The paper presents a control strategy for a hyper redundant micromanipulator that has the particularity to have either a) binary joints: only a small finite number of position are allowed within min and max bounds and b) continuous joints: the joint can move continuously within its min and max bounds. The problem optimization is double: a)solve inverse kinematics for this kind of system and b) ...

objectives: the aim of this study was to examine the prevalence of anger rumination and its relationship with coping strategies and assertiveness in students of mohaghegh ardebili university. methods: the present research was a descriptive correlational study. the study population consisted of all students enrolled in the academic year 1390-91 (n = 8344). in the first step, to determine the pre...

Background: The incidence of a child chronic disease causes high levels of stress and anxiety in the parents and caregivers. This study aimed to investigate the coping strategies of parents with chronic ill children who hospitalized in educational hospitals of Ahvaz -Iran. Materials and Methods: This cross sectional study conducted in two hospitals that affiliated to Jundishapur University of M...

bus systems are unstable without considering any control. thus, we are able to consider some control strategies to alleviate this problem. a holding control strategy is one commonly used real-time control strategy that can improve service quality. this paper develops a mathematical model for a holding control strategy. the objective of this model is to minimize the total cost related to passeng...

in this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. the majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. this requires the controller to overcome complex problems such as uncertainties and nonlinearit...

the ever severe dynamic competitive environment has led to increasing complexity of strategic decision making in giant organizations. strategy formulation is one of basic processes in achieving long range goals. since, in ordinary methods considering all factors and their significance in accomplishing individual goals are almost impossible. here, a new approach based on clustering method is pro...

When power systems are expanded and connected together with weak tie lines, the low-frequency oscillations are increased and the stability margin of the power system decreases. Therefore, when designing the transmission system to be used, it is necessary to maintain the dynamic stability of the power system, and to make sure to have the most possible stability margin. SSSC is a FACTS device con...