in this paper, trajectory generation for the 4 dof arm of surena iii humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. for this purpose, first, kinematic equations for a seven dof manipulator are derived. then, using the lagrange method, an explicit dynamics model for the arm is developed. in the next step, in order to generate the desired traject...

the aim to achieve in this study is to recover the cr(iii) and process waters used in thewastewaters of chrome tanning operation by membrane process during leather production. in the treatmentalternative contains, cartridge filter, nanofiltration (nf(np10)), nanofiltration nf(xn45) and reverse osmosisro(acm2) membranes. the raw chrome wastewater from the cartridge filter was given to nf(np10)me...

a facile and efficient protocol for the synthesis of 1,8-dioxo-octahydroxanthenes has been developed by one-pot knoevenagel condensation, michael addition and cyclodehydration reaction of dimedone (active methylene carbonyl compound) with aromatic aldehydes in the presence of iron (iii) sulfate hydrate as a solid acidic catalyst under solvent-free conditions. various aromatic aldehydes were uti...

adsorption and desorption behavior of gd(iii) ionon macroporous weak acid resin (mwar) had been investigated.the influence of operational conditions such as contact time, initial concentration of gd(iii) ion, initial ph of solution and temperature on the adsorption of gd(iii) ion had been examined. experimental data were exploited for kinetic and thermodynamic evaluations related to the adsorpt...

electrochemical behavior of the new mono and dinuclear co (iii)  complexes of  the types trans-[pyco((do)(doh)pn )(l)]pf6   and [{py co((do)(doh)pn)}2 (μ-dicyd)] (pf6)2   have been studied in acetonitrile solution.  all the  mono nuclear complexes  show two quasi- reversible reduction couples associate  to co(iii/ii)and  co(ii/i). each of these redox couples split to two  one electron  waves in...

the oxidation of complexes of ti(iii), (til6)3+ (l=ur, meur, dmeur, deture, n-bu-ur, and phur), by iodine as i3- in ethanol and acetonitrile solutions, appears to proceed as a second order reaction and is much faster in ethanol solution (where solvolysis occurs) than in acetonitrile. the enthalpy of activation appears to decrease as ligand's size increases which suggest that the kinetic stabili...