in this paper we intend to generate some set of optimal trajectories according to the number of control points has been applied for parameterizing those using b-spline curves. the trajectories are used to generate an optimal locomotion gait in a crawling worm-like robot. due to gait design considerations it is desired to minimize the required torques in a cycle of gait. similar to caterpillars,...

block ciphers have wide applications for hardware and software implementations. in this paper, a new block cipher algorithm with provable security is proposed. the whole structure of the algorithm is novel and has a good encryption and decryption performance. additionally, it has good security with few number of rounds. the structure of the proposed algorithm consists of 4-rounds feistel-like w...

This paper deals with multi-period project portfolio selection problem. In this problem, the available budget is invested on the best portfolio of projects in each period such that the net profit is maximized. We also consider more realistic assumptions to cover wider range of applications than those reported in previous studies. A novel mathematical model is presented to solve the problem, con...

Fixed charge solid transportation problem (FCSTP) is one of the main and most important problems in transportation and network research areas. To tackle such an NP-hard problem, An Electromagnetism-like algorithm (EM) is employed. To the best of our knowledge, EM has been considered for any kind of transportation problems. Due to the significant role of parameters on the algorithm’s performance...