Underactuated manipulators have some passive joints in general, where the number of inputs is less than degrees freedom. These systems complex properties structure and they to control a lot generalized coordinates by few inputs. Here we use MATLAB/Simulink that software for numerical calculation. It designed controllers underactuated manipulators. In this paper, try constitute Real-Time environ...

In some multi-attribute decision making (MADM) problems, various relationships among the decision attributes should be considered. This paper investigates the prioritization relationship of attributes in MADM with trapezoidal intuitionistic fuzzy numbers (TrIFNs). TrIFNs are a special intuitionistic fuzzy set on a real number set and have the better capability to model ill-known quantities. Fir...

in order to increase the efficiency of the conveyance of the granular solids, a new experimental set-up is designed. the test rig has longitudinal trapezoidal slots in its conveying pipes. through experimentation, a correlation for friction factor in terms of solid mass flow rate, fluid flow rate and froude number is presented. it is shown that the mixture friction factor for pipes with inner t...

We present a new class of integral equations for the solution of problems of scattering of electromagnetic fields by perfectly conducting bodies. Like the classical Combined Field Integral Equation (CFIE), our formulation results from a representation of the scattered field as a combination of magneticand electric-dipole distributions on the surface of the scatterer. In contrast with the classi...

project selection is considered as an important problem in project management. it is multi-criteria in nature and is based on various quantitative and qualitative factors. the main purpose of this paper is to present a new rank-based method for project selection in outranking relation. according to this approach, decision alternatives were clustered in the concordance matrix and the discordance...

A new algorithm namely, fuzzy zero point method is proposed for finding a fuzzy optimal solution for a fuzzy transportation problem where the transportation cost, supply and demand are trapezoidal fuzzy numbers. The optimal solution for the fuzzy transportation problem by the fuzzy zero point method is a trapezoidal fuzzy number. The solution procedure is illustrated with numerical example. Mat...

An approach for solving a matrix game whose pay off elements are symmetric trapezoidal fuzzy numbers is proposed. P.Grzegorzewski’s theorem[1]has been used to transform symmetric trapezoidal fuzzy numbers to interval fuzzy number such that length of all intervals are different.Acceptability index has been defined and ordering of fuzzy numbers has been established.