in this paper, an exact geometric algorithm is presented for solving two-job sequencing and scheduling problems in flexible flow shop and job shop environments while the resources are (un)available in some time periods and processors (un)availability is the same in all work centers. this study seems utterly new and it is applicable to any performance measure based on the completion time. the in...

In this paper, an exact geometric algorithm is presented for solving two-job sequencing and scheduling problems in flexible flow shop and job shop environments while the resources are (un)available in some time periods and processors (un)availability is the same in all work centers. This study seems utterly new and it is applicable to any performance measure based on the completion time. The in...

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 is concerned with the problem of design and implementation a robust adaptive control strategy for flexible joint electrically driven robots (FJEDR), while considering to the constraints on the actuator voltage input. The control design procedure is based on function approximation technique, to avoid saturation besides being robust against both structured and unstructured uncertaintie...

In assessing the relative efficiency of decision-maker units by classical Data Envelopment Analysis (DEA) models, the status of the data is determined from the input or output points of views. In real issues, there are some data whose statuses are debatable. Some decision making units consider them as input to achieve higher efficiency while some other decision making units consider them ...

In this paper, a minimum and near-minimum time optimal control laws are developed and compared for a rigid space platform with flexible links during an orientating maneuver with large angle of rotation. The control commands are considered as typical bang-bang with multiple symmetrical switches, the time optimal control solution for the rigid-body mode is obtained as a bang-bang function and app...

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...

In this paper, slewing maneuver of a flexible spacecraft with large angle of rotation is considered and assuming structural frequency uncertainties a robust minimum-time optimal control law is developed. Considering typical bang-bang control commands with multiple symmetrical switches, a parameter optimization procedure is introduced to find the control forces/torques. The constrained minimizat...