this paper examines differences in performances of a range of torsionally stiff and flexible single story buildings designed with the provisions of iranian standard 2800. seismic nonlinear dynamic time history behavior of eight building models subjected to seven horizontal bi-directional design spectra compatible ground motions are investigated. these models cover a wide range of very torsional...

In this paper a general formulation for finding the maximum allowable dynamic load (MADL) of flexible link mobile manipulators is presented. The main constraints used for the algorithm presented are the actuator torque capacity and the limited error bound for the end-effector during motion on the given trajectory. The precision constraint is taken into account with two boundary lines in plane w...

A dynamic structure DEVS algorithm – Flexible Dynamic Structure DEVS is introduced in this paper. The dynamic structure is a salient supplementary of the Real-Time DEVS-based experimental environment we proposed before. By adapting the system organization to the changing internal/external environments while the systems are in progress, the functionality of the experimental environment is improv...

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...

This paper presents the development of an interactive and user-friendly environment for simulation and control of flexible manipulator systems. A constrained planer single-link flexible manipulator is considered. A simulation algorithm characterising the dynamic behaviour of the manipulator is developed using finite difference methods. Several open-loop and closed-loop control strategies are de...

A low complexity dynamic subcarrier and power allocation methodology for downlink communication in an OFDM-based multiuser environment is developed. The problem of maximizing overall capacity with constraints on total power consumption, bit error rate and data rate proportionality among users requiring different QOS specifications is formulated. Assuming perfect knowledge of the instantaneo...

This paper focuses on parameter identification of a target tracker robot possessing flexible joints using particle swarm optimization (PSO) algorithm. Since, belt and pulley mechanisms are known as flexible joints in robotic systems, their elastic behavior affecting a tracker robot is investigated in this work. First, dynamic equations governing the robot behavior are extracted taking into acco...