there are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. in this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both newton-euler and lagrange-euler methods. the presented models are simulated for a mitsubishi pa10-6ce robotic manipulator characteristics mounte...

according to recent achievements in nano technology we can see its effects in different engineering fields. in nano manufacture process the first essential step is modeling coordinately in order to make it available different software are developing for this propose.  in this paper nano modeling for two papers is developed first understanding structure in nano and micro size and second simulati...

because of participation in many aspects of human life, and due to oxidation-sensitive characteristics of dopamine (da) and arachidonoyl dopamine (aa-da), the necessity of biocompatible carrier to keep them against oxidation is of importance. in this work, we explored the putative binding sites of da and aa-da to -lactoglobulin (blg) as potent carrier. docking results identified the binding si...

abstract cadmium is one of the heavy metals with a considerable importance for its potential toxic effects on soil microbial activities and composition. although, the toxic effect of cadmium on soil microbial activities is somewhat well-known, but the extent to which cd affects soil biota depends largely on soil properties and conditions, particularly soil organic matter contents. thus, the aim...

a new type of backbone robot is presented in this paper. the core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. this design does not suffer from the weaknesses of the continuum design suc...

conclusion results reinforced the pivotal role of vascular geometry, with respect to hemodynamics, together with the importance of performing patient-specific cfd analyses, through which the effect of different blood flow conditions on the aneurysm hemodynamics could be evaluated. objectives this study aimed to investigate the effects of variations in heart rate and internal carotid artery (ica...

in this work, a molecular dynamics simulation of the transport of water - methanol mixture through the single wall carbon nanotube (swcnt) is reported. methanol and water are selected as fluid molecules since water represents a strongly polar molecule while methanol is as an intermediate between polar and strongly polar molecules. some physical properties of the methanol-water mixture such as r...

based on the fact the manipulation of fine nanoclusters calls for more precise modeling, the aim of this paper is to conduct an atomistic investigation for interaction analysis of particle-substrate system for pushing and positioning purposes. in the present research, 2d molecular dynamics simulations have been used to investigate such behaviors. performing the planar simulations can provide a ...

the phytoplankton structure and dynamics were analysed in relation to abiotic variables inpaso de las piedras reservoir, argentina. phytoplankton driving forces were explored using a functionalapproach. a total of 15 functional groups were identified among which d, p, h1, f, j and c were the mostimportant. a canonical variate analysis indicated that the categorization of the species in function...

abstract the purpose of this article is to present a system dynamics (sd) model for studying the ‎interconnections among human being weight, eating habit, exercise, body fat, take-in medication, drugs-uses, and the health problems in general. due to the fact that all of these factors have direct and indirect impacts on the expenses that insurance company have to pay this author is proposing a s...