Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models these robots are typically parametrized by joint angles, generating complicated mapping between robot configuration end-effector pose. Alternatively, kinematic model task constraints can be represented using invariant distances points attached t...

in this paper, a multi-objective method is used to optimize a heat recovery steam generator (hrsg). two objective functions have been used in the optimization, which are irreversibility and hrsg equivalent volume. the former expresses the exergetic efficiency and the latter demonstrates the cost of the hrsg. decision variables are geometric and operational parameters of the hrsg. the results of...

Geometric programming is a mathematical technique, which has been developed for nonlinear optimization problems. This technique is based on the dual program with linear constraints. Determination of species concentrations in chemical equilibrium conditions is one of its applications in chemistry and chemical engineering fields. In this paper, the principles of geometric programming and its comp...

tetrahydrobenzo[b]pyran derivatives 1 were utilized for the synthesis of several new pyrano[2,3-d]pyrimidine derivatives 2. compound 2 was obtained in the presence of ac2o/h2so4 (as a catalyst) and was confirmed by spectroscopic data such as ir, 1h nmr and 13c nmr. ab initio calculation was carried out to study geometric optimization, thermodynamic parameters, aromaticity and dynamic process of...