The Softened Truss Model Theory applied to a prestressed concrete multiple cell box is developed in this study. In this theory, the concrete torsional problem is solved by combining equilibrium conditions, compatibility conditions and constitutive laws of materials. Up to now the theory has been applied only to the case of pure torsion with single cell section. An algorithm is presented to deal...

The nonholonomic motion planning problem is considered for a novel class of modular mobile manipulators, where each module is implemented as a planar parallel manipulator with idler wheels. This assembly is actuated by shape changes of its modules, which, under the in uence of the nonholonomic constraints on the wheels, induce a global snake{like motion of the assembly. The kinematics for a 2{ ...

This paper presents a new way of determining the compatibility conditions for statically indeterminate trusses. It is based on equations relating the angular displacements (rotations) of truss elements to the corresponding extensions obtained by requiring the displacements of the truss structure to be compatible, i.e., single valued. This new angular displacement method is likely to be most adv...

Heat transfer search (HTS) is a novel metaheuristic optimization algorithm that simulates the laws of thermodynamics and heat transfer. In this study, the HTS algorithm is adapted to truss structure optimization. Sizing optimization searches for the minimum weight of a structure subject to stress and displacement constraints. Three truss structures often taken as benchmarks in the optimization ...