This paper presents a theoretical study on omnidirectional aerial vehicles with body-frame fixed unidirectional thrusters. Omniplus multi-rotor designs are defined as the ones that allow to exert a total wrench in any direction using positiveonly lift force and drag moment (i.e., positive rotational speed) for each rotor blade. Algebraic conditions for a design to be omniplus are derived, a sim...

In this paper, a technique to generate the wrench-closure workspace for general case completely restrained cable driven parallel mechanisms is proposed. Existing methods can be classified as either numerically or analytically based approaches. Numerical techniques exhaustively sample the task space, which can be inaccurate due to discretisation and is computationally expensive. In comparison, a...

workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎however, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

the doruneh fault is one of the longest and most prominent faults in iran. however, only two recorded historical earthquakes with magnitudes more than 7 might be related to this fault. for getting more information on this fault more investigation in different fields are required. fault displacement is one of the most important parameters needed to explore the fault activity. in this study, with...

(paper pages 133-156) zagros active fold-thrust belt lies on the northern margin of the arabian continental crust it is a young fold-thrust mountain belt currently shortening, thickening and uplifting as a result of the collision of the arabian and iranian plates. rethickening of crust during collisional orogenies could have been carried out by reversal of fault motion along the mesozoic normal...

Modeling and Wrench feasible workspace analysis of a spatial cable suspended robots is presented. A six-cable spatial cable robot is used the same as Stewart robots. Due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. Various workspaces are defined and the results of simulation are presented on the basis of various workspaces and app...

the nnw-trending dena fault, with 140 km length, cuts the major structures of zagros fold-thrust belt in borujen region. the fault has divided the region in two zones, in which different structural, andmorphological features as well assedimentation and seismtectonic characteristics have developed. this study presents a new interpretation for the kinematics of dena fault based on field evidence....