this paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. the proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. as a result, the proposed controller is simple, fast response and superior to the torque c...

Iranian bread production methods are often unsanitary, in the last decades, different attempts were made to mechanize production of Iranian breads, but a few of them, due to a variety of factors, could succeed. The aim of this study is to examine various factors affecting the system of bread production in Iran and to provide effective solutions for the development of mechanized bakeries as the ...

[naeini1]  housing is the third top factor in human life, after food and clothing in all communities. many variables are involved in determining housing prices and it is impossible to ignore housing feedback. one of the powerful tools to determine the impact of policies in this field is using system dynamics approach. according to this approach, the cause-and- effect diagram of factors affectin...

In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a PID control law. One novelty of this paper is the use of a PSO algorithm for optimizing the contro...

Special attention to the relative advantages of the economy is the best way toward economic development in every country. Owing to its considerable natural oil and gas resources, Iran has a high potential for the development of these industries. In the value chain process of these God-given resources, a wide diversity of final downstream petrochemical products has a significant charm and scope ...

Project managers are grappling with a variety of risks today as a result of increasing complexity and dynamics of projects in different stages of project life cycle. Thus, it seems quite necessary to employ an efficient risk management process that can overcome the shortcomings of traditional methods in order to handle such complexities and reach the optimal project management. This matter is e...

this research presents a dynamic mathematical system for modeling and simulating the quality management process in construction projects. through sets of cause and effect feedback loops, all factors that internally and externally affect the quality management process are addressed. the proposed system integrates fuzzy logic with system dynamics simulation scheme to consider the uncertainties as...