this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...

Infiltration is one of the most important hydraulic parameters affecting surface irrigation and one ofthe most difficult parameters in practical field determinations. The infiltration equations are used todescribe water flow hydraulics and surface irrigation systems design. But determination of theparameters in these equations are costly and time consuming. Therefore, some estimating methods ar...

in the present paper‎, ‎we introduce the concept of generalized multivalued $f$ -‎contraction mappings and give a fixed point result‎, ‎which is a proper‎ ‎generalization of some multivalued fixed point theorems including nadler's‎.

cloud point extraction and spectrophotometric determination of trace quantities of cadmium in some vegetables have been developed. the research area for vegetables analysis was near to the zarin shahr where the soil received heavy metals from the esfahan steel company. cloud point extraction used dithizone as complexing agent and non ionic surfactant triton-x114 as micellar phase. several impor...

in the present paper, we give a new approach to caristi's fixed pointtheorem on non-archimedean fuzzy metric spaces. for this we define anordinary metric $d$ using the non-archimedean fuzzy metric $m$ on a nonemptyset $x$ and we establish some relationship between $(x,d)$ and $(x,m,ast )$%. hence, we prove our result by considering the original caristi's fixedpoint theorem.

in this paper, first a sensitivity analysis of parameters affecting the performance of the steam generator is performed. this process includes the pinch temperature difference and the gas velocity (width of the hrsg) as the operating parameter and geometrical parameters (fin’s thickness, fin’s height, number of fins in each inch, tube transverse pitch) for each pressure parts is carried out, an...

an analytical solution of the equation describing diffusion of intrinsic point defects in semiconductor crystals has been obtained for a one-dimensional finite-length domain with the robin-type boundary conditions. the distributions of point defects for different migration lengths of defects have been calculated. the exact analytical solution was used to verify the approximate numerical solutio...

results of the 135 h. pylori-positive specimens, two harbored strains with the a2143g mutation and nine contained strains with the a2144g mutation. thus, the prevalences of the a2143g and a2144g point mutations were 1.5% and 6.7%, respectively. the a2143c point mutation was not found. conclusions the prevalences of the point mutations a2143g and a2144g were low in our geographic area. based on ...

background: post-cesarean section analgesia improves functional ability of the mother and her interaction with the infant. pharmacological methods such as painkillers and narcotics are commonly used to reduce post-cesarean section pain. however, due to the complications of current pharmacological therapies, the use of non-pharmacological methods is currently receiving special attention. the pur...