Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

In this paper, a hub covering location problem is considered. Hubs, which are the most congested part of a network, are modeled as M/M/C queuing system and located in placeswhere the entrance flows are more than a predetermined value.A fuzzy constraint is considered in order to limit the transportation time between all origin-destination pairs in the network.On modeling, a nonlinear mathematica...

in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...

In this paper, semi-analytical method for asymmetrical eccentrically stiffened FGM cylindrical shells under external pressure and surrounded by a linear and non-linear elastic foundation is presented. The proposed linear model is based on two parameter elastic foundation Winkler and Pasternak. According to the von Karman nonlinear equations and the classical plate theory of shells, strain-displ...

in this paper, we investigate the application of the homotopy perturbation method (hpm) for solving a one-dimensional nonlinear inverse heat conduction problem. in this problem the thermal conductivity term is a linear function with respect to unknown heat temperature in bounded interval. furthermore, the temperature histories are unknown at the end point of the interval. this problem is ill-po...

This paper presents a theoretical approach to implementation of the “Multi-realization of nonlinear MIMO systems”. This method aims to find state-variable realization for a set of systems, sharing as many parameters as possible. In this paper a special nonlinear multi-realization problem, namely the multi-realization of feedback linearizable nonlinear systems is considered and an algorithm for ...

as an application of hirota bilinear method, perturbation expansion truncated at different levels is used to obtain exact soliton solutions to (2+1)-dimensional nonlinear evolution equation in much simpler way in comparison to other existing methods. we have derived bilinear form of nonlinear evolution equation and using this bilinear form, bilinear backlund transformations and construction of ...

This paper deals with the application of fourth kind Chebyshev wavelets (FKCW) in solving numerically a model of HIV infection of CD4+T cells involving Caputo fractional derivative. The present problem is a system of nonlinear fractional differential equations. The goal is to approximate the solution in the form of FKCW truncated series. To do this, an operational matrix of fractional integrati...

This paper deals with multi- objective nonlinear programming problem having rough intervals in the constraints. The problem is approached by taking maximum value range and minimum value range inequalities as constraints conditions, reduces it into two classical multi-objective nonlinear programming problems, called lower and upper approximation problems.  All of the lower and upper approximatio...

In this investigation, the Sinc collocation method based on double exponential transformation is developed to solve the Troesche's problem. Properties of this method are utilized to reduce the system of strongly nonlinear two point boundary value problem to same nonlinear algebraic equations. Combining double exponential transformation through Sinc collocation method causes the remarkable resul...