In this paper, a cooperative game optimal tracking control method based on event-triggered mechanism for constrained input modular robot manipulators (MRMs) system is introduced. According to the joint torque feedback technique, dynamics model of subsystem established and global state space equation derived. The inputs n joints in MRM with are taken as participants game, problem manipulator tra...

Increasing economy’s resistance against the menace of sanctions, various risks, shocks, and internal and external threats are one of the main national policies which can be implemented through bank investments. Investment project selection is a complex and multi-criteria decision-making process that is influenced by multiple and often some conflicting objectives. This paper studies portfolio inve...

in this paper, a multi-product single machine scheduling problem with the possibility of producing defected jobs, is considered. we concern rework in the scheduling environment and propose a mixed-integer programming (mip) model for the problem.  based on the philosophy of just-in-time production, minimization of the sum of earliness and tardiness costs is taken into account as the objective fu...

This paper investigated solving Fractional Programming Problems under Uncertainty (FPPU) using Sperm Motility Algorithm. Sperm Motility Algorithm (SMA) is a novel metaheuristic algorithm inspired by fertilization process in human, was proposed for solving optimization problems by Osama and Hezam [1]. The uncertainty in the Fractional Programming Problem (FPP) could be found in the objective fun...

This paper deals with a multi-period fixed charge production-distribution problem associated with backorder and inventories. The objective is to determine the size of the shipments from each supplier and backorder and inventories at each period, so that the total cost incurred during the entire period towards production, transportation, backorder and inventories is minimised. A 0-1 mixed intege...