this article addresses an efficient and novel method for singularity-free path planning and obstacle avoidance of parallel manipulator based on neural networks. a modified 4-5-6-7 interpolating polynomial is used to plan a trajectory for a spherical parallel manipulator. the polynomial function which is smooth and continuous in displacement, velocity, acceleration and jerk is used to find a pat...

in this paper, the range doppler algorithm (rda) for synthetic aperture radar moving on a ballistic trajectory is presented. the 3-dimension acceleration and non-uniform trajectory cause decreases in efficiency of conventional imaging algorithms. in this paper, the analytical expression for the 2-d signal spectrum for ballistic trajectory using taylor series expansion and series reversion is de...

based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...

this paper presents a parameterization method to optimal trajectory planning and dynamic obstacle avoidance for omni-directional robots. the aim of trajectory planning is minimizing a quadratic cost function while a maximum limitation on velocity and acceleration of robot is considered. first, we parameterize the trajectory using polynomial functions with unknown coefficients which transforms t...

the main attempt of this article is extension the method so that it generallywould be able to consider the classical solution of the systems and moreover,produces the optimal trajectory and control directly at the same time. there-fore we consider a control system governed by a bone marrow cancer equation.next, by extending the underlying space, the existence of the solution is con-sidered and ...

abstract in the present article, effective parameters of the buoyant jets have been evaluated in the stagnant ambient fluid. the jet parameters, geometry parameters and environmental parameters are investigated. using dimensional analysis, a set of dimensionless functions was obtained. to achieve the exact functions, a physical model was built in the hydraulic laboratory of shahid chamran unive...

for some 3 million years, the archaeological record is characterized by stone tools undergoing incremental changes. then around 40,000 years ago, the monotony of lithics is terminated by a profusion of visual representations, generally considered to be the world’s first objets d’art. this collection include a series of portable objects, especially figurines and, later on, the famous cave painti...