in this paper a new method is proposed for path planning of planar manipulators amid obstacles through mathematical programming in a way that the robot’s links avoid collision with obstacles throughout their motion from an initial to a goal configuration. after inputting the workspace geometry, the shortest feasible path for the robot’s end-effector is planned toward its goal position using gen...

Optimization problems involving two decision makers at two different decision levels are referred to as bilevel programming problems. In this work, we present a novel algorithm for the exact and global solution of two classes of bi-level programming problems, namely (i) bi-level mixed-integer linear programming problems (B-MILP) and (ii) bi-level mixed-integer quadratic programming problems (B-...

Mixed-integer conic programming is a generalization of mixed-integer linear programming. In this paper, we present an extension of the duality theory for mixed-integer linear programming (see [4], [11]) to the case of mixed-integer conic programming. In particular, we construct a subadditive dual for mixed-integer conic programming problems. Under a simple condition on the primal problem, we ar...

dynamic cellular manufacturing systems,   mixed-integer non-linear programming,   production planning, manufacturing attributes   this paper presents a novel mixed-integer non-linear programming model for the design of a dynamic cellular manufacturing system (dcms) based on production planning (pp) decisions and several manufacturing attributes. such an integrated dcms model with an extensive c...

data envelopment analysis (dea) has been widely studied in the literature since its inception with charnes, cooper and rhodes work in 1978. the methodology behind the classical dea method is to determine how much improvements in the outputs (inputs) dimensions is necessary in order to render them efficient. one of the underlying assumptions of this methodology is that the units consume and prod...

although lot streaming scheduling is an active research field, lot streaming flexible flow lines problems have received far less attention than classical flow shops. this paper deals with scheduling jobs in lot streaming flexible flow line problems. the paper mathematically formulates the problem by a mixed integer linear programming model. this model solves small instances to optimality. moreo...

this paper aims to investigate the integrated production/distribution and inventory planning for perishable products with fixed life time in the constant condition of storage throughout a two-echelon supply chain by integrating producers and distributors. this problem arises from real environment in which multi-plant with multi-function lines produce multi-perishable products with fixed life ti...