In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...

An accurate description of the fluid flow and heat transfer within a Pressurized Water Reactor (PWR), for the safety analysis and reactor performance is always desirable. In this paper a mathematical model of the fundamental physical phenomena which are associated to a typical PWR is presented. The mathematical model governs the fluid dynamics in the reactor. Using commercial software CFX, a co...

This paper presents the Real-Time Recursive Dynamics (RTRD) model that is developed for driving simulators. The model could be implemented in the Driving Simulator. The RTRD can also be used for off-line high-speed dynamics analysis, compared with commercial multibody dynamics codes, to speed up mechanical design process. An overview of RTRD is presented in the paper. Basic models for specific ...

Introduction: Beat-to-beat variation in heart rate shows a complex dynamics, and this complexity is changed during systemic inflammatory response syndrome (e.g. sepsis). It is not known whether or not cardiac pacemaker dynamical rhythm is affected by sepsis. The aim of this study was to investigate heart rate dynamics of isolated heart as well as expression of pacemaker channels (HCN) in a r...

the objectives of this study were to determine the diversity, seasonal dynamics and abundance of ticks infesting cattle in isfahan zone, iran. the study was conducted in three traditional cattle farms. no acaricides had been applied to cattle at the selected farms. adult ticks were collected twice per month from different parts of the cattle's body. environmental data, including relative h...

conclusions carriage of pvl-positive s. aureus is common in this region, even in the low frequency of mrsa colonization. the detection of acme-arca gene in s. aureus isolates is a public-health concern and demands continued surveillance and close monitoring. results among the 813 subjects screened, 83 (10.2%) were persistent carriers, 86 (10.6%) were transient carriers and 644 (79.2%) cases wer...

body's iterative force-field computer program has been used to calculate strain energies in cyclooctanone (i). 348 mhz 1h nmr spectra of (i) have been investigated over the temperature range of 25° to -160°c. two conformation processes affect the 1h nmr spectrum of (i). iterative force-field calculations on the conformations and conformational interconversion paths of (i) give results consisten...

The complete 3D nonlinear dynamic problem of extensible, flexible risers conveying fluid is considered. For describing the dynamics of the system, the Newtonian derivation procedure is followed. The velocity field inside the pipe formulated using hydrostatic and Bernoulli equations. The hydrodynamic effects of external fluids are taken into consideration through the nonlinear drag forces in var...