in this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. to this end, the dynamics model of the considered wheeled mobile robot is derived using lagrange equations of motion. then, using adams multi-body simulation software, the obtained dynamics of the wheeled system in matlab software is verified. after that, ...

in this paper, a stochastic cell formation problem is studied using queuing theory framework and considering reliability. since cell formation problem is np-hard, two algorithms based on genetic and modified particle swarm optimization (mpso) algorithms are developed to solve the problem. for generating initial solutions in these algorithms, a new heuristic method is developed, which always cre...

this paper proposes an extension of markov chain model to characterize of geological formations and to make conditioning on any number of well data possible. in this study, lithofacies cycles of the amiran formation at type and pirshamsedin sections are examined by markov method and entropy analysis as well as field observations, and depositional environment has interpreted by proposed ideal se...

all experiments in this study were carried out in a flume which was located in the hydraulic laboratory of technical faculty in guilan university. the wave flume was 12 m long, 0.5 m wide, 0.5 m high and equipped with a wave-producing system and ultrasonic sensors. the objectives of current experimental study are to investigate sediment transport, bed formation and sustainability of sandy beach...

for half a century, the limitations of obtaining cross-combinations in lilies because of the incompatibility and incongruity between different varieties have been known. somatic hybridization is one of the most powerful tools for achieving distant interspecific hybrids. for this purpose, protoplast preparation is a first and important step in efficient system for the regeneration of plants from...

a stratigraphic section from the tirgan formation was selected in arkan village nearby bojnourd city in order to study echinoderm fauna systematically. many specimens of echinoderms, especially toxasteridae which is associated with brachiopods were collected and studied systematically in this paper. microscopie slides were also prepared and studied. all slides contain benthic foraminifers and c...

due to their widespread availability, sandstones are commonly used as a natural stone for buildings, monuments and sculptures. in thecurrent study, nine sandstone samples from the upper red formation (specified by the letters a, b, c, cg, s, s1, sh, tr and min)were studied from a petrophysical point of view and their durability was evaluated. then, their suitability as building stones wasassess...

the investigated section cropping out in kuh-e-banesh, zagros basin (southern iran) is represented by limestone, cherty beds and marllevels bearing abundant planktonic foraminifers, radiolarian microfaunas, and ammonite imprints. for the first time, well to moderatelypreserved forms of planktonic foraminifera have been extracted from black shale and marls levels. extracted biota was studied wit...

suppose that $h$ is a subgroup of $g$‎, ‎then $h$ is said to be‎ ‎$s$-permutable in $g$‎, ‎if $h$ permutes with every sylow subgroup of‎ ‎$g$‎. ‎if $hp=ph$ hold for every sylow subgroup $p$ of $g$ with $(|p|‎, ‎|h|)=1$)‎, ‎then $h$ is called an $s$-semipermutable subgroup of $g$‎. ‎in this paper‎, ‎we say that $h$ is partially $s$-embedded in $g$ if‎ ‎$g$ has a normal subgroup $t$ such that $ht...

this paper presents a new nonlinear mathematical model to solve a cell formation problem which assumes that processing time and inter-arrival time of parts are random variables. in this research, cells are defined as a queue system which will be optimized via queuing theory. in this queue system, each machine is assumed as a server and each part as a customer. the grouping of machines and parts...