A new computational technique is presented to find the optimal base position of dual arm robots in order to carry maximum allowable load. The maximum allowable load on a desired trajectory is limited by the number of factors such as; actuators torque limits, kinematic constraints, and kinematic redundancy of cooperative manipulators. For a dual arm robot mounted on a rail or table, load works...

Roads are subjected to vehicle traffics with different loads and velocities. Geogrid reinforcement is of the best methods for road improvement due to the ease of construction, delay in damage development and financial efficiency. This study evaluates pavement response under different loads and velocities, before and after geogrid reinforcement. A finite element software (ABAQUS) is used for num...

Suppose A is an Abelian p-group and α is an ordinal such that A/pA is a direct sum of countable groups. It is shown that A has a nice basis if, and only if, pA has a nice basis. This strengthens an earlier result of ours in Bull. Allah. Math. Soc. (2011) proved when α < ω.

this comparative study investigates the iranian exporters and the u.s. importers perception of persian carpet branding strategy in the u.s. market. wong and merrilees conceptual model of international branding strategy (2007) is used as the base model. two separate models for these communities are extracted. results indicated that the two models are different together and with the base model du...

In this research a comprehensive finite element program was developed in order to carry out an elasto perfectly plastic analysis of geogrid reinforcement of a model pavement. Qualitative agreement is seen between the numerical results and experiment. The results indicate the influence of geogrid in reduction of vertical deformation of pavements. It is also seen that for strong subgrade, the opt...

Introduction: The aim of this study was to evaluate the effect of bridge orientation in casting machine on castability and quality of base metal castings. Methods: Three groups of patterns with different direction and lengths in casting machine were casted and then studied qualitatively and quantitatively using mean and standard deviation in table of frequency. Results: Larger nodules and poros...

In this paper, an algorithm for a dynamic base real-time kinematic (DRTK) GPS is presented and a novel application to the guidance and control of a mobile robot pulling a trailer is discussed. The DRTK system is used to estimate the relative position between the robot and trailer in the autonomous system described, and the results are compared to traditional methods utilizing an optical encoder...

In indoor context awareness applications the location of people, devices or objects is often required. Ultrasound technology enables high resolution indoor position measurements. A disadvantage of stateof-the-art ultrasonic systems is that several base stations are required to estimate 3D position. Since fewer base stations leads to lower cost and easier setup, a novel method is presented that ...