Sharif Digital Repository

In this paper, a generalized intelligent water drops algorithm (IWD) for solving robot path planning problem is proposed. The authors want to reduce the time of reaching the optimal solution as much as possible. To do this, some new heuristic operators and a multi section graph model of environment is introduced. The authors divide graph to equal sections and compare behaviour of the solutions (paths) in each section with behaviour of them in other sections. This comparison uses a fuzzy inference system. Base on this comparison, a fuzzy number is assigned to each part of solutions. This fuzzy number determines the worth of a solution in a section. Less worth solutions need more improvement.... 

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... 

The learning effects of the workers and machine deterioration in an aggregate production planning (APP) problem have not been taken into account in the literature yet. These factors affect the performance of any real-world production system and require attention. In this paper, a bi-objective optimization model is developed for an APP problem with labor learning effect and machine deterioration. The first objective of this model maximizes the profit by improving learning and reducing the failure cost of the system. The second objective function minimizes the costs associated with repairs and deterioration, which depend on the failure rate of the machines in the production periods. The aim of... 

In rail transportation, the process of finding the optimal movement of freight goods is considered a tactical level of rail planning. Solving this problem requires one simultaneously to address the railroad blocking problem and the train dispatching problem, which is difficult. Additionally, when these problems are represented by mathematical relations, application of the solution leads to unexpected results in the real world. The main objective of this research was to build a simulation environment to represent the key behaviours of typical and applicable constraints of a railway system. This environment provides a tool with which to evaluate different decisions among a list of candidate... 

This paper presents a long-term dynamic multi-objective planning model for distribution network expansion along with distributed energy options. The proposed model optimizes two objectives, namely costs and emissions and determines the optimal schemes of sizing, placement and specially the dynamics (i.e., timing) of investments on distributed generation units and network reinforcements over the planning period. An efficient two-stage heuristic method is proposed to solve the formulated planning problem. The effectiveness of the proposed model is demonstrated by applying it to a distribution network and comparing the simulation results with other methods and models