payment order in eft can be a negotiable instrument in two ways; it can be an instrument based on custom and regulation meaning that whether it should be considered as new instrument or be incorporated in one of the current instruments. in light of iranian legal system and against common law, it is not acceptable that a new negotiable instrument be created by custom because some characteristics...

This paper presents a control law for the tracking of a cyclic reference trajectory by an under-actuated biped robot. The robot studied is a five-link planar robot. The degree of under-actuation is one during the single support phase. The control law is defined in such a way that only the geometric evolution of the robot is controlled, not the temporal evolution. To achieve this objective, we c...

In the present research, in contrast to the available papers, not only the superelasticity but also the shape memory effects are taken into account in determination of the impact responses. At the same time, in addition to modifying Brinson’s model for the shape memory alloys (SMAs), to include new parameters and loading events, and Hertz contact law, distributions of the SMA phases are conside...

Pirrotta L et al. Patients with allergic contact dermatitis to nickel and nonallergic individuals display different nickel-specific T cell responses. Evidence for the presence of effector CD8+ and regulatory CD4+ T cells. J Invest Dermatol 1998; 111: 621–628. 2 Artik S, von Vultée C, Gleichmann E, Schwarz T, Griem P. Nickel allergy in mice: enhanced sensitization capacity of nickel at higher ox...

Background and Aim: The process of theoretical approaches in explaining crime throughout the history is indicative of various interpretations of crime. In 1980s, in the light of French and German schools of thought, the post-modern movement arouse just because they have a new interpretation of the concept of crime within the domains of criminal justice. It was mainly believed that crime was the...

We find power-law behaviors of grain velocity in both propagation and backscattering in a gravitationally compacted granular chain with nonlinear contact force. We focus on the leading peak of the velocity signal which decreases in a power-law d−α, where d is the location of the peak, as the signal goes down. The ratio of backscattered to incident leading velocity also follows a power-law d −β ...

The paper adopts a geometric approach to stabilization and tracking of a spherical robot actuated by three internal rotors mounted on three mutually orthogonal axes inside the robot. The system is underactuated and subject to nonholonomic constraints. Initially, the equations of motion are derived through Euler-Poincaré reduction. Then two feedback control laws are synthesized: the first contro...

In this paper, first the validity of 3-D DDA is examined by comparing its solution for dynamic block displacement with analytical solution. Displacement of a single block on an inclined plane subjected to a dynamic loading is studied for analytical solution with respect to the frictional resistance offered by the inclined slope. 3-D DDA predicts accurately the analytical displacements. The modi...

Tire/road interactions play a critical role in safe operation of ground vehicles. This paper presents the modeling, analysis, and experimental studies of stick–slip interactions between the stationary tire and the firm road. A semi-analytical model is first proposed to predict the normal force distribution on the tire contact patch. A beam–spring network modeling approach is then used to captur...