mass (CM) motion in the frontal, sagittal, and transverse planes; 2) compare CM displacement with center of pressure (CP); and, 3) further define the stance and swing subphases of stair ascent (SA) and stair descent (SD) based on critical CM, CP, and ground reaction force (GRF) events. SA and SD were analyzed on a convenience sa...

we study the dynamics of two three-level atoms interacting with independent bosonic lorentzian reservoirs at zero temperature. such systems can be created in far astronomical objects. quantum mechanical behaviour of these particles can produce detectable effects on the spectroscopic identifications of these objects, if such behaviour remain stable during the interaction with their media. it is ...

Reverse logistics is a modern field of consideration, research and study, providing helpful information on the operation of the closed-loop supply chain. Although the starting point of this field is traced back to the early 90’s, no standard method has been suggested, neither prevailed. The purpose of this paper is to introduce a new approach on the study of reverse logistics. It is actually a ...

Attempts to examine so-called ‘behavioural effects’ have reached into many different fields and are in full sway across OR. This paper considers whether this can be applied System Dynamics modelling a useful way. The idea is that humans frequently do not employ strict rationality their daily lives but make errors subject fallacies. shed light on the cognitive human interaction aspects of proces...

This work deals with effects of asymmetric stiffness on the dynamic behaviour of the rotor system. The analysis is presented through an extended Lagrangian Hamiltonian mechanics on the asymmetric rotor system, where symmetries are broken in terms of the rotor stiffness. The complete dynamics of asymmetries of rotor system is investigated with a case study. In this work, a mathematical model is ...

Simulation is the best tool used to predict the behavior of real world systems. For the analysis of complex systems, simulation is often used prior to the operation of the system as a mediator for a dynamic situation. This chapter presents the issue of complex systems simulation through Discrete Event Simulation (DES) and System Dynamics (SD) techniques. The Authors original approach stands in ...

a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...

Modelling techniques developed 40 years ago to gain insight into the issues of energy supply security remain powerful even as focus technology policy analysis has shifted consider new problems and use research methods more closely linked pressing environmental challenges. Dynamic modelling continues be merit indeed it potential provide helpful perspectives on contemporary such climate change tr...