This paper presents improvements in contact-before-motion planning for humanoid robots that enables to find a path in very constrained environments. Starting from our previous work, the main novelties are to use a rough trajectory to drive the search and as a criterion to find new contacts and generate the best nodes first. This way only few nodes are effectively explored, speeding up the plann...

Cancer is a major cause of death. Common chemo- and radiation-therapies damage healthy tissue and cause painful side effects. The enzyme horseradish peroxidase (HRP) has been shown to activate the plant hormone indole-3-acetic acid (IAA) to a powerful anticancer agent in in vitro studies, but gene directed enzyme prodrug therapy (GDEPT) studies showed ambivalent results. Thus, HRP/IAA in antibo...

In this paper we outlook current state of the art in the emerging research field of motion planning for humanoid robots. We will first introduce related research activities in several aspects of motion planning for humanoid robots, which include integration of dynamics and other 3D motion planning for wholebody motion and various tasks. We also mention locomotion planning and local whole-body d...

This paper is in search of designing the cellular manufacturing systems (CMSs) under dynamic and flexible environment. CM is proper for small-to-medium lot production environment that helps the companies to produce variable kind of productions with at least scraps. The most important benefits of CM are decline in material handling, reduction in work-in-process, reduction in set-up time, increme...

In looking at Iranian healthcare organizations, one major problem is evident: “lack of strategic human resource management”. There may live several factors that result this lack of interest or know-how practice of Strategic Human Resource Management (SHRM). Lack of SHRM in Iran might be the result of management definitions and methodologies that have been developed and used in Iran by delay bec...

In resource allocation problems for systems with moving planning horizons and significant uncertainty, typical of supervisory control environments, it is critical that some balance of human-automation collaboration be achieved. These systems typically require leveraging the computational power of automation, as well as the experience and judgment of human decision makers. Human-automation colla...

introduction: the human resources are considered the main asset of any society. if used properly and effectively, it will create other sources and above all the added value. the quality of the life is usually dependent on the quality of human professional life including factors such as job security, services and welfare pensions, health services, income, and job quality. the purpose of this stu...

in today's competitive market, quality has an important role in manufacturing system. the manufacturers attempt to maintain their production system in a proper condition to produce high quality products. one of the key factors to achieve this goal is maintenance policy. most studies on maintenance focused on machines and less attention has been paid to human resources as the most important...

Hybrid nanoparticles composed of different biopolymers for delivery enzyme/prodrug systems are interest cancer therapy. Hyaluronic acid-coated chitosan (CS/HA NP) were prepared to encapsulate individually an enzyme/pro-drug complex based on horseradish peroxidase (HRP) and indole-3-acetic acid (IAA). CS/HA NP showed size around 158 nm increase 170 200 after IAA HRP encapsulation, respectively. ...