Sharif Digital Repository

Public participation is counted as one of the main indexes in sustainable urban management. Based on their nature, metropolitan cities has several and complex problems. For this purpose Tehran metropolitan area is selected. Quantitative Strategic Planning Matrix (QSPM) weighted through a made-byresearcher questionnaire. The reliability of the model was verified by Cronbach’s alpha coefficient. Evaluation matrix for internal and external factors was equal to 1.944 and 3.413, respectively. The strategies were classified and prioritize by quantitative matrix. Suitable strategies for Tehran city are as follows: developing a strategic plan in field of social control participatory management for... 

This article concerns the notion of methodology in strategic management of R&D/technology. Though development of new tools and methods has received much attention during the recent decades, attention to understanding methodologies has remained disproportionally low. In this study we distinguish two methodologies that are used in strategic management of R&D/technology: planning methodology and evolutionary learning methodology. We mainly focus on defining and describing the origins, nature, and characteristics of the latter. We propose a framework for methodology selection by investigating context, content, and process factors. Using this framework, we provide supportive evidence for... 

Usually, resources are short in supply when earthquakes occur. In such emergency situations, disaster relief organizations must use these scarce resources efficiently to achieve the best possible emergency relief. This paper therefore proposes a multi-objective, multi-mode, multi-commodity, and multi-period stochastic model to manage the logistics of both commodities and injured people in the earthquake response. Also, a robust approach is developed and used to make sure that the distribution plan performs well under the various situations that can follow an earthquake. Afterwards, it proposes a solution methodology according to hierarchical objective functions and uses it to illustrate the... 

Strategic health, safety, and environmental management system (HSE-MS) involves systematic and cooperative planning in each phase of the lifecycle of a project to ensure that interaction among the industry group, client, contractor, stakeholder, and host community exists with the highest level of health, safety, and environmental standard performances. Therefore, it seems necessary to assess the HSE-MS performance of contractor(s) by a comparative strategic management model with the aim of continuous improvement. The present Strategic Management Model (SMM) has been illustrated by a case study and the results show that the model is a suitable management tool for decision making in a contract... 

A hyper-redundant manipulator is made by mounting the serial and/or parallel mechanisms on top of each other as modules. In discrete actuation, the actuation amounts are a limited number of certain values. It is not feasible to solve the kinematic analysis problems of discretely actuated hyper-redundant manipulators (DAHMs) by using the common methods, which are used for continuous actuated manipulators. In this paper, a new method is proposed to solve the trajectory tracking problem in a static prescribed obstacle field. To date, this problem has not been considered in the literature. The removing first collision (RFC) method, which is originally proposed for solving the inverse kinematic... 

This paper models a novel and practical bi-objective hub-location problem under a centralized carrier collaboration framework between one holding company and multiple carriers. The holding company first establishes a hub-and-spoke network in order to locate p hubs and to assign the center nodes to the located hubs. Then, it allocates the transportation routes of the hub network to the carriers. In contrast, the carriers should select an appropriate vehicle type to serve the transportation requests in a green hub network. The carriers are also able to meet the transportation requests within a certain time-window based on a soft time-window mechanism. Moreover, aiming to emphasize green... 

A hyper-redundant manipulator is made by mounting the serial and/or parallel mechanisms on top of each other as modules. In discrete actuation, the actuation amounts are a limited number of certain values. It is not feasible to solve the kinematic analysis problems of discretely actuated hyper-redundant manipulators (DAHMs) by using the common methods, which are used for continuous actuated manipulators. In this paper, a new method is proposed to solve the trajectory tracking problem in a static prescribed obstacle field. To date, this problem has not been considered in the literature. The removing first collision (RFC) method, which is originally proposed for solving the inverse kinematic... 

Enforced hill climbing (EHC), a heuristicaa search method, has been frequently used in a number of AI planning systems. This paper presents a new form of EHC, guided enforced hill climbing (GEHC), to enhance EHC efficiency. Main feature in GEHC is an adaptive ordering function. GEHC has shown a significant improvement in EHC efficiency, especially when applied to larger problems  

This paper seeks to provide a probabilistic control framework, named Probabilistic Multiple-Horizon Multiple-Model Predictive Control, for the soft and precise landing on an asteroid. The modified version of the Predictive Path Planning method is also introduced to generate a safe and smooth reference trajectory for landing. The Probabilistic Multiple-Horizon Multiple-Model Predictive Control is carried out in two phases; the offline phase to calculate the difference between models, and the online phase to use a probabilistic approach to track the reference trajectory. The difference of the dynamical models is utilized in the online control method to compensate the accuracy of the... 

In the past decades, Vehicular Ad hoc Networks (VANETs) have been increasingly developed. Providing secure and efficient communication is essential in VANETs. One of most important challenges in the secure and efficient communications is proposing an appropriate authentication scheme. In this paper, we suggest an efficient and novel authentication scheme for VANETs. In the proposed scheme, vehicles authenticate each other without any limitation such as need for group of signers, online Road Side Units (RSUs), a set of pseudo identities and tamper-proof devices. Moreover, our simulation shows that the proposed scheme is well designed and efficient. © 2019, © 2019 Taylor & Francis Group, LLC  

The design and development of natural gas transmission pipeline networks are multidisciplinary problems that require various engineering knowledge. In this problem, the type, location, and installation schedule of major physical components of a network including pipelines and compressor stations are decided upon over a planning horizon with least cost goal and subject to network constraints. Practically, this problem has been viewed as a conceptual design case and not as an optimization problem that tries to select the best design option among a set of possible solutions. Consequently, conceptual design approaches are usually suboptimal and work only for short-run development planning. We... 

Lift path planning is a significant subtask in constructability analysis, sequencing, and scheduling of congested industrial modular projects, impacting project cost, and safety. Although intuitive lift planning is still prevalent among the practitioners, this manual process might be tedious and error-prone for hundreds of lifts. This research presents an automated lift path planning method for heavy crawler cranes in no-walk scenarios employing a robotics approach. This method treats the lifted object as a three-degree-of-freedom convex mobile robot with discretized rotational and continuous translational motions. The proposed resolution-complete method models the crane capacity chart,... 

Rapidly exploring random trees (RRT) are sampling-based approaches being widely applied for path planning of mobile robots. Since the output of these algorithms usually is a stream of discrete lines involving discontinuity at the linking points, kinematic constraints restrict the robot's movements. Consequently, robots may not pass discrete points in the path correctly. Hence, the using CAGD (Computer-Aided Geometry Design) curves can run simultaneously alongside those algorithms or may run after that to make a smooth path and that's the way in which non-holonomic constraints can be considered perfect and robots can be droved autonomously across them about the collision detection method...