planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

one of the most important extensions of the capacitated vehicle routing problem (cvrp) is the vehicle routing problem with simultaneous pickup and delivery (vrpspd) where customers require simultaneous delivery and pick-up service. in this paper, we propose an effective ant colony optimization (eaco) which includes insert, swap and 2-opt moves for solving vrpspd that is different with common an...

pumps are among the early instruments invented by humans to be taken advantage of in the use of water utilities. design and operation problem of pumping stations is a type of mixed integer non linear programming, in which gradient based optimization methods are not efficient for solving complex problems of this type. in this regard, such evolutionary optimization algorithms as genetic algorithm...

In this paper, Lagrange interpolation in Chebyshev-Gauss-Lobatto nodes is used to develop a procedure for finding discrete and continuous approximate solutions of a singular boundary value problem. At first, a continuous time optimization problem related to the original singular boundary value problem is proposed. Then, using the Chebyshev- Gauss-Lobatto nodes, we convert the continuous time op...

applying robust optimization to solve product mix problem in automotive industries in this article, applying robust optimization in product mix problem in automotive industries is presented. the problem includes determining both the quantity and the identification of each product to produce to maximize profit. at first, the deterministic model will be presented. then, robust model of product mi...

stochastic approach to vehicle routing problem: development and theories abstract in this article, a chance constrained (ccp) formulation of the vehicle routing problem (vrp) is proposed. the reality is that once we convert some special form of probabilistic constraint into their equivalent deterministic form then a nonlinear constraint generates. knowing that reliable computer software for lar...

In this paper, we introduce a model  to optimization of milk run system that is one of VRP problem with time window and uncertainty in inventory. This approach led to the routes with minimum cost of transportation while satisfying all inventory in a given bounded set of uncertainty .The problem is formulated as a robust optimization problem. Since the resulted problem illustrates that grows up ...

the one-dimensional cutting stock problem, has so many applications in lots of industrial processes and during the past few years has attracted so many researchers’ attention all over the world. in this paper a meta-heuristic method based on aco is presented to solve this problem. in this algorithm, based on designed probabilistic laws, artificial ants do select various cuts and then select the...