The main objective of this article is to optimize the walking pattern of a 2D humanoid robot with heel-off and toe-off motions in order to minimize the energy consumption and maximize the stability margin. To this end, at first, a gait planning method is introduced based on the ankle and hip joint position trajectories. Then, using these trajectories and the inverse kinematics, the position tra...

The harmonic in distribution systems becomes an important problem due to an increase in nonlinear loads. This paper presents a new approach based on a graph algorithm for optimum placement of passive harmonic filters in a multi-bus system, which suffers from harmonic current sources. The objective of this paper is to minimize the network loss, the cost of the filter and the total harmonic disto...

in this paper, we consider a multi-site production planning problem subject to uncertainty in demand and workforce expenses. in our new mathematical model, we presented a production planning system considering failure in rework and breakdown. we also survey human workforce allocation and its expenses which are considered uncertain due to some tradeoff between company’s benefits and workforce :u...

<p style='text-indent:20px;'>Utilizing rail transit system for collaborative passenger-and-freight transport is a sustainable option to conquer urban congestion. This study proposes effective modeling and optimization techniques planning city-wide metro-based underground logistics (M-ULS) network. Firstly, novel metro prototype integrating retrofitted stations newly-built capsule pipeline...