In this paper, an optimization framework is developed for performance-based seismic design of composite moment frames consisting of concrete filled steel box columns and I-shaped steel beams. Material cost of the structure and seismic damage under severe earthquake ground motions are minimized as objective functions. Two design examples are presented to demonstrate the applicability and efficie...

‎In this paper we study the dynamics of the 2D-motion of a particle of monolayer‎. First we consider the usual physical time component and the plan manifold R2, having the polar coordinates. Then a geometric approach to nonholonomic constrained mechanical systems is applied to a problem from the two dimensional geometric dynamics of the Langmuir-Blodgett monolayer‎. We consider a constraint sub...

This paper is concerned with the application of quadratic optimization for motion control to feedback control of robotic systems using cerebellar model arithmetic computer (CMAC) neural networks. Explicit solutions to the Hamilton–Jacobi–Bellman (H–J–B) equation for optimal control of robotic systems are found by solving an algebraic Riccati equation. It is shown how the CMAC’s can cope with no...

The application of quadratic optimization and sliding-mode approach is considered for hybrid position and force control of a robot manipulator. The dynamic model of the manipulator is transformed into a state-space model to contain two sets of state variables, where one describes the constrained motion and the other describes the unconstrained motion. The optimal feedback control law is derived...

In this paper, a new algorithm which is the result of the combination of cellular learning automata and frog leap algorithm (SFLA) is proposed for optimization in continuous, static environments.At the proposed algorithm, each memeplex of frogs is placed in a cell of cellular learning automata. Learning automata in each cell acts as the brain of memeplex, and will determine the strategy of moti...

Biomechanically accurate finite element models of facial musculature offer a superior accuracy in reproducing facial expressions, the ability to adapt the simulation model to a particular subject as well as a compact and biophysically meaningful parameterization of expressions in terms of the muscle activations and bone motion that give rise to them. We employ such a finite element simulation m...

in this paper, the stability of a functionally graded magneto-electro-elastic (fg-mee) micro-beam under actuation of electrostatic pressure is studied. for this purpose euler-bernoulli beam theory and constitutive relations for magneto-electro-elastic (mee) materials have been used. we have supposed that material properties vary exponentially along the thickness direction of the micro-beam. gov...

When describing robot motion with dynamic movement primitives (DMPs), goal (trajectory endpoint), shape and temporal scaling parameters are used. In reinforcement learning with DMPs, usually goals and temporal scaling parameters are predefined and only the weights for shaping a DMP are learned. Many tasks, however, existwhere the best goal position is not a priori known, requiring to learn it. ...

This thesis reports research results on three different topics under the theme of the automatic execution of compliant motion tasks for robot manipulators: numerical trajectory optimization, smooth interpolation of orientation, and control algorithm design. The major purpose of this research is to present a comprehensive joint-space solution for robot’s hybrid motion/force control, which we bel...